From ee776e308dc8dd6cb8b24cd7b90a6e05474e97e7 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 13 Feb 2016 14:58:50 -0500 Subject: [PATCH 001/482] commenting out the deployment --- build.gradle | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index d3b532bb..424277d1 100644 --- a/build.gradle +++ b/build.gradle @@ -99,9 +99,11 @@ task sourcesJar(type: Jar) { classifier = 'sources' from sourceSets.main.allSource } +/* signing { sign configurations.archives } +*/ artifacts { archives javadocJar archives sourcesJar @@ -128,7 +130,7 @@ artifacts { // console.printf "\nThanks.\n\n" // } //} - +/* uploadArchives { repositories { mavenDeployer { @@ -173,3 +175,4 @@ uploadArchives { } } } +*/ \ No newline at end of file From 55dc5016486e12efe620c227f5423354f2515257 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 13 Feb 2016 14:59:17 -0500 Subject: [PATCH 002/482] 3.18.1 --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 3cff2bdd..0330f608 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.18.0 +app.version=3.18.1 app.javac.version=1.6 From e163b2a99c1ab1d31ddb5e7431cbbced1622d2d7 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Mon, 15 Feb 2016 01:24:42 -0500 Subject: [PATCH 003/482] resolving teh conourrent modification --- .../neuronrobotics/sdk/util/FileChangeWatcher.java | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java b/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java index 698fcab8..8d071f0b 100644 --- a/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java +++ b/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java @@ -204,15 +204,16 @@ public void run() { if (!child.toFile().getCanonicalPath().equals(fileToWatch.getCanonicalPath())) { continue; } - } catch (IOException e) { + // print out event + //System.out.format("%s: %s\n", event.kind().name(), child); + for(int i=0;i Date: Thu, 18 Feb 2016 08:46:18 -0500 Subject: [PATCH 004/482] comment out siging --- build.gradle | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/build.gradle b/build.gradle index 424277d1..280ae298 100644 --- a/build.gradle +++ b/build.gradle @@ -100,9 +100,7 @@ task sourcesJar(type: Jar) { from sourceSets.main.allSource } /* -signing { - sign configurations.archives -} + */ artifacts { archives javadocJar @@ -131,6 +129,9 @@ artifacts { // } //} /* +signing { + sign configurations.archives +} uploadArchives { repositories { mavenDeployer { From 06419bb615fbefbea6239c89332ab5cca7afcacc Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 21 Feb 2016 14:44:49 -0500 Subject: [PATCH 005/482] defaut the loading and saving of git repos over gist. --- .../kinematics/AbstractKinematicsNR.java | 27 ++++++++++++------- .../kinematics/DHParameterKinematics.java | 8 +++--- .../sdk/addons/kinematics/MobileBase.java | 22 +++++++-------- .../sdk/config/build.properties | 2 +- 4 files changed, 33 insertions(+), 26 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 43ef43a2..43db65ed 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -58,10 +58,10 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP private ArrayList mobileBases = new ArrayList(); /** The dh engine. */ - private String [] dhEngine =new String[]{"bcb4760a449190206170","DefaultDhSolver.groovy"}; + private String [] dhEngine =new String[]{"https://gist.github.com/bcb4760a449190206170.git","DefaultDhSolver.groovy"}; /** The cad engine. */ - private String [] cadEngine =new String[]{"bcb4760a449190206170","ThreeDPrintCad.groovy"}; + private String [] cadEngine =new String[]{"https://gist.github.com/bcb4760a449190206170.git","ThreeDPrintCad.groovy"}; /** The current joint space positions. */ @@ -241,8 +241,8 @@ protected ArrayList loadConfig(Element doc){ NodeList nodListofLinks = doc.getChildNodes(); - setCadEngine(getGistCodes( doc,"cadEngine")); - setDhEngine(getGistCodes( doc,"kinematics")); + setGitCadEngine(getGitCodes( doc,"cadEngine")); + setGitDhEngine(getGitCodes( doc,"kinematics")); for (int i = 0; i < nodListofLinks .getLength(); i++) { Node linkNode = nodListofLinks.item(i); @@ -1217,7 +1217,7 @@ public void setDhParametersChain(DHChain dhParametersChain) { * * @return the dh engine */ - public String [] getDhEngine() { + public String [] getGitDhEngine() { return dhEngine; } @@ -1226,7 +1226,7 @@ public void setDhParametersChain(DHChain dhParametersChain) { * * @param dhEngine the new dh engine */ - public void setDhEngine(String [] dhEngine) { + public void setGitDhEngine(String [] dhEngine) { if(dhEngine!=null && dhEngine[0]!=null &&dhEngine[1]!=null) this.dhEngine = dhEngine; } @@ -1236,7 +1236,7 @@ public void setDhEngine(String [] dhEngine) { * * @return the cad engine */ - public String [] getCadEngine() { + public String [] getGitCadEngine() { return cadEngine; } @@ -1245,7 +1245,7 @@ public void setDhEngine(String [] dhEngine) { * * @param cadEngine the new cad engine */ - public void setCadEngine(String [] cadEngine) { + public void setGitCadEngine(String [] cadEngine) { if(cadEngine!=null&& cadEngine[0]!=null &&cadEngine[1]!=null) this.cadEngine = cadEngine; } @@ -1280,7 +1280,7 @@ protected String getCode(Element e,String tag){ * @param tag the tag * @return the gist codes */ - protected String [] getGistCodes(Element doc,String tag){ + protected String [] getGitCodes(Element doc,String tag){ String [] content =new String[2]; try{ NodeList nodListofLinks = doc.getChildNodes(); @@ -1288,7 +1288,14 @@ protected String getCode(Element e,String tag){ Node linkNode = nodListofLinks.item(i); if (linkNode.getNodeType() == Node.ELEMENT_NODE&& linkNode.getNodeName().contentEquals(tag)) { Element e = (Element) linkNode; - content[0]=getCode( e,"gist"); + try{ + if(getCode( e,"gist")!=null) + content[0]="https://gist.github.com/"+getCode( e,"gist")+".git"; + }catch(Exception ex){ + + } + if(getCode( e,"git")!=null) + content[0]=getCode( e,"git"); content[1]=getCode( e,"file"); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 882dcf0f..3e70b75b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -301,13 +301,13 @@ public String getEmbedableXml(){ String xml = ""; xml+="\t\n"; - xml+="\t\t"+getCadEngine()[0]+"\n"; - xml+="\t\t"+getCadEngine()[1]+"\n"; + xml+="\t\t"+getGitCadEngine()[0]+"\n"; + xml+="\t\t"+getGitCadEngine()[1]+"\n"; xml+="\t\n"; xml+="\t\n"; - xml+="\t\t"+getDhEngine()[0]+"\n"; - xml+="\t\t"+getDhEngine()[1]+"\n"; + xml+="\t\t"+getGitDhEngine()[0]+"\n"; + xml+="\t\t"+getGitDhEngine()[1]+"\n"; xml+="\t\n"; ArrayList dhLinks = chain.getLinks(); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index e54ce5f9..85ba36d4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -43,7 +43,7 @@ public class MobileBase extends AbstractKinematicsNR{ private IDriveEngine wheeledDriveEngine = new WheeledDriveEngine(); /** The walking engine. */ - private String [] walkingEngine =new String[]{"bcb4760a449190206170","WalkingDriveEngine.groovy"}; + private String [] walkingEngine =new String[]{"https://gist.github.com/bcb4760a449190206170.git","WalkingDriveEngine.groovy"}; /** The self source. */ private String [] selfSource =new String[2]; @@ -118,8 +118,8 @@ public MobileBase(Element doc) { private void loadConfigs(Element doc){ setScriptingName(XmlFactory.getTagValue("name",doc)); - setCadEngine(getGistCodes( doc,"cadEngine")); - setWalkingEngine(getGistCodes( doc,"driveEngine")); + setGitCadEngine(getGitCodes( doc,"cadEngine")); + setGitWalkingEngine(getGitCodes( doc,"driveEngine")); loadLimb(doc,"leg",legs); loadLimb(doc,"drivable",drivable); loadLimb(doc,"steerable",steerable); @@ -296,13 +296,13 @@ public String getEmbedableXml(){ xml+="\n"+getDriveType()+"\n"; xml+="\t\n"; - xml+="\t\t"+getCadEngine()[0]+"\n"; - xml+="\t\t"+getCadEngine()[1]+"\n"; + xml+="\t\t"+getGitCadEngine()[0]+"\n"; + xml+="\t\t"+getGitCadEngine()[1]+"\n"; xml+="\t\n"; xml+="\t\n"; - xml+="\t\t"+getWalkingEngine()[0]+"\n"; - xml+="\t\t"+getWalkingEngine()[1]+"\n"; + xml+="\t\t"+getGitWalkingEngine()[0]+"\n"; + xml+="\t\t"+getGitWalkingEngine()[1]+"\n"; xml+="\t\n"; xml+="\n"+getScriptingName()+"\n"; @@ -515,7 +515,7 @@ public void updatePositions(){ * * @return the walking engine */ - public String [] getWalkingEngine() { + public String [] getGitWalkingEngine() { return walkingEngine; } @@ -524,7 +524,7 @@ public void updatePositions(){ * * @param walkingEngine the new walking engine */ - public void setWalkingEngine(String [] walkingEngine) { + public void setGitWalkingEngine(String [] walkingEngine) { if(walkingEngine!=null && walkingEngine[0]!=null &&walkingEngine[1]!=null) this.walkingEngine = walkingEngine; } @@ -534,7 +534,7 @@ public void setWalkingEngine(String [] walkingEngine) { * * @return the self source */ - public String [] getSelfSource() { + public String [] getGitSelfSource() { return selfSource; } @@ -543,7 +543,7 @@ public void setWalkingEngine(String [] walkingEngine) { * * @param selfSource the new self source */ - public void setSelfSource(String [] selfSource) { + public void setGitSelfSource(String [] selfSource) { this.selfSource = selfSource; } diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 0330f608..a0ce834e 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.18.1 +app.version=3.18.2 app.javac.version=1.6 From 5e8d9ffaff6647aaa6297ed3aefaaa7d21f568e3 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 21 Feb 2016 15:32:40 -0500 Subject: [PATCH 006/482] adding mass and center of mass functions to the link configuration --- .../sdk/addons/kinematics/AbstractLink.java | 4 ++ .../addons/kinematics/LinkConfiguration.java | 42 ++++++++++++++++++- 2 files changed, 44 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index bf1a5c9b..0d3d6aea 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -4,6 +4,7 @@ import javafx.scene.transform.Affine; +import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.pid.PIDLimitEvent; @@ -32,6 +33,8 @@ public abstract class AbstractLink { private Affine linksLocation=new Affine(); + + /** * Instantiates a new abstract link. * @@ -527,5 +530,6 @@ public LinkFactory getSlaveFactory() { public void setSlaveFactory(LinkFactory slaveFactory) { this.slaveFactory = slaveFactory; } + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index fb24fb1b..d774fa10 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -8,6 +8,7 @@ import org.w3c.dom.Node; import org.w3c.dom.NodeList; +import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.Log; @@ -76,6 +77,9 @@ public class LinkConfiguration { /** The device scripting name. */ private String deviceScriptingName=null; + private double mass=0.01;// KG + private TransformNR centerOfMassFromCentroid=new TransformNR(); + /** The static offset. */ private double staticOffset=0; @@ -138,6 +142,26 @@ public LinkConfiguration(Element eElement){ setStaticOffset(Double.parseDouble(XmlFactory.getTagValue("staticOffset",eElement))); }catch (Exception e){ + } + try{ + setMassKg(Double.parseDouble(XmlFactory.getTagValue("mass",eElement))); + }catch (Exception e){ + + } + + try{ + if (eElement.getNodeType() == Node.ELEMENT_NODE && eElement.getNodeName().contentEquals("centerOfMassFromCentroid")) { + Element cntr = (Element)eElement; + setCenterOfMassFromCentroid(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), + Double.parseDouble(XmlFactory.getTagValue("y",cntr)), + Double.parseDouble(XmlFactory.getTagValue("z",cntr)), + new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), + Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))}))); + } + }catch (Exception e){ + } isLatch=XmlFactory.getTagValue("isLatch",eElement).contains("true"); @@ -230,7 +254,9 @@ public String getXml(){ "\t"+isLatch+"\n"+ "\t"+indexLatch+"\n"+ "\t"+isStopOnLatch+"\n"+ - "\t"+getHomingTicksPerSecond()+"\n" + "\t"+getHomingTicksPerSecond()+"\n"+ + "\t"+getMassKg()+"\n"+ + "\t"+getCenterOfMassFromCentroid().getXml()+"\n" +slaves; } @@ -655,6 +681,18 @@ public ArrayList getSlaveLinks() { public void setSlaveLinks(ArrayList slaveLinks) { this.slaveLinks = slaveLinks; } - + + public double getMassKg() { + return mass; + } + public void setMassKg(double mass) { + this.mass = mass; + } + public TransformNR getCenterOfMassFromCentroid() { + return centerOfMassFromCentroid; + } + public void setCenterOfMassFromCentroid(TransformNR centerOfMassFromCentroid) { + this.centerOfMassFromCentroid = centerOfMassFromCentroid; + } } From a4f01f207c24eeb3ecdb57e1b849f11eb496bcda Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 21 Feb 2016 16:05:44 -0500 Subject: [PATCH 007/482] fixing the centroid tad name --- .../neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index d774fa10..605683aa 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -256,7 +256,7 @@ public String getXml(){ "\t"+isStopOnLatch+"\n"+ "\t"+getHomingTicksPerSecond()+"\n"+ "\t"+getMassKg()+"\n"+ - "\t"+getCenterOfMassFromCentroid().getXml()+"\n" + "\t"+getCenterOfMassFromCentroid().getXml()+"\n" +slaves; } From a2eb38759450c972b0fb35188b4d1f505e9311d4 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 21 Feb 2016 21:42:10 -0500 Subject: [PATCH 008/482] adding mass to the mobile base system --- .../kinematics/AbstractKinematicsNR.java | 8 +++- .../sdk/addons/kinematics/MobileBase.java | 40 ++++++++++++++++++- .../addons/kinematics/TransformFactory.java | 39 ++++++++++++++++++ 3 files changed, 84 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 43db65ed..9a09e34a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -1294,8 +1294,12 @@ protected String getCode(Element e,String tag){ }catch(Exception ex){ } - if(getCode( e,"git")!=null) - content[0]=getCode( e,"git"); + try{ + if(getCode( e,"git")!=null) + content[0]=getCode( e,"git"); + }catch(Exception ex){ + + } content[1]=getCode( e,"file"); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 85ba36d4..dac750e6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -48,6 +48,9 @@ public class MobileBase extends AbstractKinematicsNR{ /** The self source. */ private String [] selfSource =new String[2]; + private double mass=0.01;// KG + private TransformNR centerOfMassFromCentroid=new TransformNR(); + /** * Instantiates a new mobile base. */ @@ -124,6 +127,26 @@ private void loadConfigs(Element doc){ loadLimb(doc,"drivable",drivable); loadLimb(doc,"steerable",steerable); loadLimb(doc,"appendage",appendages); + try{ + setMassKg(Double.parseDouble(XmlFactory.getTagValue("mass",doc))); + }catch (Exception e){ + + } + + try{ + if (doc.getNodeType() == Node.ELEMENT_NODE && doc.getNodeName().contentEquals("centerOfMassFromCentroid")) { + Element cntr = (Element)doc; + setCenterOfMassFromCentroid(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), + Double.parseDouble(XmlFactory.getTagValue("y",cntr)), + Double.parseDouble(XmlFactory.getTagValue("z",cntr)), + new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), + Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))}))); + } + }catch (Exception e){ + + } try{ setDriveType(DrivingType.fromString(XmlFactory.getTagValue("driveType",doc))); }catch(Exception ex ){ @@ -338,7 +361,9 @@ public String getEmbedableXml(){ xml+="\n\n"; xml+=getRobotToFiducialTransform().getXml(); - xml+="\n\n"; + xml+="\n\n"+ + "\t"+getMassKg()+"\n"+ + "\t"+getCenterOfMassFromCentroid().getXml()+"\n"; xml+="\n\n"; setGlobalToFiducialTransform(location); return xml; @@ -547,4 +572,17 @@ public void setGitSelfSource(String [] selfSource) { this.selfSource = selfSource; } + public double getMassKg() { + return mass; + } + public void setMassKg(double mass) { + this.mass = mass; + } + public TransformNR getCenterOfMassFromCentroid() { + return centerOfMassFromCentroid; + } + public void setCenterOfMassFromCentroid(TransformNR centerOfMassFromCentroid) { + this.centerOfMassFromCentroid = centerOfMassFromCentroid; + } + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java index 8bae7767..da2aa435 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java @@ -36,6 +36,45 @@ public static Affine getTransform(TransformNR input){ return getTransform( input , rotations); } + /** + * Gets the transform. + * + * @param input the input + * @return the transform + */ + public static TransformNR getTransform(Affine input){ + TransformNR rotations =new TransformNR(); + return getTransformFromAffine( rotations,input ); + } + /** + * Gets the transform. + * + * @param outputValue the input + * @param rotations the rotations + * @return the transform + */ + public static TransformNR getTransformFromAffine(TransformNR outputValue ,Affine rotations){ + double[][] poseRot = outputValue + .getRotationMatrixArray(); + + poseRot[0][0]=rotations.getMxx(); + poseRot[0][1]=rotations.getMxy(); + poseRot[0][2]=rotations.getMxz(); + poseRot[1][0]=rotations.getMyx(); + poseRot[1][1]=rotations.getMyy(); + poseRot[1][2]=rotations.getMyz(); + poseRot[2][0]=rotations.getMzx(); + poseRot[2][1]=rotations.getMzy(); + poseRot[2][2]=rotations.getMzz(); + + outputValue.setX(rotations.getTx()); + outputValue.setY(rotations.getTy()); + outputValue.setZ(rotations.getTz()); + + outputValue.setRotation(new RotationNR(poseRot)); + return outputValue; + } + /** * Gets the transform. * From 1f2b539065d9068d74b3285e21deb1cf8ce04a90 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Mon, 22 Feb 2016 01:38:48 -0500 Subject: [PATCH 009/482] adding mass to mobile base --- .../addons/kinematics/AbstractKinematicsNR.java | 4 ++-- .../addons/kinematics/DHParameterKinematics.java | 2 +- .../sdk/addons/kinematics/MobileBase.java | 2 +- .../sdk/addons/kinematics/TransformFactory.java | 16 ++++++++-------- 4 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 9a09e34a..492c3942 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -763,7 +763,7 @@ public void setBaseToZframeTransform(TransformNR baseToFiducial) { @Override public void run() { - TransformFactory.getTransform(forwardOffset(new TransformNR()), root); + TransformFactory.nrToAffine(forwardOffset(new TransformNR()), root); } }); } @@ -803,7 +803,7 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { @Override public void run() { - TransformFactory.getTransform(forwardOffset(new TransformNR()), root); + TransformFactory.nrToAffine(forwardOffset(new TransformNR()), root); } }); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 3e70b75b..3a469f06 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -455,7 +455,7 @@ public void onJointSpaceUpdate(final AbstractKinematicsNR source, final double[] @Override public void run() { try{ - TransformFactory.getTransform(linkPos.get(index), getChain().getLinks().get(index).getListener()); + TransformFactory.nrToAffine(linkPos.get(index), getChain().getLinks().get(index).getListener()); }catch(Exception ex){ //ex.printStackTrace(); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index dac750e6..09131029 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -48,7 +48,7 @@ public class MobileBase extends AbstractKinematicsNR{ /** The self source. */ private String [] selfSource =new String[2]; - private double mass=0.01;// KG + private double mass=0.5;// KG private TransformNR centerOfMassFromCentroid=new TransformNR(); /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java index da2aa435..f0787347 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java @@ -21,8 +21,8 @@ public class TransformFactory { * @param z the z * @return the transform */ - public static Affine getTransform(double x, double y, double z){ - return getTransform(new TransformNR(x, y, z, new RotationNR())); + public static Affine newAffine(double x, double y, double z){ + return nrToAffine(new TransformNR(x, y, z, new RotationNR())); } /** @@ -31,9 +31,9 @@ public static Affine getTransform(double x, double y, double z){ * @param input the input * @return the transform */ - public static Affine getTransform(TransformNR input){ + public static Affine nrToAffine(TransformNR input){ Affine rotations =new Affine(); - return getTransform( input , rotations); + return nrToAffine( input , rotations); } /** @@ -42,9 +42,9 @@ public static Affine getTransform(TransformNR input){ * @param input the input * @return the transform */ - public static TransformNR getTransform(Affine input){ + public static TransformNR affineToNr(Affine input){ TransformNR rotations =new TransformNR(); - return getTransformFromAffine( rotations,input ); + return affineToNr( rotations,input ); } /** * Gets the transform. @@ -53,7 +53,7 @@ public static TransformNR getTransform(Affine input){ * @param rotations the rotations * @return the transform */ - public static TransformNR getTransformFromAffine(TransformNR outputValue ,Affine rotations){ + public static TransformNR affineToNr(TransformNR outputValue ,Affine rotations){ double[][] poseRot = outputValue .getRotationMatrixArray(); @@ -82,7 +82,7 @@ public static TransformNR getTransformFromAffine(TransformNR outputValue ,Affine * @param rotations the rotations * @return the transform */ - public static Affine getTransform(TransformNR input ,Affine rotations){ + public static Affine nrToAffine(TransformNR input ,Affine rotations){ double[][] poseRot = input .getRotationMatrixArray(); From d051bc56b93c9592dceea15ec321c57eaef79d59 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Tue, 23 Feb 2016 12:59:38 -0500 Subject: [PATCH 010/482] Exposing the forward and inverse offset functions --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 4 ++-- .../com/neuronrobotics/sdk/addons/kinematics/MobileBase.java | 4 ++++ 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 492c3942..847b4ace 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -814,7 +814,7 @@ public void run() { * @param t the t * @return the transform nr */ - protected TransformNR inverseOffset(TransformNR t){ + public TransformNR inverseOffset(TransformNR t){ //System.out.println("RobotToFiducialTransform "+getRobotToFiducialTransform()); //System.out.println("FiducialToRASTransform "+getFiducialToRASTransform()); Matrix rtz = getFiducialToGlobalTransform().getMatrixTransform().inverse(); @@ -832,7 +832,7 @@ protected TransformNR inverseOffset(TransformNR t){ * @param t the t * @return the transform nr */ - protected TransformNR forwardOffset(TransformNR t){ + public TransformNR forwardOffset(TransformNR t){ Matrix btt = getRobotToFiducialTransform().getMatrixTransform(); Matrix ftb = getFiducialToGlobalTransform().getMatrixTransform(); Matrix current = t.getMatrixTransform(); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 09131029..02acf98b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -585,4 +585,8 @@ public void setCenterOfMassFromCentroid(TransformNR centerOfMassFromCentroid) { this.centerOfMassFromCentroid = centerOfMassFromCentroid; } + public void setFiducialToGlobalTransform(TransformNR globe) { + setGlobalToFiducialTransform(globe); + } + } From 6a16657b5bf679fa198c513b1ce9cc93455760de Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Tue, 23 Feb 2016 23:23:09 -0500 Subject: [PATCH 011/482] adding spacing on the file watcher evnets This should prevent the file watcher from notifying a thread while its reading it. SInce files can get bigger than this takes care of maybe a thread for events based on file size? --- .../neuronrobotics/sdk/util/FileChangeWatcher.java | 13 +------------ 1 file changed, 1 insertion(+), 12 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java b/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java index 8d071f0b..3cba9786 100644 --- a/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java +++ b/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java @@ -208,24 +208,13 @@ public void run() { //System.out.format("%s: %s\n", event.kind().name(), child); for(int i=0;i Date: Thu, 25 Feb 2016 02:10:36 -0500 Subject: [PATCH 012/482] adding an event call to the listeners when a limit is hit. --- .../sdk/addons/kinematics/AbstractLink.java | 17 +++++++ .../sdk/addons/kinematics/DHLink.java | 48 +++++++++++++++++-- 2 files changed, 62 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 0d3d6aea..9b3b4499 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -7,6 +7,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.pid.PIDLimitEvent; +import com.neuronrobotics.sdk.pid.PIDLimitEventType; // TODO: Auto-generated Javadoc /** @@ -344,6 +345,14 @@ protected void setTargetValue(int val) { link.setTargetValue(targetValue); } cacheTargetValue(); + fireLinkLimitEvent( + new PIDLimitEvent( + conf.getHardwareIndex(), + toLinkUnits(targetValue) , + PIDLimitEventType.UPPERLIMIT, + System.currentTimeMillis() + ) + ); throw new RuntimeException("Joint hit Upper software bound\n"+execpt); } if(val Date: Thu, 25 Feb 2016 02:28:56 -0500 Subject: [PATCH 013/482] removing non log prints --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 4 ++-- .../sdk/addons/kinematics/DHParameterKinematics.java | 2 +- .../sdk/addons/kinematics/MobileBase.java | 2 +- .../sdk/addons/kinematics/MockRotoryLink.java | 6 +++--- .../sdk/addons/kinematics/math/RotationNR.java | 12 ++++++------ 5 files changed, 13 insertions(+), 13 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 847b4ace..4c08c9cd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -276,9 +276,9 @@ public void onLinkGlobalPositionChange(TransformNR newPose) { } }else{ if (nNode.getNodeType() == Node.ELEMENT_NODE && nNode.getNodeName().contentEquals("slaveLink")) { - System.out.println("Slave link found: "); + //System.out.println("Slave link found: "); LinkConfiguration jc =new LinkConfiguration((Element) nNode); - System.out.println(jc); + //System.out.println(jc); newLinkConf.getSlaveLinks().add(jc); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 3a469f06..621e3e3d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -195,7 +195,7 @@ public TransformNR forwardKinematics(double[] jointSpaceVector) { public Matrix getJacobian(){ long time = System.currentTimeMillis(); Matrix m = getDhChain().getJacobian(getCurrentJointSpaceVector()); - System.out.println("Jacobian calc took: "+(System.currentTimeMillis()-time)); + //System.out.println("Jacobian calc took: "+(System.currentTimeMillis()-time)); return m; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 02acf98b..76cb529c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -67,7 +67,7 @@ public MobileBase(InputStream configFile){ NodeList nodListofLinks = doc.getElementsByTagName("root"); if(nodListofLinks.getLength()!=1 ){ - System.out.println("Found "+nodListofLinks.getLength()); + //System.out.println("Found "+nodListofLinks.getLength()); throw new RuntimeException("one mobile base is needed per level"); } NodeList rootNode = nodListofLinks.item(0).getChildNodes(); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java index dbfdf8a0..0e82c02a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java @@ -29,7 +29,7 @@ public MockRotoryLink(LinkConfiguration conf) { @Override public void cacheTargetValueDevice() { val=getTargetValue(); - System.out.println("Cacheing value="+val); + //System.out.println("Cacheing value="+val); } /* (non-Javadoc) @@ -38,7 +38,7 @@ public void cacheTargetValueDevice() { @Override public void flushDevice(double time) { val=getTargetValue(); - System.out.println("Flushing value="+val); + //System.out.println("Flushing value="+val); } /* (non-Javadoc) @@ -57,7 +57,7 @@ public int getCurrentPosition() { public void flushAllDevice(double time) { // TODO Auto-generated method stub val=getTargetValue(); - System.out.println("Flushing all Values"); + //System.out.println("Flushing all Values"); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 376ba16f..5433dc6c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -39,10 +39,10 @@ public RotationNR( double tilt , double azumeth, double elevation ) { Double.isNaN(getRotationMatrix2QuaturnionX())|| Double.isNaN(getRotationMatrix2QuaturnionY())|| Double.isNaN(getRotationMatrix2QuaturnionZ())){ - System.err.println("Failing to set proper angle, jittering"); - loadFromAngles( tilt + Math.random()*.02+.01 , - azumeth+ Math.random()*.02+.01 , - elevation+ Math.random()*.02+.01 ); + //System.err.println("Failing to set proper angle, jittering"); + loadFromAngles( tilt + Math.random()*.02+.001 , + azumeth+ Math.random()*.02+.001 , + elevation+ Math.random()*.02+.001 ); } } @@ -466,13 +466,13 @@ private double getRotAngle(int index){ // is correction factor double test = x * y + z * w; if (test > 0.499 * unit) { // singularity at north pole - System.err.println("North pole singularity"); + //System.err.println("North pole singularity"); azumiuth = 2 * Math.atan2(x, w); elevation = Math.PI / 2; tilt = 0; } else if (test < -0.499 * unit) { // singularity at south pole - System.err.println("South pole singularity"); + //System.err.println("South pole singularity"); azumiuth = -2 * Math.atan2(x, w); elevation = -Math.PI / 2; tilt = 0; From b17e74f341a3551b00b57db592decb22ea9a30c7 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Thu, 25 Feb 2016 11:15:55 -0500 Subject: [PATCH 014/482] when the file watcher exits, it should close its daemon thread too. --- .../com/neuronrobotics/sdk/util/FileChangeWatcher.java | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java b/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java index 3cba9786..5ca134c9 100644 --- a/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java +++ b/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java @@ -36,10 +36,7 @@ import java.nio.file.*; import static java.nio.file.StandardWatchEventKinds.*; -import static java.nio.file.LinkOption.*; - import java.nio.file.attribute.*; -import java.io.*; import java.util.*; // TODO: Auto-generated Javadoc @@ -228,6 +225,12 @@ public void run() { } } } + try { + watcher.close(); + } catch (IOException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } } /** From 7e9da348f9796b7a0f0275e7d4cb6f37d2004851 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Thu, 25 Feb 2016 11:19:43 -0500 Subject: [PATCH 015/482] removing signing --- build.gradle | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index 280ae298..ad89dbf7 100644 --- a/build.gradle +++ b/build.gradle @@ -176,4 +176,4 @@ uploadArchives { } } } -*/ \ No newline at end of file + */ From 1aa9b7139ae8175118bae52b188c02f2bf652f5d Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Thu, 25 Feb 2016 23:06:19 -0500 Subject: [PATCH 016/482] adding comments --- .../imageprovider/AbstractImageProvider.java | 50 +++++++++++++++++++ .../sdk/addons/kinematics/DHLink.java | 5 -- .../sdk/pid/PIDLimitEventType.java | 9 ++++ 3 files changed, 59 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java b/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java index 011be0bb..1a1cdf3a 100644 --- a/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java +++ b/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java @@ -22,6 +22,11 @@ import com.neuronrobotics.sdk.common.InvalidConnectionException; import com.neuronrobotics.sdk.common.NonBowlerDevice; +/** + * This is a class is used as an interface to create cameras for the Bowler system. + * @author hephaestus + * + */ public abstract class AbstractImageProvider extends NonBowlerDevice { private BufferedImage image = null; private Affine globalPos; @@ -56,11 +61,21 @@ public boolean isAvailable() throws InvalidConnectionException{ + /** + * copy from buffered image to buffered image + * @param src + * @param dest + */ public static void deepCopy(BufferedImage src, BufferedImage dest) { Graphics g = dest.createGraphics(); g.drawImage(src, 0, 0, null); } + /** + * @param inputImage + * @param displayImage + * @return latest image + */ public BufferedImage getLatestImage(BufferedImage inputImage, BufferedImage displayImage){ captureNewImage(inputImage); if(displayImage!=null){ @@ -71,10 +86,18 @@ public BufferedImage getLatestImage(BufferedImage inputImage, BufferedImage disp return image; } + /** + * @return latest image + */ public BufferedImage getLatestImage(){ return image; } + /** + * @param w + * @param h + * @return new blnak sized image + */ public static BufferedImage newBufferImage(int w, int h) { return new BufferedImage(w, h, BufferedImage.TYPE_3BYTE_BGR); @@ -82,6 +105,12 @@ public static BufferedImage newBufferImage(int w, int h) { + /** + * @param in + * @param w + * @param h + * @return grayed image + */ public static BufferedImage toGrayScale(BufferedImage in, int w, int h) { BufferedImage bi = new BufferedImage(w, h, BufferedImage.TYPE_BYTE_GRAY); Graphics g = bi.createGraphics(); @@ -89,11 +118,20 @@ public static BufferedImage toGrayScale(BufferedImage in, int w, int h) { return bi; } + /** + * @param in + * @param scale + * @return toGrayScale + */ public static BufferedImage toGrayScale(BufferedImage in, double scale) { int w = (int) (in.getWidth() * scale); int h = (int) (in.getHeight() * scale); return toGrayScale(in, w, h); } + /** + * @param bf + * @return conversion to javafx i mage + */ public static Image getJfxImage(BufferedImage bf) { ByteArrayOutputStream out = new ByteArrayOutputStream(); try { @@ -105,18 +143,30 @@ public static Image getJfxImage(BufferedImage bf) { ByteArrayInputStream in = new ByteArrayInputStream(out.toByteArray()); return new javafx.scene.image.Image(in); } + /** + * @return image as Javafx + */ public Image getLatestJfxImage() { return getJfxImage(getLatestImage()); } + /** + * @param globalPos + */ public void setGlobalPositionListener(Affine globalPos) { this.setGlobalPos(globalPos); } + /** + * @return global positioning of the image + */ public Affine getGlobalPos() { return globalPos; } + /** + * @param globalPos + */ public void setGlobalPos(Affine globalPos) { this.globalPos = globalPos; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java index 592afa69..f4362076 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java @@ -271,7 +271,6 @@ public Matrix DhStepInverse(Matrix end,double rotory,double prismatic) { /** * Dh step inverse. * - * @param end the end * @param rotory the rotory * @param prismatic the prismatic * @return the matrix @@ -287,8 +286,6 @@ public Matrix DhStepInverse(double rotory,double prismatic) { /** * Dh step inverse. * - * @param end the end - * @param rotory the rotory * @param prismatic the prismatic * @return the matrix */ @@ -301,9 +298,7 @@ public Matrix DhStepInversePrismatic(double prismatic) { /** * Dh step inverse. * - * @param end the end * @param rotory the rotory - * @param prismatic the prismatic * @return the matrix */ public Matrix DhStepInverseRotory(double rotory) { diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEventType.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEventType.java index ef1ad23e..4d55860c 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEventType.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEventType.java @@ -27,6 +27,9 @@ */ public enum PIDLimitEventType { + /** + * + */ NO_LIMIT(0x00), /** The lowerlimit. */ LOWERLIMIT(0x01), @@ -39,7 +42,13 @@ public enum PIDLimitEventType { /** The overcurrent. */ OVERCURRENT(0x08), + /** + * + */ CONTROLLER_ERROR(0x10), + /** + * a home event + */ HOME_EVENT(0x20) ; ; From 3c19f47029064175add2539ad6e70655b1fc182b Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 28 Feb 2016 16:16:49 -0500 Subject: [PATCH 017/482] adding closed loop controller to the common interfaces --- .../sdk/common/IClosedLoopController.java | 14 ++++++++++++++ 1 file changed, 14 insertions(+) create mode 100644 src/main/java/com/neuronrobotics/sdk/common/IClosedLoopController.java diff --git a/src/main/java/com/neuronrobotics/sdk/common/IClosedLoopController.java b/src/main/java/com/neuronrobotics/sdk/common/IClosedLoopController.java new file mode 100644 index 00000000..6cb2b2c2 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/common/IClosedLoopController.java @@ -0,0 +1,14 @@ +package com.neuronrobotics.sdk.common; + +public interface IClosedLoopController { + /** + * This is an interface for a single axis generic closed loop controller + * Linear PID controllers are the simplest form, but any other form of + * control could be implemented that opperates on this interface + * @param currentState the value that reperesents the curent state of the linear system + * @param target the desired target state of the control system + * @param seconds the amount of time this computation should calculate the velocity for. + * @return the velocity set of the controller + */ + public double compute(double currentState, double target, double seconds); +} From 2a3843f4c03c2dc5e213df0c1448620a23386f88 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 28 Feb 2016 17:20:56 -0500 Subject: [PATCH 018/482] 3.18.3 --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index a0ce834e..3ad76527 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.18.2 +app.version=3.18.3 app.javac.version=1.6 From 8b8df431bfd61ee571b1e487d807a3c6ba56423f Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 20 Mar 2016 17:52:39 -0400 Subject: [PATCH 019/482] removing unused references to driving engine --- .../sdk/addons/kinematics/MobileBase.java | 96 ++----------------- 1 file changed, 8 insertions(+), 88 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 76cb529c..ffc33fe1 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -33,15 +33,9 @@ public class MobileBase extends AbstractKinematicsNR{ /** The drivable. */ private final ArrayList drivable=new ArrayList(); - /** The drive type. */ - private DrivingType driveType = DrivingType.NONE; - /** The walking drive engine. */ private IDriveEngine walkingDriveEngine = new WalkingDriveEngine(); - /** The wheeled drive engine. */ - private IDriveEngine wheeledDriveEngine = new WheeledDriveEngine(); - /** The walking engine. */ private String [] walkingEngine =new String[]{"https://gist.github.com/bcb4760a449190206170.git","WalkingDriveEngine.groovy"}; @@ -147,11 +141,7 @@ private void loadConfigs(Element doc){ }catch (Exception e){ } - try{ - setDriveType(DrivingType.fromString(XmlFactory.getTagValue("driveType",doc))); - }catch(Exception ex ){ - setDriveType(DrivingType.NONE); - } + } /** @@ -316,7 +306,7 @@ public String getEmbedableXml(){ TransformNR location = getFiducialToGlobalTransform(); setGlobalToFiducialTransform(new TransformNR()); String xml = "\n"; - xml+="\n"+getDriveType()+"\n"; + xml+="\t\n"; xml+="\t\t"+getGitCadEngine()[0]+"\n"; @@ -394,6 +384,7 @@ public ArrayList getDrivable() { * @return the walking drive engine */ private IDriveEngine getWalkingDriveEngine() { + return walkingDriveEngine; } @@ -406,42 +397,8 @@ public void setWalkingDriveEngine(IDriveEngine walkingDriveEngine) { this.walkingDriveEngine = walkingDriveEngine; } - /** - * Gets the wheeled drive engine. - * - * @return the wheeled drive engine - */ - private IDriveEngine getWheeledDriveEngine() { - return wheeledDriveEngine; - } - /** - * Sets the wheeled drive engine. - * - * @param wheeledDriveEngine the new wheeled drive engine - */ - public void setWheeledDriveEngine(IDriveEngine wheeledDriveEngine) { - this.wheeledDriveEngine = wheeledDriveEngine; - } - /** - * Gets the drive type. - * - * @return the drive type - */ - public DrivingType getDriveType() { - return driveType; - } - - /** - * Sets the drive type. - * - * @param driveType the new drive type - */ - public void setDriveType(DrivingType driveType) { - this.driveType = driveType; - } - /** * Drive arc. * @@ -449,26 +406,7 @@ public void setDriveType(DrivingType driveType) { * @param seconds the seconds */ public void DriveArc( TransformNR newPose, double seconds) { - // TODO Auto-generated method stub - switch(driveType){ - case DRIVING: - getWheeledDriveEngine().DriveArc(this,newPose, seconds); - break; - case NONE: - try { - //do a simple coordinated motion task - for(DHParameterKinematics dh:appendages){ - dh.setDesiredTaskSpaceTransform(newPose, seconds); - } - } catch (Exception e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - break; - case WALKING: - getWalkingDriveEngine().DriveArc(this,newPose, seconds); - break; - } + getWalkingDriveEngine().DriveArc(this,newPose, seconds); updatePositions(); } @@ -479,17 +417,8 @@ public void DriveArc( TransformNR newPose, double seconds) { * @param cmPerSecond the cm per second */ public void DriveVelocityStraight(double cmPerSecond) { - // TODO Auto-generated method stub - switch(driveType){ - case DRIVING: - getWheeledDriveEngine().DriveVelocityStraight(this,cmPerSecond); - break; - case NONE: - break; - case WALKING: - getWalkingDriveEngine().DriveVelocityStraight(this,cmPerSecond); - break; - } + getWalkingDriveEngine().DriveVelocityStraight(this,cmPerSecond); + updatePositions(); } @@ -501,17 +430,8 @@ public void DriveVelocityStraight(double cmPerSecond) { * @param cmRadius the cm radius */ public void DriveVelocityArc(double degreesPerSecond, double cmRadius) { - // TODO Auto-generated method stub - switch(driveType){ - case DRIVING: - getWheeledDriveEngine().DriveVelocityArc(this,degreesPerSecond, cmRadius); - break; - case NONE: - break; - case WALKING: - getWalkingDriveEngine().DriveVelocityArc(this,degreesPerSecond, cmRadius); - break; - } + getWalkingDriveEngine().DriveVelocityArc(this,degreesPerSecond, cmRadius); + updatePositions(); } From 174a070177ea353fbad9c86847d51088aafb67ca Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 3 Apr 2016 15:13:23 -0400 Subject: [PATCH 020/482] adding a tag for the electromechanical configuration --- .../addons/kinematics/LinkConfiguration.java | 30 +++++++++++++++++++ .../sdk/config/build.properties | 2 +- 2 files changed, 31 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 605683aa..7251f6f9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -95,6 +95,8 @@ public class LinkConfiguration { */ private boolean invertLimitVelocityPolarity=false; + private String electroMechanicalType = "hobbyServo"; + private String electroMechanicalSize = "standardMicro"; /** * Instantiates a new link configuration. * @@ -147,8 +149,18 @@ public LinkConfiguration(Element eElement){ setMassKg(Double.parseDouble(XmlFactory.getTagValue("mass",eElement))); }catch (Exception e){ + } + try{ + setElectroMechanicalType(XmlFactory.getTagValue("electroMechanicalType",eElement)); + }catch (Exception e){ + } + try{ + setElectroMechanicalSize(XmlFactory.getTagValue("electroMechanicalSize",eElement)); + }catch (Exception e){ + + } try{ if (eElement.getNodeType() == Node.ELEMENT_NODE && eElement.getNodeName().contentEquals("centerOfMassFromCentroid")) { Element cntr = (Element)eElement; @@ -255,6 +267,8 @@ public String getXml(){ "\t"+indexLatch+"\n"+ "\t"+isStopOnLatch+"\n"+ "\t"+getHomingTicksPerSecond()+"\n"+ + "\t"+getElectroMechanicalSize()+"\n"+ + "\t"+getElectroMechanicalType()+"\n"+ "\t"+getMassKg()+"\n"+ "\t"+getCenterOfMassFromCentroid().getXml()+"\n" +slaves; @@ -693,6 +707,22 @@ public TransformNR getCenterOfMassFromCentroid() { } public void setCenterOfMassFromCentroid(TransformNR centerOfMassFromCentroid) { this.centerOfMassFromCentroid = centerOfMassFromCentroid; + } + + public String getElectroMechanicalType() { + return electroMechanicalType; + } + + public void setElectroMechanicalType(String electroMechanicalType) { + this.electroMechanicalType = electroMechanicalType; + } + + public String getElectroMechanicalSize() { + return electroMechanicalSize; + } + + public void setElectroMechanicalSize(String electroMechanicalSize) { + this.electroMechanicalSize = electroMechanicalSize; } } diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 3ad76527..cd550b29 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.18.3 +app.version=3.18.4 app.javac.version=1.6 From a0cf10c610938de641a55b0de0c7d38231e55a89 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 9 Apr 2016 10:14:23 -0400 Subject: [PATCH 021/482] 3.18.5 Adding shaft tags --- .../addons/kinematics/LinkConfiguration.java | 31 +++++++++++++++++++ .../sdk/config/build.properties | 2 +- 2 files changed, 32 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 7251f6f9..ad041ec4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -97,6 +97,8 @@ public class LinkConfiguration { private String electroMechanicalType = "hobbyServo"; private String electroMechanicalSize = "standardMicro"; + private String shaftType = "hobbyServoHorn"; + private String shaftSize = "standardMicro1"; /** * Instantiates a new link configuration. * @@ -160,6 +162,17 @@ public LinkConfiguration(Element eElement){ setElectroMechanicalSize(XmlFactory.getTagValue("electroMechanicalSize",eElement)); }catch (Exception e){ + } + try{ + setShaftType(XmlFactory.getTagValue("shaftType",eElement)); + }catch (Exception e){ + + } + + try{ + setShaftSize(XmlFactory.getTagValue("shaftSize",eElement)); + }catch (Exception e){ + } try{ if (eElement.getNodeType() == Node.ELEMENT_NODE && eElement.getNodeName().contentEquals("centerOfMassFromCentroid")) { @@ -269,6 +282,8 @@ public String getXml(){ "\t"+getHomingTicksPerSecond()+"\n"+ "\t"+getElectroMechanicalSize()+"\n"+ "\t"+getElectroMechanicalType()+"\n"+ + "\t"+getShaftSize()+"\n"+ + "\t"+getShaftType()+"\n"+ "\t"+getMassKg()+"\n"+ "\t"+getCenterOfMassFromCentroid().getXml()+"\n" +slaves; @@ -723,6 +738,22 @@ public String getElectroMechanicalSize() { public void setElectroMechanicalSize(String electroMechanicalSize) { this.electroMechanicalSize = electroMechanicalSize; + } + + public String getShaftType() { + return shaftType; + } + + public void setShaftType(String shaftType) { + this.shaftType = shaftType; + } + + public String getShaftSize() { + return shaftSize; + } + + public void setShaftSize(String shaftSize) { + this.shaftSize = shaftSize; } } diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index cd550b29..d043d70e 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.18.4 +app.version=3.18.5 app.javac.version=1.6 From 6a2f944a7c5716470db57ca54552abf9bdffe5c8 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 9 Apr 2016 14:28:06 -0400 Subject: [PATCH 022/482] removing the screaming UDP info print --- .../java/com/neuronrobotics/sdk/network/BowlerUDPServer.java | 2 +- .../com/neuronrobotics/sdk/network/UDPBowlerConnection.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPServer.java b/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPServer.java index 10ba97d0..b11e0cbc 100644 --- a/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPServer.java +++ b/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPServer.java @@ -178,7 +178,7 @@ public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) throws Nul byte[] receiveData=new byte[4096]; DatagramPacket receivePacket = new DatagramPacket(receiveData, receiveData.length); - Log.info("Waiting for UDP packet"); + //Log.info("Waiting for UDP packet"); try{ udpSock.receive(receivePacket); diff --git a/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java b/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java index 19a3c3d3..78e4a1af 100644 --- a/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java +++ b/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java @@ -159,7 +159,7 @@ public void write(byte[] data) throws IOException { public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) throws NullPointerException, IOException{ long start = System.currentTimeMillis(); - Log.info("Waiting for UDP packet"); + //Log.info("Waiting for UDP packet"); udpSock.setSoTimeout(1);// Timeout the socket after 1 ms //System.err.println("Timeout set "+(System.currentTimeMillis()-start)); start = System.currentTimeMillis(); From 754a1254fcb4dae5a486169f6a8910b85e6607e2 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 9 Apr 2016 14:28:36 -0400 Subject: [PATCH 023/482] 3.18.6 --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index d043d70e..4952d650 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.18.5 +app.version=3.18.6 app.javac.version=1.6 From 159f5837470722a602100ab87fdb9176d80264e9 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 9 Apr 2016 19:13:09 -0400 Subject: [PATCH 024/482] sanatize inputs --- src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java index c47908f3..b23a7b06 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java @@ -104,7 +104,7 @@ public BowlerAbstractConnection getConnection() { if(baud < 0) { throw new NumberFormatException(); } - String address =connectionCbo.getSelectedItem().toString(); + String address =connectionCbo.getSelectedItem().toString().trim(); clnt.setAddress(address); setVisible(false); return clnt; From a761a170d60ce264b52461af2fcd45423bb93e65 Mon Sep 17 00:00:00 2001 From: nirav Date: Sun, 10 Apr 2016 17:04:16 -0400 Subject: [PATCH 025/482] changing limit and PID events to traditional for loops --- .../com/neuronrobotics/sdk/pid/PIDChannel.java | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java index 7cef9dc2..6ec396aa 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java @@ -192,8 +192,9 @@ public void addPIDEventListener(IPIDEventListener l) { * @param e the e */ public void firePIDLimitEvent(PIDLimitEvent e){ - for(IPIDEventListener l: PIDEventListeners) - l.onPIDLimitEvent(e); + for (int i=0;i Date: Thu, 14 Apr 2016 15:18:57 -0400 Subject: [PATCH 026/482] do not allow the frame transform offsets to be set to null. --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 4c08c9cd..6ad713c4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -754,6 +754,11 @@ public TransformNR getFiducialToGlobalTransform() { * @param baseToFiducial the new base to zframe transform */ public void setBaseToZframeTransform(TransformNR baseToFiducial) { + if(baseToFiducial == null){ + Log.error("Fiducial can not be null "+baseToFiducial); + new Exception().printStackTrace(System.out); + return; + } Log.info("Setting Fiducial To base Transform "+baseToFiducial); this.base2Fiducial = baseToFiducial; for(IRegistrationListenerNR r: regListeners){ @@ -793,6 +798,11 @@ public TransformNR getRobotToFiducialTransform() { * @param frameToBase the new global to fiducial transform */ public void setGlobalToFiducialTransform(TransformNR frameToBase) { + if(frameToBase == null){ + Log.error("Fiducial can not be null "+frameToBase); + new Exception().printStackTrace(System.out); + return; + } Log.info("Setting Global To Fiducial Transform "+frameToBase); this.fiducial2RAS = frameToBase; From 78a4ea5091ca078ea675cf131a60530cb09699d5 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Thu, 14 Apr 2016 15:21:29 -0400 Subject: [PATCH 027/482] putting in null checks for frame transformations --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 4952d650..eed4fd49 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.18.6 +app.version=3.18.7 app.javac.version=1.6 From 340afca81827ba37a8783918f7302ee62ba4c858 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 15 Apr 2016 12:19:26 -0400 Subject: [PATCH 028/482] more efficiant gradle build --- .travis.yml | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/.travis.yml b/.travis.yml index 77a4a533..e0ead6b9 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,7 +1,10 @@ language: java -install: /bin/true +install: + - sudo add-apt-repository ppa:cwchien/gradle -y + - sudo apt-get update -qq + - sudo apt-get install -y --force-yes gradle script: - - ./gradlew compileJava jar javadoc test + - gradle compileJava jar javadoc test cache: directories: - $HOME/.m2 @@ -10,4 +13,5 @@ jdk: - oraclejdk8 # for running tests on Travis CI container infrastructure for faster builds -sudo: false +sudo: true +dist: trusty From 44535675700dea4d3e1b8afb3cc3bdce0b9a38db Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Tue, 19 Apr 2016 18:23:32 -0400 Subject: [PATCH 029/482] adding a direct image capture interface to tha abstract image proivider --- .../imageprovider/AbstractImageProvider.java | 7 +++++++ .../imageprovider/StaticFileProvider.java | 18 +++++++++++------- .../imageprovider/URLImageProvider.java | 12 +++++++----- .../neuronrobotics/sdk/config/build.properties | 2 +- 4 files changed, 26 insertions(+), 13 deletions(-) diff --git a/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java b/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java index 1a1cdf3a..efd9874c 100644 --- a/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java +++ b/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java @@ -37,6 +37,13 @@ public abstract class AbstractImageProvider extends NonBowlerDevice { */ protected abstract boolean captureNewImage(BufferedImage imageData); + /** + * This method should capture a new image and return it + * @param imageData + * @return + */ + public abstract BufferedImage captureNewImage(); + @Override public void onAsyncResponse(BowlerDatagram data) { // TODO Auto-generated method stub diff --git a/src/main/java/com/neuronrobotics/imageprovider/StaticFileProvider.java b/src/main/java/com/neuronrobotics/imageprovider/StaticFileProvider.java index 2995e281..9a59e90e 100644 --- a/src/main/java/com/neuronrobotics/imageprovider/StaticFileProvider.java +++ b/src/main/java/com/neuronrobotics/imageprovider/StaticFileProvider.java @@ -21,13 +21,7 @@ public StaticFileProvider(File file){ @Override protected boolean captureNewImage(BufferedImage imageData) { - // TODO Auto-generated method stub - BufferedImage buffImg; - - /*In the constructor*/ - try { buffImg = ImageIO.read(file ); } catch (IOException e) { return false;} - - AbstractImageProvider.deepCopy(buffImg,imageData); + AbstractImageProvider.deepCopy( captureNewImage(),imageData); return true; } @@ -49,5 +43,15 @@ public ArrayList getNamespacesImp() { return null; } + @Override + public BufferedImage captureNewImage() { + /* In the constructor */ + try { + return ImageIO.read(file); + } catch (IOException e) { + return null; + } + } + } diff --git a/src/main/java/com/neuronrobotics/imageprovider/URLImageProvider.java b/src/main/java/com/neuronrobotics/imageprovider/URLImageProvider.java index 9cc63111..c58ab148 100644 --- a/src/main/java/com/neuronrobotics/imageprovider/URLImageProvider.java +++ b/src/main/java/com/neuronrobotics/imageprovider/URLImageProvider.java @@ -21,13 +21,9 @@ public URLImageProvider(URL url) { @Override protected boolean captureNewImage(BufferedImage imageData) { - // TODO Auto-generated method stub - BufferedImage buffImg; - /*In the constructor*/ - try { buffImg = ImageIO.read(url ); } catch (IOException e) { return false;} - AbstractImageProvider.deepCopy(buffImg,imageData); + AbstractImageProvider.deepCopy(captureNewImage() ,imageData); return true; } @@ -49,5 +45,11 @@ public ArrayList getNamespacesImp() { return null; } + @Override + public BufferedImage captureNewImage() { + /*In the constructor*/ + try { return ImageIO.read(url ); } catch (IOException e) { return null;} + } + } diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index eed4fd49..34b20696 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.18.7 +app.version=3.19.0 app.javac.version=1.6 From 2dfefa152f7d7a4362ba0fadd0337f58cfe9307f Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Tue, 19 Apr 2016 18:25:54 -0400 Subject: [PATCH 030/482] Fixing the javadoc --- .../com/neuronrobotics/imageprovider/AbstractImageProvider.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java b/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java index efd9874c..c4438ced 100644 --- a/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java +++ b/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java @@ -39,7 +39,6 @@ public abstract class AbstractImageProvider extends NonBowlerDevice { /** * This method should capture a new image and return it - * @param imageData * @return */ public abstract BufferedImage captureNewImage(); From 00b79d581a8f47a67cdd4c1416d1e5447eedcbd0 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Mon, 2 May 2016 01:55:06 -0400 Subject: [PATCH 031/482] more usefull print --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 6ad713c4..317b18a8 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -800,7 +800,7 @@ public TransformNR getRobotToFiducialTransform() { public void setGlobalToFiducialTransform(TransformNR frameToBase) { if(frameToBase == null){ Log.error("Fiducial can not be null "+frameToBase); - new Exception().printStackTrace(System.out); + new Exception("Fiducial can not be null ").printStackTrace(System.out); return; } Log.info("Setting Global To Fiducial Transform "+frameToBase); From e28a88432be5db47b1906c74945ba5e7466aa65e Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 8 May 2016 22:57:46 -0400 Subject: [PATCH 032/482] allow the game controllers ot clear the listeners --- .../sdk/addons/gamepad/BowlerJInputDevice.java | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java index c90cfd5e..25a365f8 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java @@ -129,7 +129,14 @@ public void removeListeners(IJInputEventListener l) { if(listeners.contains(l)) this.listeners.remove(l); } - + /** + * Removes the listeners. + * + * @param l the l + */ + public void clearListeners() { + this.listeners.clear(); + } /** * Adds the listeners. * From d01231afc9e84525cccbf07b3287399a73e799c1 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 8 May 2016 22:58:10 -0400 Subject: [PATCH 033/482] 3.19.1 --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 34b20696..6d45483a 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.19.0 +app.version=3.19.1 app.javac.version=1.6 From 550971e7435c8e94c8519b7bd40c9c9832179605 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 8 May 2016 23:00:05 -0400 Subject: [PATCH 034/482] fixing hte javadoc --- .../neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java index 25a365f8..6a2089d0 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java @@ -130,9 +130,8 @@ public void removeListeners(IJInputEventListener l) { this.listeners.remove(l); } /** - * Removes the listeners. + * Removes all the listeners. * - * @param l the l */ public void clearListeners() { this.listeners.clear(); From cf3a14a8ea9d1a0666b017f1e7d36fce5af0e097 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Wed, 11 May 2016 19:43:10 -0400 Subject: [PATCH 035/482] adding stubs for gcode devices --- .../addons/gamepad/BowlerJInputDevice.java | 1 + .../sdk/addons/kinematics/LinkType.java | 14 +++++++- .../kinematics/gcodebridge/GcodeDevice.java | 36 +++++++++++++++++++ 3 files changed, 50 insertions(+), 1 deletion(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java index 6a2089d0..82c84f9e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java @@ -39,6 +39,7 @@ public BowlerJInputDevice(Controller controller){ this.setController(controller); else throw new RuntimeException("Contoller must not be null"); + } /* (non-Javadoc) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java index caf7940f..daee6fb8 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java @@ -45,10 +45,19 @@ public enum LinkType { /** The stepper tool. */ STEPPER_TOOL("stepper-tool"), - + /** The stepper prismatic. */ STEPPER_PRISMATIC("stepper-prismatic"), + /** The stepper rotory. */ + GCODE_STEPPER_ROTORY("gcode-stepper-rotory"), + /** The stepper tool. */ + GCODE_STEPPER_TOOL("gcode-stepper-tool"), + /** The stepper tool. */ + GCODE_STEPPER_PRISMATIC("gcode-stepper-prismatic"), + /** The stepper tool. */ + GCODE_HEATER_TOOL("gcode-heater-tool"), + /** Camera */ CAMERA("camera"); @@ -122,6 +131,8 @@ public boolean isTool(){ case SERVO_TOOL: case STEPPER_TOOL: case PID_TOOL: + case GCODE_STEPPER_TOOL: + case GCODE_HEATER_TOOL: return true; default: return false; @@ -140,6 +151,7 @@ public boolean isPrismatic(){ case PID_PRISMATIC: case SERVO_PRISMATIC: case STEPPER_PRISMATIC: + case GCODE_STEPPER_PRISMATIC: return true; default: return false; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java new file mode 100644 index 00000000..5c3f4a16 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -0,0 +1,36 @@ +package com.neuronrobotics.sdk.addons.kinematics.gcodebridge; + +import java.util.ArrayList; + +import com.neuronrobotics.sdk.common.NonBowlerDevice; + +import gnu.io.NRSerialPort; + +public class GcodeDevice extends NonBowlerDevice { + + private NRSerialPort serial; + + public GcodeDevice(NRSerialPort serial){ + this.serial = serial; + + } + + @Override + public void disconnectDeviceImp() { + // TODO Auto-generated method stub + + } + + @Override + public boolean connectDeviceImp() { + // TODO Auto-generated method stub + return false; + } + + @Override + public ArrayList getNamespacesImp() { + // TODO Auto-generated method stub + return new ArrayList(); + } + +} From 15669230e5d89ec59637090ffca8bf45522ec634 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Thu, 12 May 2016 13:28:59 -0400 Subject: [PATCH 036/482] basic gcode execution --- .../kinematics/gcodebridge/GcodeDevice.java | 91 ++++++++++++++++++- .../gcodebridge/IGcodeExecuter.java | 18 ++++ .../neuronrobotics/utilities/GCODETest.java | 46 ++++++++++ 3 files changed, 150 insertions(+), 5 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGcodeExecuter.java create mode 100644 test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 5c3f4a16..0efea468 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -1,14 +1,27 @@ package com.neuronrobotics.sdk.addons.kinematics.gcodebridge; +import java.io.File; +import java.io.IOException; +import java.io.InputStream; +import java.io.OutputStream; +import java.io.StringReader; +import java.io.StringWriter; import java.util.ArrayList; +import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.common.NonBowlerDevice; +import com.neuronrobotics.sdk.util.ThreadUtil; import gnu.io.NRSerialPort; +import sun.nio.ch.IOUtil; -public class GcodeDevice extends NonBowlerDevice { +public class GcodeDevice extends NonBowlerDevice implements IGcodeExecuter{ private NRSerialPort serial; + + InputStream ins; + OutputStream outs; + private int timeoutMs = 1000; public GcodeDevice(NRSerialPort serial){ this.serial = serial; @@ -17,14 +30,34 @@ public GcodeDevice(NRSerialPort serial){ @Override public void disconnectDeviceImp() { - // TODO Auto-generated method stub - + if(ins!=null){ + try { + ins.close(); + } catch (IOException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + ins=null; + } + if(outs!=null){ + try { + outs.close(); + } catch (IOException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + outs=null; + } } @Override public boolean connectDeviceImp() { - // TODO Auto-generated method stub - return false; + disconnectDeviceImp(); + serial.connect(); + ins=serial.getInputStream(); + outs = serial.getOutputStream(); + + return true; } @Override @@ -32,5 +65,53 @@ public ArrayList getNamespacesImp() { // TODO Auto-generated method stub return new ArrayList(); } + + private String getLine(){ + @SuppressWarnings("resource") + String ret=null; + synchronized(ins){ + java.util.Scanner s = new java.util.Scanner(ins).useDelimiter("\\n"); + ret =s.hasNext() ? s.next() : ""; + } + return ret; + } + + @Override + public String runLine(String line) { + try { + synchronized(outs){ + outs.write(line.getBytes()); + } + } catch (IOException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + long start = System.currentTimeMillis(); + String ret= ""; + while(ret.contentEquals("") && + (System.currentTimeMillis()-start) Date: Thu, 12 May 2016 15:13:25 -0400 Subject: [PATCH 037/482] Adding a basic working unit test for GCODE devices. #26 --- .../kinematics/gcodebridge/GcodeDevice.java | 16 +++++---- .../neuronrobotics/utilities/GCODETest.java | 34 ++++++++----------- 2 files changed, 25 insertions(+), 25 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 0efea468..f3189552 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -48,12 +48,16 @@ public void disconnectDeviceImp() { } outs=null; } + if(serial.isConnected()) + serial.disconnect(); } @Override public boolean connectDeviceImp() { disconnectDeviceImp(); - serial.connect(); + if(!serial.connect()){ + throw new RuntimeException("Failed to connect to the serial device"); + } ins=serial.getInputStream(); outs = serial.getOutputStream(); @@ -69,19 +73,19 @@ public ArrayList getNamespacesImp() { private String getLine(){ @SuppressWarnings("resource") String ret=null; - synchronized(ins){ - java.util.Scanner s = new java.util.Scanner(ins).useDelimiter("\\n"); + //synchronized(ins){ + java.util.Scanner s = new java.util.Scanner(ins).useDelimiter("\\A"); ret =s.hasNext() ? s.next() : ""; - } + //} return ret; } @Override public String runLine(String line) { try { - synchronized(outs){ + //synchronized(outs){ outs.write(line.getBytes()); - } + //} } catch (IOException e) { // TODO Auto-generated catch block e.printStackTrace(); diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index eadf20c7..a6be2f5d 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -3,7 +3,9 @@ import static org.junit.Assert.*; import org.junit.After; +import org.junit.AfterClass; import org.junit.Before; +import org.junit.BeforeClass; import org.junit.Test; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice; @@ -15,31 +17,25 @@ public class GCODETest { private static final String GCODE = "GCODE"; - @Before - public void setUp() throws Exception { - NRSerialPort port = new NRSerialPort("/dev/ttyUSB0", 250000); - GcodeDevice device = new GcodeDevice(port); - device.connect(); - DeviceManager.addConnection(device, GCODE); - - - } - - @After - public void tearDown() throws Exception { - DeviceManager.getSpecificDevice(GcodeDevice.class, GCODE).disconnect(); - - } - @Test public void test() { Object d = DeviceManager.getSpecificDevice(GcodeDevice.class, GCODE); + GcodeDevice device; if(d==null){ - return; + NRSerialPort port = new NRSerialPort("/dev/ttyUSB0", 230400); + device = new GcodeDevice(port); + device.connect(); + DeviceManager.addConnection(device, GCODE); + }else{ + device = (GcodeDevice)d; } - GcodeDevice device = (GcodeDevice)d; + String response = device.runLine("M105"); - System.out.println("Gcode line run: "+device.runLine("M105")); + device.disconnect(); + if (response.length()>0) + System.out.println("Gcode line run: "+response); + else + fail("No response"); } From 38efdcca78d66043e72c598c1e2e2a7716dea1d1 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Thu, 12 May 2016 15:15:58 -0400 Subject: [PATCH 038/482] #26 This should precent the unites from running on TravisCI where the hardware is not connected. --- .../neuronrobotics/utilities/GCODETest.java | 42 +++++++++++-------- 1 file changed, 25 insertions(+), 17 deletions(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index a6be2f5d..7327ba2c 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -19,24 +19,32 @@ public class GCODETest { @Test public void test() { - Object d = DeviceManager.getSpecificDevice(GcodeDevice.class, GCODE); - GcodeDevice device; - if(d==null){ - NRSerialPort port = new NRSerialPort("/dev/ttyUSB0", 230400); - device = new GcodeDevice(port); - device.connect(); - DeviceManager.addConnection(device, GCODE); - }else{ - device = (GcodeDevice)d; + boolean hasPort=false; + String portname = "/dev/ttyUSB0"; + + for (String s:NRSerialPort.getAvailableSerialPorts()){ + if(s.contentEquals(portname)) + hasPort=true; + } + if(hasPort){ + Object d = DeviceManager.getSpecificDevice(GcodeDevice.class, GCODE); + GcodeDevice device; + if(d==null){ + NRSerialPort port = new NRSerialPort(portname, 230400); + device = new GcodeDevice(port); + device.connect(); + DeviceManager.addConnection(device, GCODE); + }else{ + device = (GcodeDevice)d; + } + String response = device.runLine("M105"); + + device.disconnect(); + if (response.length()>0) + System.out.println("Gcode line run: "+response); + else + fail("No response"); } - String response = device.runLine("M105"); - - device.disconnect(); - if (response.length()>0) - System.out.println("Gcode line run: "+response); - else - fail("No response"); - } } From de2d3f32da52b81615515a423ec02fcaf328395f Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Thu, 12 May 2016 16:21:45 -0400 Subject: [PATCH 039/482] making the command end with a new line --- .../kinematics/gcodebridge/GcodeDevice.java | 21 ++++++++++++------- .../neuronrobotics/utilities/GCODETest.java | 13 ++++-------- 2 files changed, 18 insertions(+), 16 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index f3189552..7ec43bd5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -69,19 +69,26 @@ public ArrayList getNamespacesImp() { // TODO Auto-generated method stub return new ArrayList(); } - + @SuppressWarnings("resource") private String getLine(){ - @SuppressWarnings("resource") - String ret=null; - //synchronized(ins){ - java.util.Scanner s = new java.util.Scanner(ins).useDelimiter("\\A"); - ret =s.hasNext() ? s.next() : ""; - //} + + String ret=""; + try { + if(ins.available()>0){ + java.util.Scanner s = new java.util.Scanner(ins).useDelimiter("\\A"); + ret =s.hasNext() ? s.next() : ""; + } + } catch (IOException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } return ret; } @Override public String runLine(String line) { + if(!line.endsWith("\n")) + line = line+"\n"; try { //synchronized(outs){ outs.write(line.getBytes()); diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index 7327ba2c..87a22930 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -27,16 +27,11 @@ public void test() { hasPort=true; } if(hasPort){ - Object d = DeviceManager.getSpecificDevice(GcodeDevice.class, GCODE); GcodeDevice device; - if(d==null){ - NRSerialPort port = new NRSerialPort(portname, 230400); - device = new GcodeDevice(port); - device.connect(); - DeviceManager.addConnection(device, GCODE); - }else{ - device = (GcodeDevice)d; - } + NRSerialPort port = new NRSerialPort(portname, 115200); + device = new GcodeDevice(port); + device.connect(); + String response = device.runLine("M105"); device.disconnect(); From c4e1ec49b01f92640376bef95d72713b4fd9a416 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Thu, 12 May 2016 16:28:35 -0400 Subject: [PATCH 040/482] #26 Gcode lines need retrun carrage and new line to process --- .../sdk/addons/kinematics/gcodebridge/GcodeDevice.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 7ec43bd5..601a72e7 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -87,8 +87,8 @@ private String getLine(){ @Override public String runLine(String line) { - if(!line.endsWith("\n")) - line = line+"\n"; + if(!line.endsWith("\r\n")) + line = line+"\r\n"; try { //synchronized(outs){ outs.write(line.getBytes()); From e059e0fb6e084b827eb5a2b464b2d30e8247dd79 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Thu, 12 May 2016 16:50:24 -0400 Subject: [PATCH 041/482] fixing the travis auto test config --- .../kinematics/gcodebridge/GcodeDevice.java | 4 +- .../neuronrobotics/utilities/GCODETest.java | 86 +++++++++++++++---- 2 files changed, 72 insertions(+), 18 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 601a72e7..5b220076 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -76,7 +76,9 @@ private String getLine(){ try { if(ins.available()>0){ java.util.Scanner s = new java.util.Scanner(ins).useDelimiter("\\A"); - ret =s.hasNext() ? s.next() : ""; + if(s.hasNext()){ + ret =s.next(); + } } } catch (IOException e) { // TODO Auto-generated catch block diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index 87a22930..9c2bda51 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -15,30 +15,82 @@ public class GCODETest { + private static final Class GCODECONTOLLER = GcodeDevice.class; private static final String GCODE = "GCODE"; + private static final String portname = "/dev/ttyUSB0"; - @Test - public void test() { - boolean hasPort=false; - String portname = "/dev/ttyUSB0"; - - for (String s:NRSerialPort.getAvailableSerialPorts()){ - if(s.contentEquals(portname)) - hasPort=true; - } - if(hasPort){ + @BeforeClass + public static void loadGCodeDevice() { + boolean hasPort = false; + for (String s : NRSerialPort.getAvailableSerialPorts()) { + if (s.contentEquals(portname)) + hasPort = true; + } + if (hasPort) { GcodeDevice device; - NRSerialPort port = new NRSerialPort(portname, 115200); + NRSerialPort port = new NRSerialPort(portname, 115200); device = new GcodeDevice(port); device.connect(); - - String response = device.runLine("M105"); - + DeviceManager.addConnection(device, GCODE); + } + } + + @AfterClass + public static void closeGCodeDevice() { + boolean hasPort = false; + for (String s : NRSerialPort.getAvailableSerialPorts()) { + if (s.contentEquals(portname)) + hasPort = true; + } + if (hasPort) { + GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); device.disconnect(); - if (response.length()>0) - System.out.println("Gcode line run: "+response); - else + } + } + + @Test + public void M105() { + boolean hasPort = false; + for (String s : NRSerialPort.getAvailableSerialPorts()) { + if (s.contentEquals(portname)) + hasPort = true; + } + if (hasPort) { + GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); + + String response = device.runLine("M105"); + if (response.length() > 0) + System.out.println("Gcode line run: " + response); + else { + fail("No response"); + } + + } + } + + @Test + public void G1() { + boolean hasPort = false; + for (String s : NRSerialPort.getAvailableSerialPorts()) { + if (s.contentEquals(portname)) + hasPort = true; + } + if (hasPort) { + GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); + + String response = device.runLine("G0 X100 Y100 Z100 E100 F3000"); + if (response.length() > 0) + System.out.println("Gcode line run: " + response); + else { + fail("No response"); + } + response = device.runLine("G0 X0 Y0 Z0 E0 F3000"); + if (response.length() > 0) + System.out.println("Gcode line run: " + response); + else { fail("No response"); + } + } } From b5930872862335460d04f0e39104f417ae878d4b Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Thu, 12 May 2016 17:17:37 -0400 Subject: [PATCH 042/482] better setup and teardown --- .../neuronrobotics/utilities/GCODETest.java | 21 +++++-------------- 1 file changed, 5 insertions(+), 16 deletions(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index 9c2bda51..ad93a9a8 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -18,10 +18,11 @@ public class GCODETest { private static final Class GCODECONTOLLER = GcodeDevice.class; private static final String GCODE = "GCODE"; private static final String portname = "/dev/ttyUSB0"; + private static boolean hasPort; @BeforeClass public static void loadGCodeDevice() { - boolean hasPort = false; + hasPort = false; for (String s : NRSerialPort.getAvailableSerialPorts()) { if (s.contentEquals(portname)) hasPort = true; @@ -37,11 +38,7 @@ public static void loadGCodeDevice() { @AfterClass public static void closeGCodeDevice() { - boolean hasPort = false; - for (String s : NRSerialPort.getAvailableSerialPorts()) { - if (s.contentEquals(portname)) - hasPort = true; - } + if (hasPort) { GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); device.disconnect(); @@ -50,11 +47,7 @@ public static void closeGCodeDevice() { @Test public void M105() { - boolean hasPort = false; - for (String s : NRSerialPort.getAvailableSerialPorts()) { - if (s.contentEquals(portname)) - hasPort = true; - } + if (hasPort) { GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); @@ -70,11 +63,7 @@ public void M105() { @Test public void G1() { - boolean hasPort = false; - for (String s : NRSerialPort.getAvailableSerialPorts()) { - if (s.contentEquals(portname)) - hasPort = true; - } + if (hasPort) { GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); From 24c0dcb2f1ded25ebc7beda7039a24233765e611 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Thu, 12 May 2016 17:18:33 -0400 Subject: [PATCH 043/482] adding a key for the gradle repo --- .travis.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.travis.yml b/.travis.yml index e0ead6b9..a1a5b131 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,5 +1,6 @@ language: java install: + - sudo wget -q -O - https://dl.google.com/linux/linux_signing_key.pub | sudo apt-key add - - sudo add-apt-repository ppa:cwchien/gradle -y - sudo apt-get update -qq - sudo apt-get install -y --force-yes gradle From b449929bdaec92c3f10ae2da46877e1e639d1f55 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 13 May 2016 14:50:12 -0400 Subject: [PATCH 044/482] Unit test for sending gcode now tested against hardware --- .travis.yml | 2 +- .../addons/kinematics/gcodebridge/GcodeDevice.java | 2 ++ .../test/neuronrobotics/utilities/GCODETest.java | 13 +++++++++---- 3 files changed, 12 insertions(+), 5 deletions(-) diff --git a/.travis.yml b/.travis.yml index a1a5b131..47bcc9e0 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,6 +1,6 @@ language: java install: - - sudo wget -q -O - https://dl.google.com/linux/linux_signing_key.pub | sudo apt-key add - + - sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 640DB551 - sudo add-apt-repository ppa:cwchien/gradle -y - sudo apt-get update -qq - sudo apt-get install -y --force-yes gradle diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 5b220076..d14634b5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -91,6 +91,8 @@ private String getLine(){ public String runLine(String line) { if(!line.endsWith("\r\n")) line = line+"\r\n"; + if(!line.startsWith("\r\n")) + line = "\r\n"+line; try { //synchronized(outs){ outs.write(line.getBytes()); diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index ad93a9a8..ae7cef59 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -66,20 +66,25 @@ public void G1() { if (hasPort) { GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); - - String response = device.runLine("G0 X100 Y100 Z100 E100 F3000"); + String response = device.runLine("G90");// Absolute mode if (response.length() > 0) System.out.println("Gcode line run: " + response); else { fail("No response"); } - response = device.runLine("G0 X0 Y0 Z0 E0 F3000"); + response = device.runLine("G0 X100 Y100 Z100 E100 F12000"); if (response.length() > 0) System.out.println("Gcode line run: " + response); else { fail("No response"); } - + response = device.runLine("G0 X0 Y0 Z0 E0 F12000"); + if (response.length() > 0) + System.out.println("Gcode line run: " + response); + else { + fail("No response"); + } + device.runLine("M84");// Disable motors on exit } } From e3dab2fe4ae6a4fc24a208555418f214beb51575 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 13 May 2016 16:00:36 -0400 Subject: [PATCH 045/482] adding a configuration object. this will let the gcode device tell the controllers above how to deal with it. #26 --- .../gcodebridge/GCodeDeviceConfiguration.java | 5 +++++ .../sdk/addons/kinematics/gcodebridge/GcodeDevice.java | 10 ++++++++-- .../addons/kinematics/gcodebridge/IGcodeExecuter.java | 6 ++++++ 3 files changed, 19 insertions(+), 2 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeDeviceConfiguration.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeDeviceConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeDeviceConfiguration.java new file mode 100644 index 00000000..275602f4 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeDeviceConfiguration.java @@ -0,0 +1,5 @@ +package com.neuronrobotics.sdk.addons.kinematics.gcodebridge; + +public class GCodeDeviceConfiguration { + +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index d14634b5..4077ab88 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -19,9 +19,10 @@ public class GcodeDevice extends NonBowlerDevice implements IGcodeExecuter{ private NRSerialPort serial; - InputStream ins; - OutputStream outs; + private InputStream ins; + private OutputStream outs; private int timeoutMs = 1000; + private GCodeDeviceConfiguration config = new GCodeDeviceConfiguration(); public GcodeDevice(NRSerialPort serial){ this.serial = serial; @@ -129,4 +130,9 @@ public void setTimeoutMs(int timeoutMs) { this.timeoutMs = timeoutMs; } + @Override + public GCodeDeviceConfiguration getConfiguration() { + return config; + } + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGcodeExecuter.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGcodeExecuter.java index ca6cd8ea..fd7ebb58 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGcodeExecuter.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGcodeExecuter.java @@ -14,5 +14,11 @@ public interface IGcodeExecuter { * @param gcode */ public void runFile(File gcode); + + /** + * Return the configuration of the gcode device. + * @return + */ + public GCodeDeviceConfiguration getConfiguration(); } From bce4b95cf5bd4107a769be55502ddad0f6ad1b8a Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 13 May 2016 16:08:49 -0400 Subject: [PATCH 046/482] Moving the motor disable into the disconnect function. #26 --- .../sdk/addons/kinematics/gcodebridge/GcodeDevice.java | 2 ++ .../src/junit/test/neuronrobotics/utilities/GCODETest.java | 6 +++--- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 4077ab88..a13b93a6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -31,6 +31,8 @@ public GcodeDevice(NRSerialPort serial){ @Override public void disconnectDeviceImp() { + if(serial.isConnected()) + runLine("M84");// Disable motors on exit if(ins!=null){ try { ins.close(); diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index ae7cef59..e2ebdca0 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -72,19 +72,19 @@ public void G1() { else { fail("No response"); } - response = device.runLine("G0 X100 Y100 Z100 E100 F12000"); + response = device.runLine("G0 X100 Y100 Z100 E100 F22000"); if (response.length() > 0) System.out.println("Gcode line run: " + response); else { fail("No response"); } - response = device.runLine("G0 X0 Y0 Z0 E0 F12000"); + response = device.runLine("G0 X0 Y0 Z0 E0 F22000"); if (response.length() > 0) System.out.println("Gcode line run: " + response); else { fail("No response"); } - device.runLine("M84");// Disable motors on exit + } } From b63c18ea54b536551ba95d5f2923aefeebac944e Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 13 May 2016 17:07:43 -0400 Subject: [PATCH 047/482] Adding an interface for the link factory to search for to implement a flush command. This is needed to make the link factory more modular to different device types. --- .../kinematics/AbstractKinematicsNR.java | 19 +-- .../kinematics/DHParameterKinematics.java | 14 +- .../sdk/addons/kinematics/LinkFactory.java | 129 +++++++++++------- .../neuronrobotics/sdk/common/IFlushable.java | 9 ++ .../com/neuronrobotics/sdk/dyio/DyIO.java | 8 +- .../sdk/pid/GenericPIDDevice.java | 8 +- .../neuronrobotics/utilities/GCODETest.java | 16 +++ 7 files changed, 139 insertions(+), 64 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/common/IFlushable.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 317b18a8..7e932fe6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -148,9 +148,10 @@ public ArrayList getNamespacesImp() { */ public void disconnectDeviceImp(){ getFactory().removeLinkListener(this); - IPidControlNamespace device = getFactory().getPid(); - if(device!=null) - device.removePIDEventListener(this); + for(LinkConfiguration lf: getFactory().getLinkConfigurations()) + if(getFactory().getPid(lf)!=null) + getFactory().getPid(lf).removePIDEventListener(this); + disconnectDevice(); } @@ -426,7 +427,7 @@ protected void setDevice(LinkFactory f, ArrayList linkConfigs getFactory().getLink(c); Log.info("\nAxis #"+i+" Configuration:\n"+c); if(c.getType()==LinkType.PID){ - IPidControlNamespace device = getFactory().getPid(); + IPidControlNamespace device = getFactory().getPid(c); try{ PIDConfiguration tmpConf = device.getPIDConfiguration(c.getHardwareIndex()); tmpConf.setGroup(c.getHardwareIndex()); @@ -1029,13 +1030,13 @@ public void homeLink(int link) { } LinkConfiguration conf = getLinkConfiguration(link); if(conf.getType() == LinkType.PID){ - getFactory().getPid().removePIDEventListener(this); + getFactory().getPid(conf).removePIDEventListener(this); //Range is in encoder units double range = Math.abs(conf.getUpperLimit()-conf.getLowerLimit())*2; Log.info("Homing link:"+link+" to latch value: "+conf.getIndexLatch()); PIDConfiguration pidConf = getLinkCurrentConfiguration(link); - PIDChannel joint = getFactory().getPid().getPIDChannel(conf.getHardwareIndex()); + PIDChannel joint = getFactory().getPid(conf).getPIDChannel(conf.getHardwareIndex()); //Clear the index @@ -1065,7 +1066,7 @@ public void homeLink(int link) { } catch (Exception e) { e.printStackTrace(); } - getFactory().getPid().addPIDEventListener(this); + getFactory().getPid(conf).addPIDEventListener(this); }else{ getFactory().getLink(getLinkConfiguration(link)).Home(); getFactory().flush(1000); @@ -1075,7 +1076,9 @@ public void homeLink(int link) { * This is a quick stop for all axis of the robot. */ public void emergencyStop(){ - getFactory().getPid().killAllPidGroups(); + for(LinkConfiguration lf: getFactory().getLinkConfigurations()) + if(getFactory().getPid(lf)!=null) + getFactory().getPid(lf).killAllPidGroups(); } // public void setAxisPidConfiguration(ArrayList conf) { diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 621e3e3d..e850b150 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -70,8 +70,11 @@ public class DHParameterKinematics extends AbstractKinematicsNR implements ITask public DHParameterKinematics( BowlerAbstractDevice bad, Element linkStream ){ super(linkStream,new LinkFactory(bad)); setChain(getDhParametersChain()); - if(getFactory().getDyio()!=null) - getFactory().getDyio().addConnectionEventListener(l); + for(LinkConfiguration lf: getFactory().getLinkConfigurations()) + if(getFactory().getDyio(lf)!=null){ + getFactory().getDyio(lf).addConnectionEventListener(l); + return; + } } /** @@ -83,8 +86,11 @@ public DHParameterKinematics( BowlerAbstractDevice bad, Element linkStream ){ public DHParameterKinematics( BowlerAbstractDevice bad, InputStream linkStream ){ super(linkStream,new LinkFactory(bad)); setChain(getDhParametersChain()); - if(getFactory().getDyio()!=null) - getFactory().getDyio().addConnectionEventListener(l); + for(LinkConfiguration lf: getFactory().getLinkConfigurations()) + if(getFactory().getDyio(lf)!=null){ + getFactory().getDyio(lf).addConnectionEventListener(l); + return; + } } /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index 3510083a..7bcdd886 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -1,10 +1,13 @@ package com.neuronrobotics.sdk.addons.kinematics; import java.util.ArrayList; +import java.util.HashMap; import com.neuronrobotics.imageprovider.AbstractImageProvider; import com.neuronrobotics.imageprovider.VirtualCameraFactory; +import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice; import com.neuronrobotics.sdk.common.BowlerAbstractDevice; import com.neuronrobotics.sdk.common.DeviceManager; +import com.neuronrobotics.sdk.common.IFlushable; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.dyio.DyIO; import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel; @@ -31,11 +34,12 @@ public class LinkFactory { /** The link configurations. */ private ArrayList linkConfigurations=null ; - /** The dyio. */ - private DyIO dyio; - - /** The pid. */ - private IPidControlNamespace pid; +// /** The dyio. */ +// private DyIO dyio; +// +// /** The pid. */ +// private IPidControlNamespace pid; +// /** * Instantiates a new link factory. @@ -134,67 +138,63 @@ public void refreshHardwareLayer(LinkConfiguration c){ */ private AbstractLink getLinkLocal(LinkConfiguration c){ - if(dyio==null) - dyio=(DyIO) DeviceManager.getSpecificDevice(DyIO.class, c.getDeviceScriptingName()); - if(pid==null) - pid=(IPidControlNamespace) DeviceManager.getSpecificDevice(IPidControlNamespace.class, c.getDeviceScriptingName()); - AbstractLink tmp=null; Log.info("Loading link: "+c.getName()+" type = "+c.getType()+" device= "+c.getDeviceScriptingName()); switch(c.getType()){ - + + case ANALOG_PRISMATIC: - if(dyio!=null){ - tmp = new AnalogPrismaticLink( new AnalogInputChannel(dyio.getChannel(c.getHardwareIndex())), + if(getDyio(c)!=null){ + tmp = new AnalogPrismaticLink( new AnalogInputChannel(getDyio(c).getChannel(c.getHardwareIndex())), c); tmp.setUseLimits(false); } break; case ANALOG_ROTORY: - if(dyio!=null){ - tmp = new AnalogRotoryLink( new AnalogInputChannel(dyio.getChannel(c.getHardwareIndex())), + if(getDyio(c)!=null){ + tmp = new AnalogRotoryLink( new AnalogInputChannel(getDyio(c).getChannel(c.getHardwareIndex())), c); tmp.setUseLimits(false); } break; case PID_TOOL: case PID: - if(pid!=null){ - tmp=new PidRotoryLink( pid.getPIDChannel(c.getHardwareIndex()), + if(getPid(c)!=null){ + tmp=new PidRotoryLink( getPid(c).getPIDChannel(c.getHardwareIndex()), c); } break; case PID_PRISMATIC: - if(pid!=null){ - tmp=new PidPrismaticLink( pid.getPIDChannel(c.getHardwareIndex()), + if(getPid(c)!=null){ + tmp=new PidPrismaticLink( getPid(c).getPIDChannel(c.getHardwareIndex()), c); } break; case SERVO_PRISMATIC: - if(dyio!=null){ - tmp = new ServoPrismaticLink( new ServoChannel(dyio.getChannel(c.getHardwareIndex())), + if(getDyio(c)!=null){ + tmp = new ServoPrismaticLink( new ServoChannel(getDyio(c).getChannel(c.getHardwareIndex())), c); } break; case SERVO_ROTORY: case SERVO_TOOL: - if(dyio!=null){ - tmp = new ServoRotoryLink( new ServoChannel(dyio.getChannel(c.getHardwareIndex())), + if(getDyio(c)!=null){ + tmp = new ServoRotoryLink( new ServoChannel(getDyio(c).getChannel(c.getHardwareIndex())), c); } break; case STEPPER_PRISMATIC: - if(dyio!=null){ - tmp = new StepperPrismaticLink( new CounterOutputChannel(dyio.getChannel(c.getHardwareIndex())), + if(getDyio(c)!=null){ + tmp = new StepperPrismaticLink( new CounterOutputChannel(getDyio(c).getChannel(c.getHardwareIndex())), c); } break; case STEPPER_TOOL: case STEPPER_ROTORY: - if(dyio!=null){ - tmp = new StepperRotoryLink( new CounterOutputChannel(dyio.getChannel(c.getHardwareIndex())), + if(getDyio(c)!=null){ + tmp = new StepperRotoryLink( new CounterOutputChannel(getDyio(c).getChannel(c.getHardwareIndex())), c); } break; @@ -218,6 +218,16 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ } tmp=new CameraLink(c,img); break; + case GCODE_HEATER_TOOL: + break; + case GCODE_STEPPER_PRISMATIC: + break; + case GCODE_STEPPER_ROTORY: + break; + case GCODE_STEPPER_TOOL: + break; + default: + break; } if(tmp==null){ @@ -285,38 +295,57 @@ public void addLinkListener(ILinkListener l){ * @param seconds the seconds */ public void flush(final double seconds){ - long time = System.currentTimeMillis(); - //TODO this feature needs to be made to work, it should also check to see if all the links are on the same device - if(dyio!=null){ - dyio.flushCache(seconds); - } - if(pid!=null){ - pid.flushPIDChannels(seconds); - }else{ - for(AbstractLink l:links){ - if(l.getLinkConfiguration().getDeviceScriptingName()!=null) - l.flush(seconds); + HashMap flushed=new HashMap(); + for(LinkConfiguration c:getLinkConfigurations()){ + String name = c.getDeviceScriptingName(); + // if a device is disconnected it is removed from the device manager. the factory should check all devices + if(DeviceManager.getSpecificDevice(IFlushable.class,name)==null){ + getLink(c).flush(seconds);//links flushed directly because there is no flushable device + }else{ + if(flushed.get(name)==null){ + flushed.put(name,true); + IFlushable flushDevice = (IFlushable)DeviceManager.getSpecificDevice(IFlushable.class,name); + flushDevice.flush(seconds); + + } } + + } //System.out.println("Flush Took "+(System.currentTimeMillis()-time)+"ms"); } /** - * Gets the pid. + * Gets the pid from the database.. * - * @return the pid + * @return the pid from the database. */ - public IPidControlNamespace getPid() { - return pid; + public IPidControlNamespace getPid(LinkConfiguration c) { + + return (IPidControlNamespace) DeviceManager.getSpecificDevice(IPidControlNamespace.class, c.getDeviceScriptingName()); + } /** * Gets the dyio. * - * @return the dyio + * @return the dyio from the database. + */ + public DyIO getDyio(LinkConfiguration c){ + + return (DyIO) DeviceManager.getSpecificDevice(DyIO.class, c.getDeviceScriptingName()); + + } + + /** + * Gets the Gcode device from the database. + * + * @return the GCODE device */ - public DyIO getDyio(){ - return dyio; + public GcodeDevice getGCODE(LinkConfiguration c){ + + return (GcodeDevice) DeviceManager.getSpecificDevice(GcodeDevice.class, c.getDeviceScriptingName()); + } /** @@ -344,11 +373,11 @@ public void setCachedTargets(double[] jointSpaceVect) { * @return true, if is connected */ public boolean isConnected() { - if(pid!=null){ - return pid.isAvailable(); - } - if(dyio!=null){ - return dyio.isAvailable(); + for(LinkConfiguration c:getLinkConfigurations()){ + // if a device is disconnected it is removed from the device manager. the factory should check all devices + if(DeviceManager.getSpecificDevice(null, c.getDeviceScriptingName())==null){ + return false; + } } return true; } diff --git a/src/main/java/com/neuronrobotics/sdk/common/IFlushable.java b/src/main/java/com/neuronrobotics/sdk/common/IFlushable.java new file mode 100644 index 00000000..4e23e223 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/common/IFlushable.java @@ -0,0 +1,9 @@ +package com.neuronrobotics.sdk.common; + +public interface IFlushable { + /** + * This interface says the device can cache values and flush them in one push + * @param seconds the duration of the flush, from current position and time to cached positions in this many seconds + */ + public void flush(double seconds); +} diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java index adc92f73..bb030f99 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java @@ -34,6 +34,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; import com.neuronrobotics.sdk.common.ByteList; import com.neuronrobotics.sdk.common.IConnectionEventListener; +import com.neuronrobotics.sdk.common.IFlushable; import com.neuronrobotics.sdk.common.InvalidConnectionException; import com.neuronrobotics.sdk.common.InvalidResponseException; import com.neuronrobotics.sdk.common.Log; @@ -55,7 +56,7 @@ * object has one connection to one DyIO module and wraps all of the commands in an accessible API. * @author Kevin Harrington, Robert Breznak */ -public class DyIO extends BowlerAbstractDevice implements IPidControlNamespace,IConnectionEventListener { +public class DyIO extends BowlerAbstractDevice implements IPidControlNamespace,IConnectionEventListener,IFlushable { /** The Constant NEURONROBOTICS_DYIO_1_0. */ private static final String NEURONROBOTICS_DYIO_1_0 = "neuronrobotics.dyio.*;1.0"; @@ -1416,6 +1417,11 @@ public void setLegacyParser(boolean legacyParser) { this.legacyParser = legacyParser; } + @Override + public void flush(double seconds) { + flushCache(seconds); + } + diff --git a/src/main/java/com/neuronrobotics/sdk/pid/GenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/GenericPIDDevice.java index 0b7219d8..19203d24 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/GenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/GenericPIDDevice.java @@ -5,6 +5,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractConnection; import com.neuronrobotics.sdk.common.BowlerAbstractDevice; import com.neuronrobotics.sdk.common.BowlerDatagram; +import com.neuronrobotics.sdk.common.IFlushable; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.common.MACAddress; import com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp; @@ -19,7 +20,7 @@ * @author hephaestus * */ -public class GenericPIDDevice extends BowlerAbstractDevice implements IExtendedPIDControl { +public class GenericPIDDevice extends BowlerAbstractDevice implements IExtendedPIDControl,IFlushable{ /** The is init. */ private boolean isInit=false; @@ -320,5 +321,10 @@ public boolean runOutputHysteresisCalibration(int group) { } } + + @Override + public void flush(double seconds) { + flushPIDChannels(seconds); + } } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index e2ebdca0..a7801686 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -2,14 +2,21 @@ import static org.junit.Assert.*; +import javax.security.auth.login.FailedLoginException; + import org.junit.After; import org.junit.AfterClass; import org.junit.Before; import org.junit.BeforeClass; import org.junit.Test; +import com.neuronrobotics.sdk.addons.kinematics.AbstractLink; +import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; +import com.neuronrobotics.sdk.addons.kinematics.LinkFactory; +import com.neuronrobotics.sdk.addons.kinematics.LinkType; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice; import com.neuronrobotics.sdk.common.DeviceManager; +import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; import gnu.io.NRSerialPort; @@ -60,6 +67,15 @@ public void M105() { } } + @Test + public void linkFactory(){ + LinkFactory lf = new LinkFactory(); + LinkConfiguration confp = new LinkConfiguration(); + confp.setType(LinkType.GCODE_STEPPER_PRISMATIC); + confp.setDeviceScriptingName(GCODE); + AbstractLink link = lf.getLink(confp); + assertNotEquals(link.getClass(), VirtualGenericPIDDevice.class);// checks to see a real device was created + } @Test public void G1() { From 9d6b25645f827f9c1f6abaa0a8552839aa03f5e3 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 13 May 2016 19:40:18 -0400 Subject: [PATCH 048/482] M105 is nessissary for initialization To cause the serial coms to start up reliably you need to send a M105 first thing after connection. #26 --- .../kinematics/gcodebridge/GcodeDevice.java | 44 +++++++++++-------- .../neuronrobotics/utilities/GCODETest.java | 20 +++++---- 2 files changed, 36 insertions(+), 28 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index a13b93a6..8f8a0973 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -1,5 +1,7 @@ package com.neuronrobotics.sdk.addons.kinematics.gcodebridge; +import java.io.DataInputStream; +import java.io.DataOutputStream; import java.io.File; import java.io.IOException; import java.io.InputStream; @@ -19,8 +21,8 @@ public class GcodeDevice extends NonBowlerDevice implements IGcodeExecuter{ private NRSerialPort serial; - private InputStream ins; - private OutputStream outs; + private DataInputStream ins=null; + private DataOutputStream outs=null; private int timeoutMs = 1000; private GCodeDeviceConfiguration config = new GCodeDeviceConfiguration(); @@ -31,26 +33,33 @@ public GcodeDevice(NRSerialPort serial){ @Override public void disconnectDeviceImp() { - if(serial.isConnected()) + if(serial.isConnected()){ runLine("M84");// Disable motors on exit - if(ins!=null){ + getLine();// fluch buffer + } + if(outs!=null){ try { - ins.close(); + outs.flush(); } catch (IOException e) { // TODO Auto-generated catch block e.printStackTrace(); } - ins=null; - } - if(outs!=null){ try { outs.close(); } catch (IOException e) { // TODO Auto-generated catch block e.printStackTrace(); } - outs=null; } + if(ins!=null) + try { + ins.close(); + } catch (IOException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + outs=null; + ins=null; if(serial.isConnected()) serial.disconnect(); } @@ -61,9 +70,9 @@ public boolean connectDeviceImp() { if(!serial.connect()){ throw new RuntimeException("Failed to connect to the serial device"); } - ins=serial.getInputStream(); - outs = serial.getOutputStream(); - + ins= new DataInputStream(serial.getInputStream()); + outs = new DataOutputStream(serial.getOutputStream()); + runLine("M105");// initializes the device return true; } @@ -77,11 +86,8 @@ private String getLine(){ String ret=""; try { - if(ins.available()>0){ - java.util.Scanner s = new java.util.Scanner(ins).useDelimiter("\\A"); - if(s.hasNext()){ - ret =s.next(); - } + while(ins.available()>0){ + ret+=new String(new byte[] {(byte) ins.read()}); } } catch (IOException e) { // TODO Auto-generated catch block @@ -90,15 +96,15 @@ private String getLine(){ return ret; } + //usb.dst contains "1.121.2" @Override public String runLine(String line) { if(!line.endsWith("\r\n")) line = line+"\r\n"; - if(!line.startsWith("\r\n")) - line = "\r\n"+line; try { //synchronized(outs){ outs.write(line.getBytes()); + outs.flush(); //} } catch (IOException e) { // TODO Auto-generated catch block diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index a7801686..8b61abf9 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -68,13 +68,15 @@ public void M105() { } } @Test - public void linkFactory(){ - LinkFactory lf = new LinkFactory(); - LinkConfiguration confp = new LinkConfiguration(); - confp.setType(LinkType.GCODE_STEPPER_PRISMATIC); - confp.setDeviceScriptingName(GCODE); - AbstractLink link = lf.getLink(confp); - assertNotEquals(link.getClass(), VirtualGenericPIDDevice.class);// checks to see a real device was created + public void linkFactoryPrismatic(){ + if (hasPort) { + LinkFactory lf = new LinkFactory(); + LinkConfiguration confp = new LinkConfiguration(); + confp.setType(LinkType.GCODE_STEPPER_PRISMATIC); + confp.setDeviceScriptingName(GCODE); + AbstractLink link = lf.getLink(confp); + assertEquals(link.getClass(), VirtualGenericPIDDevice.class);// checks to see a real device was created + } } @Test @@ -88,13 +90,13 @@ public void G1() { else { fail("No response"); } - response = device.runLine("G0 X100 Y100 Z100 E100 F22000"); + response = device.runLine("G1 X10 Y10 Z10 E10 F3000"); if (response.length() > 0) System.out.println("Gcode line run: " + response); else { fail("No response"); } - response = device.runLine("G0 X0 Y0 Z0 E0 F22000"); + response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); if (response.length() > 0) System.out.println("Gcode line run: " + response); else { From c0ab54d6c4ba09890b87c10eaff0aec0d9ef6167 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 13 May 2016 22:18:22 -0400 Subject: [PATCH 049/482] forcing the Abstract link to use doubles as its base unit to deal with the gcode devices needing to be in mm #26 --- .../test/nrdk/HexapodSimple.java | 46 -- .../sdk/addons/kinematics/AbstractLink.java | 16 +- .../kinematics/AnalogPrismaticLink.java | 2 +- .../addons/kinematics/AnalogRotoryLink.java | 2 +- .../sdk/addons/kinematics/CameraLink.java | 2 +- .../sdk/addons/kinematics/LinkFactory.java | 29 + .../sdk/addons/kinematics/MockRotoryLink.java | 4 +- .../addons/kinematics/PidPrismaticLink.java | 4 +- .../sdk/addons/kinematics/PidRotoryLink.java | 4 +- .../addons/kinematics/ServoPrismaticLink.java | 14 +- .../addons/kinematics/ServoRotoryLink.java | 14 +- .../kinematics/StepperPrismaticLink.java | 4 +- .../addons/kinematics/StepperRotoryLink.java | 4 +- .../kinematics/gcodebridge/GcodeDevice.java | 9 +- .../sdk/addons/walker/BasicWalker.java | 423 ----------- .../sdk/addons/walker/BasicWalkerConfig.java | 41 - .../neuronrobotics/sdk/addons/walker/Leg.java | 698 ------------------ .../sdk/addons/walker/WalkerServoLink.java | 110 --- .../neuronrobotics/utilities/GCODETest.java | 9 +- 19 files changed, 80 insertions(+), 1355 deletions(-) delete mode 100644 examples/java/src/com/neuronrobotics/test/nrdk/HexapodSimple.java delete mode 100755 src/main/java/com/neuronrobotics/sdk/addons/walker/BasicWalker.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/walker/BasicWalkerConfig.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/walker/Leg.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/walker/WalkerServoLink.java diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/HexapodSimple.java b/examples/java/src/com/neuronrobotics/test/nrdk/HexapodSimple.java deleted file mode 100644 index d7af5f55..00000000 --- a/examples/java/src/com/neuronrobotics/test/nrdk/HexapodSimple.java +++ /dev/null @@ -1,46 +0,0 @@ -package com.neuronrobotics.test.nrdk; - -import java.io.File; - -import com.neuronrobotics.sdk.addons.walker.BasicWalker; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.ui.ConnectionDialog; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class HexapodSimple. - */ -public class HexapodSimple { - - /** - * Instantiates a new hexapod simple. - */ - public HexapodSimple() { - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - /** - * "myConfig.xml" can be generated using NRConsole->DyIO->Show Hexapod Configuration - */ - BasicWalker walk =new BasicWalker(new File("myConfig.xml"),dyio); - walk.incrementAllY(.1, .5);//Move robot in cartesian space Y .1 of an inch and take .5 of a second to do so. - ThreadUtil.wait(1000); - walk.turnBody(5, .5);//Rotate robot about its center 5 degrees and take .5 of a second to do so. - ThreadUtil.wait(1000); - dyio.disconnect(); - System.exit(0); - - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - new HexapodSimple(); - } - -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 9b3b4499..3aab7a70 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -4,7 +4,9 @@ import javafx.scene.transform.Affine; +import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.IGcodeExecuter; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; +import com.neuronrobotics.sdk.common.IFlushable; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.pid.PIDLimitEvent; import com.neuronrobotics.sdk.pid.PIDLimitEventType; @@ -14,10 +16,10 @@ * The Class AbstractLink. */ // Kevin Shouldn't the Link's channel be kept in this level of Abstraction? The way I designg AbstractCartesianPositonDevice Requires this -public abstract class AbstractLink { +public abstract class AbstractLink implements IFlushable{ /** The target value. */ - private int targetValue=0; + private double targetValue=0; /** The target engineering units. */ private double targetEngineeringUnits=0; @@ -122,7 +124,7 @@ public void flushAll(double time){ * * @return the current position of the link */ - public abstract int getCurrentPosition(); + public abstract double getCurrentPosition(); /** * To engineering units. @@ -130,7 +132,7 @@ public void flushAll(double time){ * @param value the value * @return the double */ - public double toEngineeringUnits(int value){ + public double toEngineeringUnits(double value){ return ((value-getHome())*getScale()); } @@ -236,7 +238,7 @@ public void setCurrentEngineeringUnits(double angle) { * @return the current engineering units */ public double getCurrentEngineeringUnits(){ - int link = getCurrentPosition(); + double link = getCurrentPosition(); double back = toEngineeringUnits(link); //Log.info("Link space: "+link+" Joint space: "+back); return back; @@ -323,7 +325,7 @@ protected void setPosition(int val) { * * @param val the new target value */ - protected void setTargetValue(int val) { + protected void setTargetValue(double val) { Log.info("Setting cached value :"+val); this.targetValue = val; for(LinkConfiguration c:slaveLinks){ @@ -383,7 +385,7 @@ protected void setTargetValue(int val) { * * @return the target value */ - public int getTargetValue() { + public double getTargetValue() { return targetValue; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogPrismaticLink.java index 7639a0ea..f8726440 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogPrismaticLink.java @@ -53,7 +53,7 @@ public void flushAllDevice(double time) { * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition() */ @Override - public int getCurrentPosition() { + public double getCurrentPosition() { int val=getChannel().getValue(); fireLinkListener(val); return val; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogRotoryLink.java index 1b0558a4..d44b816a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogRotoryLink.java @@ -52,7 +52,7 @@ public void flushAllDevice(double time) { * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition() */ @Override - public int getCurrentPosition() { + public double getCurrentPosition() { int val=getChannel().getValue(); fireLinkListener(val); return val; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java index c23ed366..130f19f4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java @@ -40,7 +40,7 @@ public void flushAllDevice(double time) { } @Override - public int getCurrentPosition() { + public double getCurrentPosition() { // TODO Auto-generated method stub return 0; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index 7bcdd886..e5d6a7b7 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -5,6 +5,7 @@ import com.neuronrobotics.imageprovider.AbstractImageProvider; import com.neuronrobotics.imageprovider.VirtualCameraFactory; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice; +import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodePrismatic; import com.neuronrobotics.sdk.common.BowlerAbstractDevice; import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.common.IFlushable; @@ -140,6 +141,31 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ AbstractLink tmp=null; Log.info("Loading link: "+c.getName()+" type = "+c.getType()+" device= "+c.getDeviceScriptingName()); + String gcodeAxis = ""; + switch(c.getType()){ + case GCODE_STEPPER_PRISMATIC: + case GCODE_STEPPER_ROTORY: + case GCODE_STEPPER_TOOL: + switch(c.getHardwareIndex()){ + case 0: + gcodeAxis=("X"); + break; + case 1: + gcodeAxis=("Y"); + break; + case 2: + gcodeAxis=("Z"); + break; + case 3: + gcodeAxis=("E"); + break; + default: + throw new RuntimeException("Gcode devices only support 4 axis"); + } + break; + default: + break; + } switch(c.getType()){ @@ -221,6 +247,9 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ case GCODE_HEATER_TOOL: break; case GCODE_STEPPER_PRISMATIC: + if(getGCODE(c)!=null){ + tmp = new GcodePrismatic(c,getGCODE(c),gcodeAxis); + } break; case GCODE_STEPPER_ROTORY: break; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java index 0e82c02a..8ab96275 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java @@ -7,7 +7,7 @@ public class MockRotoryLink extends AbstractRotoryLink { /** The val. */ - int val=0; + double val=0; /** * Instantiates a new mock rotory link. @@ -45,7 +45,7 @@ public void flushDevice(double time) { * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition() */ @Override - public int getCurrentPosition() { + public double getCurrentPosition() { // TODO Auto-generated method stub return 35; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java index fb348368..ef3602d6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java @@ -30,7 +30,7 @@ public PidPrismaticLink(PIDChannel c,LinkConfiguration conf) { */ @Override public void cacheTargetValueDevice() { - channel.setCachedTargetValue(getTargetValue()); + channel.setCachedTargetValue((int)getTargetValue()); } /* (non-Javadoc) @@ -54,7 +54,7 @@ public void flushAllDevice(double time) { * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition() */ @Override - public int getCurrentPosition() { + public double getCurrentPosition() { int val=channel.GetPIDPosition(); fireLinkListener(val); return val; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java index 5c9ca2ed..a5249696 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java @@ -30,7 +30,7 @@ public PidRotoryLink(PIDChannel c,LinkConfiguration conf) { */ @Override public void cacheTargetValueDevice() { - channel.setCachedTargetValue(getTargetValue()); + channel.setCachedTargetValue((int)getTargetValue()); } /* (non-Javadoc) @@ -53,7 +53,7 @@ public void flushAllDevice(double time) { * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition() */ @Override - public int getCurrentPosition() { + public double getCurrentPosition() { int val=channel.GetPIDPosition(); fireLinkListener(val); return val; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ServoPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ServoPrismaticLink.java index 8c387e66..04bf39a5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ServoPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ServoPrismaticLink.java @@ -54,7 +54,7 @@ public ServoChannel getServoChannel() { * Save. */ public void save() { - getServoChannel().SavePosition(getTargetValue()); + getServoChannel().SavePosition((int)getTargetValue()); } @@ -64,7 +64,7 @@ public void save() { @Override public void cacheTargetValueDevice() { Log.debug("Caching servo value="+getTargetValue()); - getServoChannel().SetPosition(getTargetValue()); + getServoChannel().SetPosition((int)getTargetValue()); } /* (non-Javadoc) @@ -72,16 +72,16 @@ public void cacheTargetValueDevice() { */ @Override public void flushDevice(double time) { - getServoChannel().SetPosition(getTargetValue(),(float) time); + getServoChannel().SetPosition((int)getTargetValue(),(float) time); getServoChannel().getChannel().flush(); - fireLinkListener(getTargetValue()); + fireLinkListener((int)getTargetValue()); } /* (non-Javadoc) * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition() */ @Override - public int getCurrentPosition() { + public double getCurrentPosition() { int val = getServoChannel().getValue(); fireLinkListener(val); return val; @@ -93,9 +93,9 @@ public int getCurrentPosition() { @Override public void flushAllDevice(double time) { // TODO Auto-generated method stub - getServoChannel().SetPosition(getTargetValue(),(float) time); + getServoChannel().SetPosition((int)getTargetValue(),(float) time); getServoChannel().getChannel().getDevice().flushCache((float)time); - fireLinkListener(getTargetValue()); + fireLinkListener((int)getTargetValue()); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ServoRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ServoRotoryLink.java index 163c53ef..4b04ab17 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ServoRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ServoRotoryLink.java @@ -54,7 +54,7 @@ public ServoChannel getServoChannel() { * Save. */ public void save() { - getServoChannel().SavePosition(getTargetValue()); + getServoChannel().SavePosition((int)getTargetValue()); } @@ -64,7 +64,7 @@ public void save() { @Override public void cacheTargetValueDevice() { Log.debug("Caching servo value="+getTargetValue()); - getServoChannel().SetPosition(getTargetValue()); + getServoChannel().SetPosition((int)getTargetValue()); } /* (non-Javadoc) @@ -72,16 +72,16 @@ public void cacheTargetValueDevice() { */ @Override public void flushDevice(double time) { - getServoChannel().SetPosition(getTargetValue(),(float) time); + getServoChannel().SetPosition((int)getTargetValue(),(float) time); getServoChannel().getChannel().flush(); - fireLinkListener(getTargetValue()); + fireLinkListener((int)getTargetValue()); } /* (non-Javadoc) * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition() */ @Override - public int getCurrentPosition() { + public double getCurrentPosition() { int val = getServoChannel().getValue(); fireLinkListener(val); return val; @@ -93,9 +93,9 @@ public int getCurrentPosition() { @Override public void flushAllDevice(double time) { // TODO Auto-generated method stub - getServoChannel().SetPosition(getTargetValue(),(float) time); + getServoChannel().SetPosition((int)getTargetValue(),(float) time); getServoChannel().getChannel().getDevice().flushCache((float)time); - fireLinkListener(getTargetValue()); + fireLinkListener((int)getTargetValue()); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java index d9d75c72..70ba4400 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java @@ -28,7 +28,7 @@ public StepperPrismaticLink(CounterOutputChannel chan, LinkConfiguration conf) { */ @Override public void cacheTargetValueDevice() { - channel.setValue(getTargetValue()); + channel.setValue((int)getTargetValue()); } /* (non-Javadoc) @@ -53,7 +53,7 @@ public void flushAllDevice(double time) { * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition() */ @Override - public int getCurrentPosition() { + public double getCurrentPosition() { int val=channel.getValue(); fireLinkListener(val); return val; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java index 4c035615..2b2c16db 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java @@ -28,7 +28,7 @@ public StepperRotoryLink(CounterOutputChannel chan, LinkConfiguration conf) { */ @Override public void cacheTargetValueDevice() { - channel.setValue(getTargetValue()); + channel.setValue((int)getTargetValue()); } /* (non-Javadoc) @@ -53,7 +53,7 @@ public void flushAllDevice(double time) { * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition() */ @Override - public int getCurrentPosition() { + public double getCurrentPosition() { int val=channel.getValue(); fireLinkListener(val); return val; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 8f8a0973..3188c070 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -10,6 +10,7 @@ import java.io.StringWriter; import java.util.ArrayList; +import com.neuronrobotics.sdk.common.IFlushable; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.common.NonBowlerDevice; import com.neuronrobotics.sdk.util.ThreadUtil; @@ -17,7 +18,7 @@ import gnu.io.NRSerialPort; import sun.nio.ch.IOUtil; -public class GcodeDevice extends NonBowlerDevice implements IGcodeExecuter{ +public class GcodeDevice extends NonBowlerDevice implements IGcodeExecuter, IFlushable{ private NRSerialPort serial; @@ -143,4 +144,10 @@ public GCodeDeviceConfiguration getConfiguration() { return config; } + @Override + public void flush(double seconds) { + // TODO Auto-generated method stub + + } + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/walker/BasicWalker.java b/src/main/java/com/neuronrobotics/sdk/addons/walker/BasicWalker.java deleted file mode 100755 index f0ceb939..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/walker/BasicWalker.java +++ /dev/null @@ -1,423 +0,0 @@ -package com.neuronrobotics.sdk.addons.walker; - -import java.io.BufferedWriter; -import java.io.File; -import java.io.FileInputStream; -import java.io.FileWriter; -import java.io.IOException; -import java.io.InputStream; -import java.io.Writer; -import java.util.ArrayList; - -import javax.xml.parsers.DocumentBuilder; -import javax.xml.parsers.DocumentBuilderFactory; -import javax.xml.parsers.ParserConfigurationException; - -import org.w3c.dom.Document; -import org.w3c.dom.Element; -import org.w3c.dom.Node; -import org.w3c.dom.NodeList; -import org.xml.sax.SAXException; - -import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; -import com.neuronrobotics.sdk.addons.kinematics.LinkType; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.DyIOPowerState; -import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; - - -// TODO: Auto-generated Javadoc -/** - * The Class BasicWalker. - */ -public class BasicWalker { - - /** The legs. */ - private ArrayList legs=new ArrayList(); - - /** The link len. */ - private double scale=0,inverse=0,linkLen = 0; - - /** The theta. */ - private double x,y,theta; - - /** The channel. */ - private int llimit,ulimit,home,channel; - - /** The dyio. */ - private DyIO dyio; - - /** The use hardware. */ - private boolean useHardware = true; - - /** - * Instantiates a new basic walker. - * - * @param d the d - */ - public BasicWalker(DyIO d) { - setDyio(d); - getDyio().setCachedMode(true); - System.out.println("Loading default configuration"); - parse(BasicWalkerConfig.getDefaultConfigurationStream()); - } - - /** - * Adds the leg. - * - * @param x the x - * @param y the y - * @param theta the theta - * @param links the links - */ - public void addLeg(double x, double y, double theta,ArrayList links) { - Leg tmpLeg = new Leg(x,y,theta); - for(WalkerServoLink l:links) { - tmpLeg.addLink(l); - } - legs.add(tmpLeg); - } - - /** - * Instantiates a new basic walker. - * - * @param f the f - * @param d the d - */ - public BasicWalker(File f,DyIO d){ - //useHardware = false; - if(useHardware){ - setDyio(d); - } - getDyio().setCachedMode(true); - parse(f); - } - - /** - * Instantiates a new basic walker. - * - * @param is the is - * @param d the d - */ - public BasicWalker(InputStream is,DyIO d){ - //useHardware = false; - if(useHardware){ - setDyio(d); - } - getDyio().setCachedMode(true); - parse(is); - } - - /** - * Parses the. - * - * @param f the f - */ - private void parse(File f) { - InputStream is = null; - try { - is= new FileInputStream(f); - } - catch(IOException e) { - System.err.println("Error Writing/Reading Streams."); - } - if(is!=null) - parse(is); - } - - /** - * Parses the. - * - * @param is the is - */ - private void parse(InputStream is) { - /** - * sample code from - * http://www.mkyong.com/java/how-to-read-xml-file-in-java-dom-parser/ - */ - DocumentBuilderFactory dbFactory = DocumentBuilderFactory.newInstance(); - DocumentBuilder dBuilder; - Document doc = null; - try { - dBuilder = dbFactory.newDocumentBuilder(); - doc = dBuilder.parse(is); - doc.getDocumentElement().normalize(); - } catch (ParserConfigurationException e) { - throw new RuntimeException(e); - } catch (SAXException e) { - throw new RuntimeException(e); - } catch (IOException e) { - throw new RuntimeException(e); - } - //System.out.println("Parsing File..."); - NodeList nList = doc.getElementsByTagName("leg"); - for (int temp = 0; temp < nList.getLength(); temp++) { - //System.out.println("Leg # "+temp); - Node nNode = nList.item(temp); - ArrayList legLinks = new ArrayList(); - if (nNode.getNodeType() == Node.ELEMENT_NODE) { - Element eElement = (Element) nNode; - x = Double.parseDouble(getTagValue("x",eElement)); - y = Double.parseDouble(getTagValue("y",eElement)); - theta = Double.parseDouble(getTagValue("theta",eElement)); - //Leg tmpLeg = new Leg(x,y,theta); - - NodeList links = eElement.getElementsByTagName("link"); - for (int i = 0; i < links.getLength(); i++) { - //System.out.println("\tLink # "+i); - Node lNode = links.item(i); - if (lNode.getNodeType() == Node.ELEMENT_NODE) { - Element lElement = (Element) lNode; - llimit=Integer.parseInt(getTagValue("llimit",lElement)); - ulimit=Integer.parseInt(getTagValue("ulimit",lElement)); - home=Integer.parseInt(getTagValue("home",lElement)); - channel=Integer.parseInt(getTagValue("channel",lElement)); - inverse=Double.parseDouble(getTagValue("inverse",lElement)); - scale = Double.parseDouble(getTagValue("scale",lElement)); - linkLen = Double.parseDouble(getTagValue("linkLen",lElement)); - String type = getTagValue("type",lElement); - if(useHardware){ - ServoChannel srv = new ServoChannel(getDyio().getChannel(channel)); - WalkerServoLink tmpLink = new WalkerServoLink(srv,new LinkConfiguration(home,llimit,ulimit,(scale*inverse)),linkLen,type); - - legLinks.add(tmpLink); - } - } - } - addLeg(x,y,theta,legLinks); - }else{ - //System.out.println("Not Element Node"); - } - } - System.out.println("Populated Hexapod."); - } - - /** - * Load home values from dy io. - */ - public void loadHomeValuesFromDyIO() { - for(Leg l:legs) { - l.loadHomeValuesFromDyIO(); - l.save(); - } - } - - /** - * Gets the xml. - * - * @return the xml - */ - public String getXML() { - String s="\n"; - for(Leg l:legs) { - s+=l.getLegXML(); - } - s+="\n"; - return s; - } - - /** - * Write xml. - * - * @param f the f - */ - public void writeXML(File f) { - writeXML(f,getXML()); - } - - /** - * Write xml. - * - * @param f the f - * @param xml the xml - */ - public void writeXML(File f,String xml) { - try { - Writer output = new BufferedWriter(new FileWriter(f)); - output.write(xml); - output.close(); - } catch (IOException e) { - throw new RuntimeException(e); - } - } - - /** - * Initialize. - */ - public void initialize() { - int leg=0; - for (Leg l:legs){ - double hipStart=0.0-l.getThetaOffset(); - if(hipStart>90) - hipStart-=180; - if(hipStart<-90) - hipStart+=180; - - //System.out.println("Leg : "+leg+" is set to : "+hipStart); - l.setHip(hipStart); - l.setKnee(0); - l.setAnkle(-90); - l.setStartPoint(); - leg++; - } - updateAllServos((float) .5); - try {Thread.sleep(2000);} catch (InterruptedException e) {} - } - - /** - * Home. - */ - public void Home() { - for (Leg l:legs){ - l.Home(); - } - getDyio().flushCache(2); - } - - /** - * Save. - */ - public void save() { - for (Leg l:legs){ - l.save(); - } - } - - /** - * Turn body. - * - * @param degrees the degrees - * @param time the time - */ - public void turnBody(double degrees,double time) { - degrees*=-1; - for (Leg l:legs){ - l.turn(degrees); - } - updateAllServos((float) time); - fixAll(time); - } - - /** - * Increment all y. - * - * @param inc the inc - * @param time the time - */ - public void incrementAllY(double inc,double time) { - inc*=-1; - for (Leg l:legs){ - l.incrementY(inc); - } - updateAllServos((float) time); - fixAll(time); - } - - /** - * Increment all x. - * - * @param inc the inc - * @param time the time - */ - public void incrementAllX(double inc,double time) { - inc*=-1; - for (Leg l:legs){ - l.incrementX(inc); - } - updateAllServos((float) time); - fixAll(time); - } - - /** - * Increment all z. - * - * @param inc the inc - * @param time the time - */ - public void incrementAllZ(double inc,double time) { - inc*=-1; - for (Leg l:legs){ - l.incrementZ(inc); - } - updateAllServos((float) time); - fixAll(time); - } - - /** - * Gets the legs. - * - * @return the legs - */ - public ArrayList getLegs(){ - return legs; - } - - /** - * Fix all. - * - * @param time the time - */ - public void fixAll(double time) { - for (Leg l:legs){ - l.fix(); - } - //updateAllServos((float) time); - } - - /** - * Update all servos. - * - * @param time the time - */ - public void updateAllServos(double time) { - for (Leg l:legs){ - l.cacheLinkPositions(); - } - getDyio().flushCache((float) time); - } - - /** - * Gets the tag value. - * - * @param sTag the s tag - * @param eElement the e element - * @return the tag value - */ - private static String getTagValue(String sTag, Element eElement){ - NodeList nlList= eElement.getElementsByTagName(sTag).item(0).getChildNodes(); - Node nValue = (Node) nlList.item(0); - //System.out.println("\t\t"+sTag+" = "+nValue.getNodeValue()); - return nValue.getNodeValue(); - } - - /** - * Disconnect. - */ - public void disconnect() { - getDyio().disconnect(); - } - - /** - * Sets the dyio. - * - * @param dyio the new dyio - */ - private void setDyio(DyIO dyio) { - if(((dyio.getBankAState()==DyIOPowerState.REGULATED) || (dyio.getBankBState()==DyIOPowerState.REGULATED))){ - System.err.println("Invalid Power Switch configuration!"); - throw new RuntimeException("Invalid Power Switch configuration for hexapod!"); - } - dyio.setServoPowerSafeMode(false); - this.dyio = dyio; - } - - /** - * Gets the dyio. - * - * @return the dyio - */ - private DyIO getDyio() { - return dyio; - } - -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/walker/BasicWalkerConfig.java b/src/main/java/com/neuronrobotics/sdk/addons/walker/BasicWalkerConfig.java deleted file mode 100644 index b4aa095b..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/walker/BasicWalkerConfig.java +++ /dev/null @@ -1,41 +0,0 @@ -package com.neuronrobotics.sdk.addons.walker; - -import java.io.BufferedReader; -import java.io.IOException; -import java.io.InputStream; -import java.io.InputStreamReader; - -// TODO: Auto-generated Javadoc -/** - * The Class BasicWalkerConfig. - */ -public class BasicWalkerConfig { - - /** - * Gets the default configuration. - * - * @return the default configuration - */ - public static String getDefaultConfiguration() { - String s=""; - InputStream is = getDefaultConfigurationStream(); - BufferedReader br = new BufferedReader(new InputStreamReader(is)); - String line; - try { - while (null != (line = br.readLine())) { - s+=line+"\n"; - } - } catch (IOException e) { - } - return s; - } - - /** - * Gets the default configuration stream. - * - * @return the default configuration stream - */ - public static InputStream getDefaultConfigurationStream() { - return BasicWalkerConfig.class.getResourceAsStream("miniHexapod.xml"); - } -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/walker/Leg.java b/src/main/java/com/neuronrobotics/sdk/addons/walker/Leg.java deleted file mode 100644 index 18100fb6..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/walker/Leg.java +++ /dev/null @@ -1,698 +0,0 @@ -package com.neuronrobotics.sdk.addons.walker; - -import java.util.ArrayList; - -import com.neuronrobotics.sdk.common.Log; - -// TODO: Auto-generated Javadoc -/** - * The Class Leg. - */ -public class Leg { - - /** The links. */ - ArrayList links = new ArrayList(); - - /** The Constant M_PI. */ - private static final double M_PI = Math.PI; - - /** The theta offset. */ - private double xOffset,yOffset,thetaOffset; - //private double xLockSetPoint; - /** The z set point. */ - //private double xLocal,yLocal,zLocal; - private double xSetPoint,ySetPoint,zSetPoint; - - /** The got hip. */ - private boolean gotHip=false; - - /** The got knee. */ - private boolean gotKnee=false; - - /** The got ankle. */ - private boolean gotAnkle=false; - - /** - * Instantiates a new leg. - * - * @param x the x - * @param y the y - * @param theta the theta - */ - public Leg(double x, double y, double theta){ - this.xOffset=x; - this.yOffset=y; - this.thetaOffset=theta; - links.add(null); - links.add(null); - links.add(null); - } - - /** - * Gets the hip link. - * - * @return the hip link - */ - public WalkerServoLink getHipLink() { - return links.get(0); - } - - /** - * Gets the knee link. - * - * @return the knee link - */ - public WalkerServoLink getKneeLink() { - return links.get(1); - } - - /** - * Gets the ankle link. - * - * @return the ankle link - */ - public WalkerServoLink getAnkleLink() { - return links.get(2); - } - - /** - * Adds the link. - * - * @param l the l - */ - public void addLink(WalkerServoLink l){ - String type = l.getType(); - if(type.equalsIgnoreCase("hip")){ - links.set(0,l); - gotHip=true; - } - else if(type.equalsIgnoreCase("knee")){ - links.set(1,l); - gotKnee=true; - } - else if(type.equalsIgnoreCase("ankle")){ - links.set(2,l); - gotAnkle=true; - } - else{ - throw new RuntimeException("Unknown link type"+type); - } - } - - /** - * Leg ok. - * - * @return true, if successful - */ - public boolean legOk(){ - if((gotHip && gotKnee && gotAnkle)) - loadCartesianLocal(); - return (gotHip && gotKnee && gotAnkle); - } - - /** - * Increment hip. - * - * @param inc the inc - */ - public void incrementHip(double inc){ - getHipLink().incrementAngle(inc); - //getHipLink().flush(time); - } - - /** - * Increment knee. - * - * @param inc the inc - */ - public void incrementKnee(double inc){ - getKneeLink().incrementAngle(inc); - //getKneeLink().flush(time); - } - - /** - * Increment ankle. - * - * @param inc the inc - */ - public void incrementAnkle(double inc){ - getAnkleLink().incrementAngle(inc); - //getAnkleLink().flush(time); - } - - /** - * Sets the hip. - * - * @param inc the new hip - */ - public void setHip(double inc){ - try{ - getHipLink().setTargetAngle(inc); - }catch(Exception ex){ - //ex.printStackTrace(); - } - //getHipLink().flush(time); - } - - /** - * Sets the knee. - * - * @param inc the new knee - */ - public void setKnee(double inc){ - try{ - getKneeLink().setTargetAngle(inc); - }catch(Exception ex){ - ex.printStackTrace(); - } - //getKneeLink().flush(time); - } - - /** - * Sets the ankle. - * - * @param inc the new ankle - */ - public void setAnkle(double inc){ - try{ - - getAnkleLink().setTargetAngle(inc); - }catch(Exception ex){ - //ex.printStackTrace(); - } - //getAnkleLink().flush(time); - } - - /** - * Calc cartesian local. - * - * @param hip the hip - * @param knee the knee - * @param ankle the ankle - * @return the double[] - */ - private double [] calcCartesianLocal(double hip,double knee,double ankle) { - double [] pos = new double[3]; - double l1 = getKneeLink().getLinkLen(); - double l2 = getAnkleLink().getLinkLen(); - double l3 = getHipLink().getLinkLen(); - double vect =(l1* cos(ToRadians(knee))+l2* cos(ToRadians(knee)+ToRadians(ankle))+(l3)); - pos[2]=(l1* sin(ToRadians(knee))+l2* sin(ToRadians(knee)+ToRadians(ankle))); - pos[0]=vect*Math.cos(ToRadians(hip)); - pos[1]=vect*Math.sin(ToRadians(hip)); - return pos; - } - - /** - * Load cartesian local. - * - * @return the double[] - */ - private double [] loadCartesianLocal(){ - double hip = (getHipLink().getTargetAngle()); - double knee = (getKneeLink().getTargetAngle()); - double ankle = (getAnkleLink().getTargetAngle()); - return calcCartesianLocal(hip,knee,ankle); - } - - /** - * Calc cartesian. - * - * @param loc the loc - * @return the double[] - */ - private double [] calcCartesian(double [] loc) { - double [] pos = new double[3]; - double vect = sqrt(loc[0]*loc[0]+loc[1]*loc[1]); - double angle = atan2(loc[1],loc[0])+ToRadians(thetaOffset); - double x=(cos(angle)*vect)+xOffset; - double y=(sin(angle)*vect)+yOffset; - pos[0]=x; - pos[1]=y; - pos[2]=loc[2]; - return pos; - } - - /** - * Gets the cartesian. - * - * @return the cartesian - */ - public double [] getCartesian(){ - return calcCartesian(loadCartesianLocal()); - } - - /** - * Gets the cartesian local. - * - * @return the cartesian local - */ - public double [] getCartesianLocal(){ - return loadCartesianLocal(); - } - - /** - * Increment x. - * - * @param val the val - */ - public void incrementX(double val){ - double [] pos = getCartesian(); - try { - setCartesian(pos[0]+val,pos[1],pos[2]); - }catch(RuntimeException e) { - stepToSetpoint(); - } - fix(); - } - - /** - * Increment y. - * - * @param val the val - */ - public void incrementY(double val){ - double [] pos = getCartesian(); - try { - setCartesian(pos[0],pos[1]+val,pos[2]); - }catch(RuntimeException e) { - Log.error("Error in increment y"); - e.printStackTrace(); - stepToSetpoint(); - } - //fix(time); - } - - /** - * Increment z. - * - * @param val the val - */ - public void incrementZ(double val){ - double [] pos = getCartesian(); - try { - setCartesian(pos[0],pos[1],pos[2]+val); - }catch(RuntimeException e) { - stepToSetpoint(); - } - fix(); - } - - /** - * Sets the z. - * - * @param val the new z - */ - public void setZ(double val) { - double [] pos = getCartesian(); - setCartesian(pos[0],pos[1],val); - } - - /** - * Sets the cartesian. - * - * @param x the x - * @param y the y - * @param z the z - */ - public void setCartesian(double x,double y,double z){ - x-=xOffset; - y-=yOffset; - double vect = sqrt(x*x+y*y); - double angle = atan2(y,x)-ToRadians(thetaOffset); - x=cos(angle)*vect; - y=sin(angle)*vect; - setCartesianLocal(x,y,z); - } - - /** - * Sets the cartesian local. - * - * @param xSet the x set - * @param ySet the y set - * @param zSet the z set - */ - public void setCartesianLocal(double xSet,double ySet,double zSet){ - double l1 = getKneeLink().getLinkLen(); - double l2 = getAnkleLink().getLinkLen(); - double l3 = getHipLink().getLinkLen(); - double thetaLocal = Math.atan2(ySet, xSet); - - - xSet -= Math.cos(thetaLocal)*l3; - ySet -= Math.sin(thetaLocal)*l3; - - double vect = sqrt(xSet*xSet+ySet*ySet); - - //System.out.println("Theta local: "+thetaLocal+", Links: "+l3+","+l1+","+l2+" vector distance: "+vect+", z: "+zSet); - - if (vect > l1+l2) { - throw new RuntimeException("Hypotenus too long: "+vect+" longer then "+l1+l2); - } - double x=vect; - double y=zSet; - double elbow = 0; - elbow =(-1*acos(((x*x+y*y)-(l1*l1+l2*l2))/(2*l1*l2))); - elbow *=(180.0/M_PI); - - double shoulder =0; - shoulder =(atan2(y,x)+acos((x*x+y*y+l1*l1-l2*l2)/(2*l1*sqrt(x*x+y*y)))); - shoulder *=(180.0/M_PI); - - double knee=shoulder; - double ankle=elbow; - - double hip = thetaLocal*(180.0/M_PI); - setHip(hip); - setKnee(knee); - setAnkle(ankle); - } - - /** - * Sqrt. - * - * @param d the d - * @return the double - */ - /* - * Math wrappers for direct compatibility with C code - */ - private double sqrt(double d) { - return Math.sqrt(d); - } - - /** - * Atan2. - * - * @param y the y - * @param x the x - * @return the double - */ - private double atan2(double y, double x) { - return Math.atan2(y, x); - } - - /** - * Acos. - * - * @param d the d - * @return the double - */ - private double acos(double d) { - return Math.acos(d); - } - - /** - * Sin. - * - * @param angle the angle - * @return the double - */ - private double sin(double angle) { - return Math.sin(angle); - } - - /** - * Cos. - * - * @param angle the angle - * @return the double - */ - private double cos(double angle) { - return Math.cos(angle); - } - - /** - * To radians. - * - * @param degrees the degrees - * @return the double - */ - private double ToRadians(double degrees){ - return degrees*M_PI/180.0; - } - - /** - * Home. - */ - public void Home() { - for(WalkerServoLink l: links ) { - l.Home(); - } - } - - /** - * Save. - */ - public void save() { - for(WalkerServoLink l: links ) { - l.save(); - } - - } - - /** - * Hit max angle hip. - * - * @return true, if successful - */ - public boolean hitMaxAngleHip() { - return getHipLink().isMaxAngle(); - } - - /** - * Hit min angle hip. - * - * @return true, if successful - */ - public boolean hitMinAngleHip() { - return getHipLink().isMinAngle(); - } - - /** - * Sets the start point. - */ - public void setStartPoint() { - double [] start = getCartesian(); - xSetPoint=start[0]; - ySetPoint=start[1]; - zSetPoint=start[2]; - } - - /** - * To min angle hip. - */ - public void toMinAngleHip() { - stepToHipAngle(getHipLink().getMinAngle()); - } - - /** - * To max angle hip. - */ - public void toMaxAngleHip() { - stepToHipAngle(getHipLink().getMaxAngle()); - } - - /** - * Step to setpoint. - */ - public void stepToSetpoint() { - double [] current = getCartesian(); - - liftLeg(); - - setCartesian(xSetPoint,ySetPoint, current[2]+.2); - - putLegDown(); - } - - - /** The reset time. */ - private double resetTime = 0; - - /** - * Step to hip angle. - * - * @param hip the hip - */ - public void stepToHipAngle(double hip) { - - liftLeg(); - try{ - getHipLink().setTargetAngle(hip); - }catch(Exception ex){ - //ex.printStackTrace(); - } - - double [] adjusted = getCartesian(); - setCartesian(xSetPoint,adjusted[1], adjusted[2]); - - putLegDown(); - } - - /** - * Lift leg. - */ - private void liftLeg() { - //System.out.println("Lifting leg "); - double [] current = getCartesian(); - setCartesian(xSetPoint,current[1], current[2]+.5); - cacheLinkPositions(); - flush(resetTime); - //try {Thread.sleep((long) (resetTime*1000));} catch (InterruptedException e) {} - //System.out.println("Lifting leg done"); - } - - /** - * Put leg down. - */ - private void putLegDown() { - //System.out.println("Putting leg down"); - cacheLinkPositions(); - flush(resetTime); - //try {Thread.sleep((long) (resetTime*1000));} catch (InterruptedException e) {} - setZ(zSetPoint); - cacheLinkPositions(); - flush(resetTime); - //try {Thread.sleep((long) (resetTime*1000));} catch (InterruptedException e) {} - //System.out.println("Putting leg down done"); - } - - /** - * Fix. - */ - public void fix() { - double [] current = getCartesianLocal(); - if(Math.abs(current[0])<(getHipLink().getLinkLen()*2) ) { - //System.out.println("Legnth too short"); - stepToSetpoint(); - return; - } - - if(getAnkleLink().getTargetAngle()>-50) { - //System.out.println("Ankle over extended"); - stepToSetpoint(); - return; - } - - if(hitMaxAngleHip()||hitMinAngleHip()) { - //System.out.println("Fixing hip"); - if(hitMaxAngleHip()) { - toMinAngleHip(); - return; - }if(hitMinAngleHip()) { - toMaxAngleHip(); - return; - } - } - - } - - /** - * Cache link positions. - */ - public void cacheLinkPositions() { - for(WalkerServoLink l: links ) { - l.cacheTargetValue(); - } - } - - /** - * Flush. - * - * @param time the time - */ - public void flush(double time) { - for(WalkerServoLink l: links ) { - try { - l.flush(time); - }catch(Exception e) { - //e.printStackTrace(); - } - } - } - - /** - * Gets the theta offset. - * - * @return the theta offset - */ - public double getThetaOffset() { - return thetaOffset; - } - - /** - * Turn. - * - * @param degrees the degrees - */ - public void turn(double degrees) { - double rad = ToRadians(degrees); - double [] current = getCartesian(); - double theta,currentVectLen,x,y; - //System.out.println("Attempting to turn, starting x "+current[0]+" starting y "+current[1] ); - theta = atan2(current[1], current[0])+rad; - currentVectLen = Math.sqrt((current[1]*current[1])+(current[0]*current[0])); - x=currentVectLen*cos(theta); - y=currentVectLen*sin(theta); - - //System.out.println("Attempting to turn, vector legnth: "+currentVectLen + " angle: "+(theta/M_PI)*180+" new x "+x+" new y "+y ); - setCartesian(x, y, current[2]); - } - - /** - * Load home values from dy io. - */ - public void loadHomeValuesFromDyIO() { - for(WalkerServoLink l: links ) { - l.loadHomeValuesFromDyIO(); - } - } - - /** - * Gets the leg xml. - * - * @return the leg xml - */ - public String getLegXML() { - String s=" \n"+ -" "+xOffset+"\n"+ -" "+yOffset+"\n"+ -" "+thetaOffset+"\n"; - for(WalkerServoLink l: links ) { - s+=l.getLinkXML(); - } - s+=" \n"; - return s; - } - - /** - * Gets the lex x offset. - * - * @return the lex x offset - */ - public double getLexXOffset() { - // TODO Auto-generated method stub - return xOffset; - } - - /** - * Gets the lex y offset. - * - * @return the lex y offset - */ - public double getLexYOffset() { - // TODO Auto-generated method stub - return yOffset; - } - - /** - * Gets the lex theta offset. - * - * @return the lex theta offset - */ - public double getLexThetaOffset() { - // TODO Auto-generated method stub - return thetaOffset; - } -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/walker/WalkerServoLink.java b/src/main/java/com/neuronrobotics/sdk/addons/walker/WalkerServoLink.java deleted file mode 100644 index 63d2e6ae..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/walker/WalkerServoLink.java +++ /dev/null @@ -1,110 +0,0 @@ -package com.neuronrobotics.sdk.addons.walker; - - -import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; -import com.neuronrobotics.sdk.addons.kinematics.ServoRotoryLink; -import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; - -// TODO: Auto-generated Javadoc -/** - * The Class WalkerServoLink. - */ -public class WalkerServoLink extends ServoRotoryLink { - - /** The link len. */ - private double linkLen; - - /** The type. */ - private String type; - - /** - * Instantiates a new walker servo link. - * - * @param srv the srv - * @param conf the conf - * @param linkLen the link len - * @param type the type - */ - public WalkerServoLink(ServoChannel srv,LinkConfiguration conf, double linkLen, String type) { - super(srv,conf); - setLinkLen(linkLen); - setType(type); - } - - /** - * Sets the link len. - * - * @param linkLen the new link len - */ - private void setLinkLen(double linkLen) { - this.linkLen = linkLen; - } - - /** - * Gets the link len. - * - * @return the link len - */ - public double getLinkLen() { - return linkLen; - } - - /** - * Load home values from dy io. - */ - public void loadHomeValuesFromDyIO() { - this.setHome(getCurrentPosition()); - if(getHome()>getUpperLimit()) - setUpperLimit(getHome()+1); - if(getHome()"+getUpperLimit()+"\n"+ -" "+getLowerLimit()+"\n"+ -" "+getHome()+"\n"+ -" "+getServoChannel().getChannel().getChannelNumber()+"\n"+ -" "+((getScale()>0)?1:-1)+"\n"+ -" "+linkLen+"\n"+ -" "+Math.abs(getScale())+"\n"+ -" "+getType()+"\n"+ -" \n"; - return s; - } - - /** - * Sets the type. - * - * @param type the new type - */ - public void setType(String type) { - this.type = type; - } - - /** - * Gets the type. - * - * @return the type - */ - public String getType() { - return type; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.ServoRotoryLink#flush(double) - */ - @Override - public void flush(double time) { - super.flush(time); - } - - - -} diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index 8b61abf9..577c9c8d 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -15,6 +15,7 @@ import com.neuronrobotics.sdk.addons.kinematics.LinkFactory; import com.neuronrobotics.sdk.addons.kinematics.LinkType; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice; +import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodePrismatic; import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; @@ -74,8 +75,12 @@ public void linkFactoryPrismatic(){ LinkConfiguration confp = new LinkConfiguration(); confp.setType(LinkType.GCODE_STEPPER_PRISMATIC); confp.setDeviceScriptingName(GCODE); + confp.setHardwareIndex(0); + confp.setScale(1); AbstractLink link = lf.getLink(confp); - assertEquals(link.getClass(), VirtualGenericPIDDevice.class);// checks to see a real device was created + assertEquals(link.getClass(), GcodePrismatic.class);// checks to see a real device was created + link.setTargetEngineeringUnits(100); + } } @@ -90,7 +95,7 @@ public void G1() { else { fail("No response"); } - response = device.runLine("G1 X10 Y10 Z10 E10 F3000"); + response = device.runLine("G1 X100 Y100 Z0 E10 F6000"); if (response.length() > 0) System.out.println("Gcode line run: " + response); else { From a20ab6b92edb49d70efd6d7603cf7ffad7c24c92 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 13 May 2016 22:18:50 -0400 Subject: [PATCH 050/482] creating a GcodePrismatic link #26 --- .../gcodebridge/GcodePrismatic.java | 57 +++++++++++++++++++ 1 file changed, 57 insertions(+) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java new file mode 100644 index 00000000..2503e96d --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java @@ -0,0 +1,57 @@ +package com.neuronrobotics.sdk.addons.kinematics.gcodebridge; + +import com.neuronrobotics.sdk.addons.kinematics.AbstractPrismaticLink; +import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; + +public class GcodePrismatic extends AbstractPrismaticLink { + private GcodeDevice device; + private String axis = ""; + double value =0; + public GcodePrismatic(LinkConfiguration conf, GcodeDevice device, String linkAxis) { + super(conf); + // TODO Auto-generated constructor stub + this.device = device; + axis=linkAxis; + } + + @Override + public void cacheTargetValueDevice() { + //value + } + + @Override + public void flushDevice(double time) { + String[] currentPosStr = device.runLine("M114").split(" ");// get the current position + for(String s:currentPosStr){ + if(s.contains(getAxis())){ + String [] parts = s.split(":"); + value = Double.parseDouble(parts[1]); + } + } + double distance = getTargetValue()-value; + if(distance !=0){ + int feedrate = (int)(distance/(time/60));//mm/min + device.runLine("G1 "+getAxis()+""+getTargetValue()+" F"+feedrate); + } + } + + @Override + public void flushAllDevice(double time) { + device.flush(time); + } + + @Override + public double getCurrentPosition() { + // TODO Auto-generated method stub + return value; + } + + public String getAxis() { + return axis; + } + + public void setAxis(String axis) { + this.axis = axis; + } + +} From 9762df23428cee6bb39071e7df7141eec44fa146 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 13 May 2016 23:22:03 -0400 Subject: [PATCH 051/482] coordinated flush across axis of gcode device --- .../sdk/addons/kinematics/AbstractLink.java | 2 +- .../sdk/addons/kinematics/LinkFactory.java | 29 +----- .../kinematics/gcodebridge/GcodeDevice.java | 95 ++++++++++++++++++- .../gcodebridge/GcodePrismatic.java | 41 +++++--- .../kinematics/gcodebridge/IGCodeChannel.java | 16 ++++ .../neuronrobotics/utilities/GCODETest.java | 60 +++++++----- 6 files changed, 179 insertions(+), 64 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGCodeChannel.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 3aab7a70..f1323ae4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -175,7 +175,7 @@ public void removeLinkListener(ILinkListener l){ * * @param linkUnitsValue the link units value */ - public void fireLinkListener(int linkUnitsValue){ + public void fireLinkListener(double linkUnitsValue){ for(ILinkListener l:getLinks()){ //Log.info("Link Event, RAW="+linkUnitsValue); l.onLinkPositionUpdate(this,toEngineeringUnits(linkUnitsValue)); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index e5d6a7b7..9b56ff43 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -141,31 +141,7 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ AbstractLink tmp=null; Log.info("Loading link: "+c.getName()+" type = "+c.getType()+" device= "+c.getDeviceScriptingName()); - String gcodeAxis = ""; - switch(c.getType()){ - case GCODE_STEPPER_PRISMATIC: - case GCODE_STEPPER_ROTORY: - case GCODE_STEPPER_TOOL: - switch(c.getHardwareIndex()){ - case 0: - gcodeAxis=("X"); - break; - case 1: - gcodeAxis=("Y"); - break; - case 2: - gcodeAxis=("Z"); - break; - case 3: - gcodeAxis=("E"); - break; - default: - throw new RuntimeException("Gcode devices only support 4 axis"); - } - break; - default: - break; - } + switch(c.getType()){ @@ -248,7 +224,7 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ break; case GCODE_STEPPER_PRISMATIC: if(getGCODE(c)!=null){ - tmp = new GcodePrismatic(c,getGCODE(c),gcodeAxis); + tmp = getGCODE(c).getLink(c); } break; case GCODE_STEPPER_ROTORY: @@ -335,7 +311,6 @@ public void flush(final double seconds){ flushed.put(name,true); IFlushable flushDevice = (IFlushable)DeviceManager.getSpecificDevice(IFlushable.class,name); flushDevice.flush(seconds); - } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 3188c070..d0d9084a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -9,7 +9,11 @@ import java.io.StringReader; import java.io.StringWriter; import java.util.ArrayList; +import java.util.HashMap; +import com.neuronrobotics.sdk.addons.kinematics.AbstractLink; +import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; +import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.common.IFlushable; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.common.NonBowlerDevice; @@ -26,11 +30,69 @@ public class GcodeDevice extends NonBowlerDevice implements IGcodeExecuter, IFlu private DataOutputStream outs=null; private int timeoutMs = 1000; private GCodeDeviceConfiguration config = new GCodeDeviceConfiguration(); + private HashMap links = new HashMap(); public GcodeDevice(NRSerialPort serial){ this.serial = serial; } + + public AbstractLink getLink(LinkConfiguration axis){ + String gcodeAxis = ""; + GcodePrismatic tmp=null; + switch(axis.getType()){ + case GCODE_STEPPER_PRISMATIC: + case GCODE_STEPPER_ROTORY: + case GCODE_STEPPER_TOOL: + switch(axis.getHardwareIndex()){ + case 0: + gcodeAxis=("X"); + break; + case 1: + gcodeAxis=("Y"); + break; + case 2: + gcodeAxis=("Z"); + break; + case 3: + gcodeAxis=("E"); + break; + default: + throw new RuntimeException("Gcode devices only support 4 axis"); + } + break; + default: + break; + } + switch(axis.getType()){ + case GCODE_HEATER_TOOL: + break; + case GCODE_STEPPER_PRISMATIC: + if(getGCODE(axis)!=null){ + tmp = new GcodePrismatic(axis,getGCODE(axis),gcodeAxis); + } + break; + case GCODE_STEPPER_ROTORY: + break; + case GCODE_STEPPER_TOOL: + default: + break; + } + if(tmp!=null){ + links.put(axis,tmp); + } + return tmp; + } + /** + * Gets the Gcode device from the database. + * + * @return the GCODE device + */ + private GcodeDevice getGCODE(LinkConfiguration c){ + + return (GcodeDevice) DeviceManager.getSpecificDevice(GcodeDevice.class, c.getDeviceScriptingName()); + + } @Override public void disconnectDeviceImp() { @@ -87,8 +149,9 @@ private String getLine(){ String ret=""; try { - while(ins.available()>0){ - ret+=new String(new byte[] {(byte) ins.read()}); + if(ins.available()>0){ + java.util.Scanner s = new java.util.Scanner(ins).useDelimiter("\\A"); + ret =s.hasNext() ? s.next() : ""; } } catch (IOException e) { // TODO Auto-generated catch block @@ -122,6 +185,8 @@ public String runLine(String line) { if((System.currentTimeMillis()-start)>"+line); + System.out.println("R<<"+ret); return ret; } @@ -146,8 +211,32 @@ public GCodeDeviceConfiguration getConfiguration() { @Override public void flush(double seconds) { - // TODO Auto-generated method stub + String run = "G1 "; + for(LinkConfiguration l:links.keySet()){ + IGCodeChannel thisLink = links.get(l); + run +=thisLink.getAxis()+""+((AbstractLink)thisLink).getTargetValue()+" "; + } + String m114 =runLine("M114"); + String[] currentPosStr = m114.split("Count")[0].split(" ");// get the current position + //System.out.println("Fush with current = "+m114); + for(String s:currentPosStr){ + for(LinkConfiguration l:links.keySet()){ + IGCodeChannel thisLink = links.get(l); + if(s.contains(thisLink.getAxis())){ + String [] parts = s.split(":"); + ///System.out.println("Found axis = "+s); + thisLink.setValue(Double.parseDouble(parts[1])); + } + } + } + AbstractLink firstLink = (AbstractLink)links.get(links.keySet().toArray()[0]); + double distance = firstLink.getTargetValue()-firstLink.getCurrentPosition(); + if(distance !=0){ + int feedrate = (int)Math.abs((distance/(seconds/60)));//mm/min + run +=" F"+feedrate; + } + runLine(run); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java index 2503e96d..55c5e5cd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java @@ -3,34 +3,44 @@ import com.neuronrobotics.sdk.addons.kinematics.AbstractPrismaticLink; import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; -public class GcodePrismatic extends AbstractPrismaticLink { +public class GcodePrismatic extends AbstractPrismaticLink implements IGCodeChannel { private GcodeDevice device; private String axis = ""; - double value =0; + private double value =0; public GcodePrismatic(LinkConfiguration conf, GcodeDevice device, String linkAxis) { super(conf); // TODO Auto-generated constructor stub this.device = device; axis=linkAxis; + loadCurrent(); } @Override public void cacheTargetValueDevice() { //value } - - @Override - public void flushDevice(double time) { - String[] currentPosStr = device.runLine("M114").split(" ");// get the current position + + private void loadCurrent(){ + String m114 =device.runLine("M114"); + String[] currentPosStr = m114.split("Count")[0].split(" ");// get the current position + //System.out.println("Fush with current = "+m114); for(String s:currentPosStr){ if(s.contains(getAxis())){ String [] parts = s.split(":"); - value = Double.parseDouble(parts[1]); + //System.out.println("Found axis = "+s); + setValue(Double.parseDouble(parts[1])); + return; } } - double distance = getTargetValue()-value; + } + + @Override + public void flushDevice(double time) { + loadCurrent(); + + double distance = getTargetValue()-getValue(); if(distance !=0){ - int feedrate = (int)(distance/(time/60));//mm/min + int feedrate = (int)Math.abs((distance/(time/60)));//mm/min device.runLine("G1 "+getAxis()+""+getTargetValue()+" F"+feedrate); } } @@ -42,8 +52,8 @@ public void flushAllDevice(double time) { @Override public double getCurrentPosition() { - // TODO Auto-generated method stub - return value; + + return getValue(); } public String getAxis() { @@ -54,4 +64,13 @@ public void setAxis(String axis) { this.axis = axis; } + public double getValue() { + return value; + } + + public void setValue(double value) { + this.value = value; + fireLinkListener( value); + } + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGCodeChannel.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGCodeChannel.java new file mode 100644 index 00000000..6bde42f8 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGCodeChannel.java @@ -0,0 +1,16 @@ +package com.neuronrobotics.sdk.addons.kinematics.gcodebridge; + +public interface IGCodeChannel { + /** + * Return the gcode axis of this channel + * @return the axis + */ + public String getAxis(); + + /** + * Set a value of the current position + * @param value of the current psition + */ + public void setValue(double value) ; + +} diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index 577c9c8d..1f5b1016 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -80,6 +80,22 @@ public void linkFactoryPrismatic(){ AbstractLink link = lf.getLink(confp); assertEquals(link.getClass(), GcodePrismatic.class);// checks to see a real device was created link.setTargetEngineeringUnits(100); + link.flush(2);//take 2 seconds to flush + + LinkConfiguration confp2 = new LinkConfiguration(); + confp2.setType(LinkType.GCODE_STEPPER_PRISMATIC); + confp2.setDeviceScriptingName(GCODE); + confp2.setHardwareIndex(1); + confp2.setScale(1); + AbstractLink link2 = lf.getLink(confp2); + assertEquals(link2.getClass(), GcodePrismatic.class);// checks to see a real device was created + link2.setTargetEngineeringUnits(100); + link2.flush(2);//take 2 seconds to flush + + link2.setTargetEngineeringUnits(0); + link.setTargetEngineeringUnits(0); + // coordinated motion flush + lf.flush(2); } } @@ -87,28 +103,28 @@ public void linkFactoryPrismatic(){ @Test public void G1() { - if (hasPort) { - GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); - String response = device.runLine("G90");// Absolute mode - if (response.length() > 0) - System.out.println("Gcode line run: " + response); - else { - fail("No response"); - } - response = device.runLine("G1 X100 Y100 Z0 E10 F6000"); - if (response.length() > 0) - System.out.println("Gcode line run: " + response); - else { - fail("No response"); - } - response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); - if (response.length() > 0) - System.out.println("Gcode line run: " + response); - else { - fail("No response"); - } - - } +// if (hasPort) { +// GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); +// String response = device.runLine("G90");// Absolute mode +// if (response.length() > 0) +// System.out.println("Gcode line run: " + response); +// else { +// fail("No response"); +// } +// response = device.runLine("G1 X100 Y100 Z0 E10 F6000"); +// if (response.length() > 0) +// System.out.println("Gcode line run: " + response); +// else { +// fail("No response"); +// } +// response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); +// if (response.length() > 0) +// System.out.println("Gcode line run: " + response); +// else { +// fail("No response"); +// } +// +// } } } From a6cf4798e4025bcf6ac3cf4c1d66307b4b4c4876 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 13 May 2016 23:25:32 -0400 Subject: [PATCH 052/482] loading current values working #26 --- .../kinematics/gcodebridge/GcodeDevice.java | 20 +++++++++++-------- .../gcodebridge/GcodePrismatic.java | 12 +---------- 2 files changed, 13 insertions(+), 19 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index d0d9084a..bac937b4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -216,6 +216,18 @@ public void flush(double seconds) { IGCodeChannel thisLink = links.get(l); run +=thisLink.getAxis()+""+((AbstractLink)thisLink).getTargetValue()+" "; } + loadCurrent(); + AbstractLink firstLink = (AbstractLink)links.get(links.keySet().toArray()[0]); + double distance = firstLink.getTargetValue()-firstLink.getCurrentPosition(); + if(distance !=0){ + int feedrate = (int)Math.abs((distance/(seconds/60)));//mm/min + run +=" F"+feedrate; + } + + runLine(run); + } + + public void loadCurrent(){ String m114 =runLine("M114"); String[] currentPosStr = m114.split("Count")[0].split(" ");// get the current position //System.out.println("Fush with current = "+m114); @@ -229,14 +241,6 @@ public void flush(double seconds) { } } } - AbstractLink firstLink = (AbstractLink)links.get(links.keySet().toArray()[0]); - double distance = firstLink.getTargetValue()-firstLink.getCurrentPosition(); - if(distance !=0){ - int feedrate = (int)Math.abs((distance/(seconds/60)));//mm/min - run +=" F"+feedrate; - } - - runLine(run); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java index 55c5e5cd..a9b6d842 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java @@ -21,17 +21,7 @@ public void cacheTargetValueDevice() { } private void loadCurrent(){ - String m114 =device.runLine("M114"); - String[] currentPosStr = m114.split("Count")[0].split(" ");// get the current position - //System.out.println("Fush with current = "+m114); - for(String s:currentPosStr){ - if(s.contains(getAxis())){ - String [] parts = s.split(":"); - //System.out.println("Found axis = "+s); - setValue(Double.parseDouble(parts[1])); - return; - } - } + device.loadCurrent(); } @Override From ef810026b80074b98a5c5148e117c7af2dbd4167 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 13 May 2016 23:40:29 -0400 Subject: [PATCH 053/482] allowing for engineering units of links to be doudles #26 --- .../sdk/addons/kinematics/AbstractLink.java | 18 +++---- .../sdk/addons/kinematics/LinkFactory.java | 6 +-- .../kinematics/gcodebridge/GcodeDevice.java | 15 ++++-- .../namespace/bcs/pid/PidDeviceServer.java | 2 +- .../neuronrobotics/sdk/pid/PIDLimitEvent.java | 8 ++-- .../neuronrobotics/utilities/GCODETest.java | 48 +++++++++---------- 6 files changed, 50 insertions(+), 47 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index f1323ae4..a77ad2d4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -142,8 +142,8 @@ public double toEngineeringUnits(double value){ * @param euValue the eu value * @return the int */ - public int toLinkUnits(double euValue){ - return ((int) (euValue/getScale()))+getHome(); + public double toLinkUnits(double euValue){ + return (euValue/getScale())+getHome(); } /** @@ -306,7 +306,7 @@ public boolean isMinEngineeringUnits() { * * @param val the new position */ - protected void setPosition(int val) { + protected void setPosition(double val) { //if(getTargetValue() != val){ setTargetValue(val); //} @@ -439,8 +439,8 @@ public double getScale() { * * @return the upper limit */ - public int getUpperLimit() { - return (int) conf.getUpperLimit(); + public double getUpperLimit() { + return (double) conf.getUpperLimit(); } /** @@ -448,8 +448,8 @@ public int getUpperLimit() { * * @return the lower limit */ - public int getLowerLimit() { - return (int) conf.getLowerLimit(); + public double getLowerLimit() { + return conf.getLowerLimit(); } /** @@ -457,8 +457,8 @@ public int getLowerLimit() { * * @return the home */ - public int getHome() { - return (int) conf.getStaticOffset(); + public double getHome() { + return conf.getStaticOffset(); } /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index 9b56ff43..7c6aaf37 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -223,14 +223,12 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ case GCODE_HEATER_TOOL: break; case GCODE_STEPPER_PRISMATIC: + case GCODE_STEPPER_ROTORY: + case GCODE_STEPPER_TOOL: if(getGCODE(c)!=null){ tmp = getGCODE(c).getLink(c); } break; - case GCODE_STEPPER_ROTORY: - break; - case GCODE_STEPPER_TOOL: - break; default: break; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index bac937b4..9366b6a9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -39,7 +39,7 @@ public GcodeDevice(NRSerialPort serial){ public AbstractLink getLink(LinkConfiguration axis){ String gcodeAxis = ""; - GcodePrismatic tmp=null; + AbstractLink tmp=null; switch(axis.getType()){ case GCODE_STEPPER_PRISMATIC: case GCODE_STEPPER_ROTORY: @@ -65,21 +65,26 @@ public AbstractLink getLink(LinkConfiguration axis){ break; } switch(axis.getType()){ - case GCODE_HEATER_TOOL: - break; case GCODE_STEPPER_PRISMATIC: if(getGCODE(axis)!=null){ tmp = new GcodePrismatic(axis,getGCODE(axis),gcodeAxis); } break; case GCODE_STEPPER_ROTORY: + if(getGCODE(axis)!=null){ + tmp = new GcodeRotory(axis,getGCODE(axis),gcodeAxis); + } break; case GCODE_STEPPER_TOOL: - default: + if(getGCODE(axis)!=null){ + tmp = new GcodeRotory(axis,getGCODE(axis),gcodeAxis); + } + break; + default: break; } if(tmp!=null){ - links.put(axis,tmp); + links.put(axis,(IGCodeChannel) tmp); } return tmp; } diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java index a908f7e7..f357e654 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java @@ -76,7 +76,7 @@ public void onPIDLimitEvent(PIDLimitEvent e) { new Object[]{ new Byte((byte) e.getGroup()), new Byte( e.getLimitType().getValue()), - new Integer(e.getValue()), + new Integer((int) e.getValue()), new Integer((int) e.getTimeStamp()), }, new BowlerDataType[]{ diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java index 8160d6ce..add0c5ca 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java @@ -13,7 +13,7 @@ public class PIDLimitEvent { private int channel; /** The ticks. */ - private int ticks; + private double ticks; /** The time stamp. */ private long timeStamp; @@ -29,7 +29,7 @@ public class PIDLimitEvent { * @param type the type * @param time the time */ - public PIDLimitEvent(int chan,int tick,PIDLimitEventType type,long time){ + public PIDLimitEvent(int chan,double tick,PIDLimitEventType type,long time){ setGroup(chan); setLimitType(type); setValue(tick); @@ -75,7 +75,7 @@ public int getGroup() { * * @param ticks the new value */ - public void setValue(int ticks) { + public void setValue(double ticks) { this.ticks = ticks; } @@ -84,7 +84,7 @@ public void setValue(int ticks) { * * @return the value */ - public int getValue() { + public double getValue() { return ticks; } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index 1f5b1016..9c76ab6f 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -79,7 +79,7 @@ public void linkFactoryPrismatic(){ confp.setScale(1); AbstractLink link = lf.getLink(confp); assertEquals(link.getClass(), GcodePrismatic.class);// checks to see a real device was created - link.setTargetEngineeringUnits(100); + link.setTargetEngineeringUnits(100.5); link.flush(2);//take 2 seconds to flush LinkConfiguration confp2 = new LinkConfiguration(); @@ -89,7 +89,7 @@ public void linkFactoryPrismatic(){ confp2.setScale(1); AbstractLink link2 = lf.getLink(confp2); assertEquals(link2.getClass(), GcodePrismatic.class);// checks to see a real device was created - link2.setTargetEngineeringUnits(100); + link2.setTargetEngineeringUnits(100.5); link2.flush(2);//take 2 seconds to flush link2.setTargetEngineeringUnits(0); @@ -103,28 +103,28 @@ public void linkFactoryPrismatic(){ @Test public void G1() { -// if (hasPort) { -// GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); -// String response = device.runLine("G90");// Absolute mode -// if (response.length() > 0) -// System.out.println("Gcode line run: " + response); -// else { -// fail("No response"); -// } -// response = device.runLine("G1 X100 Y100 Z0 E10 F6000"); -// if (response.length() > 0) -// System.out.println("Gcode line run: " + response); -// else { -// fail("No response"); -// } -// response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); -// if (response.length() > 0) -// System.out.println("Gcode line run: " + response); -// else { -// fail("No response"); -// } -// -// } + if (hasPort) { + GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); + String response = device.runLine("G90");// Absolute mode + if (response.length() > 0) + System.out.println("Gcode line run: " + response); + else { + fail("No response"); + } + response = device.runLine("G1 X100.2 Y100.2 Z0 E10 F6000"); + if (response.length() > 0) + System.out.println("Gcode line run: " + response); + else { + fail("No response"); + } + response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); + if (response.length() > 0) + System.out.println("Gcode line run: " + response); + else { + fail("No response"); + } + + } } } From 69e5902b1d863cb23eed8a3cb6ee3156478e3a44 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 13 May 2016 23:40:48 -0400 Subject: [PATCH 054/482] adding a rotory link #26 --- .../kinematics/gcodebridge/GcodeRotory.java | 67 +++++++++++++++++++ 1 file changed, 67 insertions(+) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java new file mode 100644 index 00000000..f1b4417b --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java @@ -0,0 +1,67 @@ +package com.neuronrobotics.sdk.addons.kinematics.gcodebridge; + +import com.neuronrobotics.sdk.addons.kinematics.AbstractPrismaticLink; +import com.neuronrobotics.sdk.addons.kinematics.AbstractRotoryLink; +import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; + +public class GcodeRotory extends AbstractRotoryLink implements IGCodeChannel { + private GcodeDevice device; + private String axis = ""; + private double value =0; + public GcodeRotory(LinkConfiguration conf, GcodeDevice device, String linkAxis) { + super(conf); + // TODO Auto-generated constructor stub + this.device = device; + axis=linkAxis; + loadCurrent(); + } + + @Override + public void cacheTargetValueDevice() { + //value + } + + private void loadCurrent(){ + device.loadCurrent(); + } + + @Override + public void flushDevice(double time) { + loadCurrent(); + + double distance = getTargetValue()-getValue(); + if(distance !=0){ + int feedrate = (int)Math.abs((distance/(time/60)));//mm/min + device.runLine("G1 "+getAxis()+""+getTargetValue()+" F"+feedrate); + } + } + + @Override + public void flushAllDevice(double time) { + device.flush(time); + } + + @Override + public double getCurrentPosition() { + + return getValue(); + } + + public String getAxis() { + return axis; + } + + public void setAxis(String axis) { + this.axis = axis; + } + + public double getValue() { + return value; + } + + public void setValue(double value) { + this.value = value; + fireLinkListener( value); + } + +} From fa98612112ec5a11c347381b28a4c4e834824c4d Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 14 May 2016 00:09:39 -0400 Subject: [PATCH 055/482] adding a heater control channel --- .../kinematics/gcodebridge/GCodeHeater.java | 56 +++++++++++++++ .../kinematics/gcodebridge/GcodeDevice.java | 58 +++++++++------- .../neuronrobotics/utilities/GCODETest.java | 69 ++++++++++++++++++- 3 files changed, 157 insertions(+), 26 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeHeater.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeHeater.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeHeater.java new file mode 100644 index 00000000..ffbb3bd1 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeHeater.java @@ -0,0 +1,56 @@ +package com.neuronrobotics.sdk.addons.kinematics.gcodebridge; + +import com.neuronrobotics.sdk.addons.kinematics.AbstractLink; +import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; + +public class GCodeHeater extends AbstractLink implements IGCodeChannel { + + private GcodeDevice device; + private String axis = ""; + private double value =0; + public GCodeHeater(LinkConfiguration conf, String gcodeAxis,GcodeDevice device) { + super(conf); + // TODO Auto-generated constructor stub + this.axis = gcodeAxis; + this.device = device; + } + + @Override + public void cacheTargetValueDevice() { + // TODO Auto-generated method stub + + } + + @Override + public void flushDevice(double time) { + if(axis.contains("B")){ + device.runLine("M104 S"+getTargetValue()); + } + if(axis.contains("T")){ + device.runLine("M140 S"+getTargetValue()); + } + } + + @Override + public void flushAllDevice(double time) { + device.flush(time); + } + + @Override + public double getCurrentPosition() { + // TODO Auto-generated method stub + return value; + } + + @Override + public String getAxis() { + // TODO Auto-generated method stub + return axis; + } + + @Override + public void setValue(double value) { + this.value=value; + } + +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 9366b6a9..97fbb1f2 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -31,13 +31,35 @@ public class GcodeDevice extends NonBowlerDevice implements IGcodeExecuter, IFlu private int timeoutMs = 1000; private GCodeDeviceConfiguration config = new GCodeDeviceConfiguration(); private HashMap links = new HashMap(); + private AbstractLink heater=null; + private AbstractLink bed=null; + public GcodeDevice(NRSerialPort serial){ this.serial = serial; } - + public AbstractLink getHeater(LinkConfiguration axis){ + String gcodeAxis; + switch(axis.getHardwareIndex()){ + case 0: + gcodeAxis=("T"); + if(heater==null) + heater = new GCodeHeater(axis,gcodeAxis,this); + return heater; + case 1: + gcodeAxis=("B"); + if(bed==null) + bed = new GCodeHeater(axis,gcodeAxis,this); + return bed; + default: + throw new RuntimeException("Gcode devices only support 2 heaters"); + } + + } public AbstractLink getLink(LinkConfiguration axis){ + if(links.get(axis)!=null) + return (AbstractLink)links.get(axis); String gcodeAxis = ""; AbstractLink tmp=null; switch(axis.getType()){ @@ -66,19 +88,16 @@ public AbstractLink getLink(LinkConfiguration axis){ } switch(axis.getType()){ case GCODE_STEPPER_PRISMATIC: - if(getGCODE(axis)!=null){ - tmp = new GcodePrismatic(axis,getGCODE(axis),gcodeAxis); - } + tmp = new GcodePrismatic(axis,this,gcodeAxis); + break; case GCODE_STEPPER_ROTORY: - if(getGCODE(axis)!=null){ - tmp = new GcodeRotory(axis,getGCODE(axis),gcodeAxis); - } + tmp = new GcodeRotory(axis,this,gcodeAxis); + break; case GCODE_STEPPER_TOOL: - if(getGCODE(axis)!=null){ - tmp = new GcodeRotory(axis,getGCODE(axis),gcodeAxis); - } + tmp = new GcodeRotory(axis,this,gcodeAxis); + break; default: break; @@ -88,16 +107,6 @@ public AbstractLink getLink(LinkConfiguration axis){ } return tmp; } - /** - * Gets the Gcode device from the database. - * - * @return the GCODE device - */ - private GcodeDevice getGCODE(LinkConfiguration c){ - - return (GcodeDevice) DeviceManager.getSpecificDevice(GcodeDevice.class, c.getDeviceScriptingName()); - - } @Override public void disconnectDeviceImp() { @@ -190,8 +199,8 @@ public String runLine(String line) { if((System.currentTimeMillis()-start)>"+line); - System.out.println("R<<"+ret); + Log.info("S>>"+line); + Log.info("R<<"+ret); return ret; } @@ -228,7 +237,10 @@ public void flush(double seconds) { int feedrate = (int)Math.abs((distance/(seconds/60)));//mm/min run +=" F"+feedrate; } - + if(bed!=null) + bed.flush(seconds); + if(heater!=null) + heater.flush(seconds); runLine(run); } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index 9c76ab6f..b30e3ab8 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -16,6 +16,7 @@ import com.neuronrobotics.sdk.addons.kinematics.LinkType; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodePrismatic; +import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeRotory; import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; @@ -80,7 +81,7 @@ public void linkFactoryPrismatic(){ AbstractLink link = lf.getLink(confp); assertEquals(link.getClass(), GcodePrismatic.class);// checks to see a real device was created link.setTargetEngineeringUnits(100.5); - link.flush(2);//take 2 seconds to flush + link.flush(1);//take 2 seconds to flush LinkConfiguration confp2 = new LinkConfiguration(); confp2.setType(LinkType.GCODE_STEPPER_PRISMATIC); @@ -90,12 +91,74 @@ public void linkFactoryPrismatic(){ AbstractLink link2 = lf.getLink(confp2); assertEquals(link2.getClass(), GcodePrismatic.class);// checks to see a real device was created link2.setTargetEngineeringUnits(100.5); - link2.flush(2);//take 2 seconds to flush + link2.flush(1);//take 2 seconds to flush link2.setTargetEngineeringUnits(0); link.setTargetEngineeringUnits(0); // coordinated motion flush - lf.flush(2); + lf.flush(1); + + } + } + @Test + public void linkFactoryRotory(){ + if (hasPort) { + LinkFactory lf = new LinkFactory(); + LinkConfiguration confp = new LinkConfiguration(); + confp.setType(LinkType.GCODE_STEPPER_ROTORY); + confp.setDeviceScriptingName(GCODE); + confp.setHardwareIndex(0); + confp.setScale(1); + AbstractLink link = lf.getLink(confp); + assertEquals(link.getClass(), GcodeRotory.class);// checks to see a real device was created + link.setTargetEngineeringUnits(100.5); + link.flush(1);//take 2 seconds to flush + + LinkConfiguration confp2 = new LinkConfiguration(); + confp2.setType(LinkType.GCODE_STEPPER_ROTORY); + confp2.setDeviceScriptingName(GCODE); + confp2.setHardwareIndex(1); + confp2.setScale(1); + AbstractLink link2 = lf.getLink(confp2); + assertEquals(link2.getClass(), GcodeRotory.class);// checks to see a real device was created + link2.setTargetEngineeringUnits(100.5); + link2.flush(1);//take 2 seconds to flush + + link2.setTargetEngineeringUnits(0); + link.setTargetEngineeringUnits(0); + // coordinated motion flush + lf.flush(1); + + } + } + @Test + public void linkFactoryTool(){ + if (hasPort) { + LinkFactory lf = new LinkFactory(); + LinkConfiguration confp = new LinkConfiguration(); + confp.setType(LinkType.GCODE_STEPPER_TOOL); + confp.setDeviceScriptingName(GCODE); + confp.setHardwareIndex(0); + confp.setScale(1); + AbstractLink link = lf.getLink(confp); + assertEquals(link.getClass(), GcodeRotory.class);// checks to see a real device was created + link.setTargetEngineeringUnits(100.5); + link.flush(1);//take 2 seconds to flush + + LinkConfiguration confp2 = new LinkConfiguration(); + confp2.setType(LinkType.GCODE_STEPPER_TOOL); + confp2.setDeviceScriptingName(GCODE); + confp2.setHardwareIndex(1); + confp2.setScale(1); + AbstractLink link2 = lf.getLink(confp2); + assertEquals(link2.getClass(), GcodeRotory.class);// checks to see a real device was created + link2.setTargetEngineeringUnits(100.5); + link2.flush(1);//take 2 seconds to flush + + link2.setTargetEngineeringUnits(0); + link.setTargetEngineeringUnits(0); + // coordinated motion flush + lf.flush(1); } } From ccdb40311d3365e3a39146a7222a55db70138245 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 14 May 2016 00:11:31 -0400 Subject: [PATCH 056/482] adding the heater tools to the linkfactory #26 --- .../com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index 7c6aaf37..daf3b84c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -221,6 +221,9 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ tmp=new CameraLink(c,img); break; case GCODE_HEATER_TOOL: + if(getGCODE(c)!=null){ + tmp = getGCODE(c).getHeater(c); + } break; case GCODE_STEPPER_PRISMATIC: case GCODE_STEPPER_ROTORY: From 563adc8e3d3939e0ba128d32a36226c81d8834e2 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 14 May 2016 00:16:25 -0400 Subject: [PATCH 057/482] adding a flag to define a link as passive or not --- .../sdk/addons/kinematics/LinkConfiguration.java | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index ad041ec4..333490e0 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -99,6 +99,7 @@ public class LinkConfiguration { private String electroMechanicalSize = "standardMicro"; private String shaftType = "hobbyServoHorn"; private String shaftSize = "standardMicro1"; + private boolean passive = false; /** * Instantiates a new link configuration. * @@ -173,6 +174,11 @@ public LinkConfiguration(Element eElement){ setShaftSize(XmlFactory.getTagValue("shaftSize",eElement)); }catch (Exception e){ + } + try{ + setPassive(Boolean.parseBoolean(XmlFactory.getTagValue("passive",eElement))); + }catch (Exception e){ + } try{ if (eElement.getNodeType() == Node.ELEMENT_NODE && eElement.getNodeName().contentEquals("centerOfMassFromCentroid")) { @@ -284,6 +290,7 @@ public String getXml(){ "\t"+getElectroMechanicalType()+"\n"+ "\t"+getShaftSize()+"\n"+ "\t"+getShaftType()+"\n"+ + "\t"+isPassive()+"\n"+ "\t"+getMassKg()+"\n"+ "\t"+getCenterOfMassFromCentroid().getXml()+"\n" +slaves; @@ -754,6 +761,14 @@ public String getShaftSize() { public void setShaftSize(String shaftSize) { this.shaftSize = shaftSize; + } + + public boolean isPassive() { + return passive; + } + + public void setPassive(boolean passive) { + this.passive = passive; } } From f5371acb18eb89b0a08bcc75cd6a77ac915785e1 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 14 May 2016 00:25:17 -0400 Subject: [PATCH 058/482] 0.20.0 Adding GCODE devices --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- .../java/src/junit/test/neuronrobotics/utilities/GCODETest.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 6d45483a..98654694 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.19.1 +app.version=3.20.0 app.javac.version=1.6 diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index b30e3ab8..b3010001 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -158,7 +158,7 @@ public void linkFactoryTool(){ link2.setTargetEngineeringUnits(0); link.setTargetEngineeringUnits(0); // coordinated motion flush - lf.flush(1); + lf.flush(5); } } From 069fe915315c467c2c3f51d8820f5303cf85643e Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 14 May 2016 00:33:12 -0400 Subject: [PATCH 059/482] Unit test for heater tool #26 --- .../neuronrobotics/utilities/GCODETest.java | 33 +++++++++++++++++++ 1 file changed, 33 insertions(+) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index b3010001..b3fede65 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -14,6 +14,7 @@ import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; import com.neuronrobotics.sdk.addons.kinematics.LinkFactory; import com.neuronrobotics.sdk.addons.kinematics.LinkType; +import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GCodeHeater; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodePrismatic; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeRotory; @@ -162,6 +163,38 @@ public void linkFactoryTool(){ } } + + @Test + public void linkFactoryHeater(){ + if (hasPort) { + LinkFactory lf = new LinkFactory(); + LinkConfiguration confp = new LinkConfiguration(); + confp.setType(LinkType.GCODE_HEATER_TOOL); + confp.setDeviceScriptingName(GCODE); + confp.setHardwareIndex(0); + confp.setScale(1); + AbstractLink link = lf.getLink(confp); + assertEquals(link.getClass(), GCodeHeater.class);// checks to see a real device was created + link.setTargetEngineeringUnits(25); + link.flush(1);//take 2 seconds to flush + + LinkConfiguration confp2 = new LinkConfiguration(); + confp2.setType(LinkType.GCODE_HEATER_TOOL); + confp2.setDeviceScriptingName(GCODE); + confp2.setHardwareIndex(1); + confp2.setScale(1); + AbstractLink link2 = lf.getLink(confp2); + assertEquals(link2.getClass(), GCodeHeater.class);// checks to see a real device was created + link2.setTargetEngineeringUnits(25); + link2.flush(1);//take 2 seconds to flush + + link2.setTargetEngineeringUnits(0); + link.setTargetEngineeringUnits(0); + // coordinated motion flush + lf.flush(5); + + } + } @Test public void G1() { From e182023403d949aeee00f9e189970dc84a9d4f6b Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 14 May 2016 01:02:07 -0400 Subject: [PATCH 060/482] updating seril port to use odd baudrates --- build.gradle | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/build.gradle b/build.gradle index ad89dbf7..d9c37856 100644 --- a/build.gradle +++ b/build.gradle @@ -63,7 +63,7 @@ dependencies { compile 'org.usb4java:usb4java-javax:1.2.0' //compile fileTree (dir: '../doychinNRJAVASERISL/nrjavaserial/build/libs', includes: ['*.jar']) - compile "com.neuronrobotics:nrjavaserial:3.11.0" + compile "com.neuronrobotics:nrjavaserial:3.12.1" } @@ -176,4 +176,4 @@ uploadArchives { } } } - */ +*/ \ No newline at end of file From 68eda01409529a3c7591b614b6f796b566a4d2f4 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 14 May 2016 01:02:54 -0400 Subject: [PATCH 061/482] bugfix for baudrates --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 98654694..9070350a 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.20.0 +app.version=3.20.1 app.javac.version=1.6 From c2b2f3d66e05bd6e165316fe7182b3da5e8c8c29 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 14 May 2016 01:12:33 -0400 Subject: [PATCH 062/482] updating repositories --- build.gradle | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/build.gradle b/build.gradle index d9c37856..f441f7e8 100644 --- a/build.gradle +++ b/build.gradle @@ -43,10 +43,16 @@ task wrapper(type: Wrapper, description: 'Creates and deploys the Gradle wrapper } repositories { - mavenCentral() - maven { - url "https://jcenter.bintray.com" - } + mavenCentral() + maven { url 'https://repository-bubblecloud.forge.cloudbees.com/release/'} + maven { url 'https://clojars.org/repo' } + maven { url 'https://oss.sonatype.org/content/repositories/releases/' } + maven { url 'https://jline.sourceforge.net/m2repo' } + maven { url 'https://repo.spring.io/milestone'} + maven { url 'https://oss.sonatype.org/content/repositories/snapshots/' } + maven { url 'https://oss.sonatype.org/service/local/staging/deploy/maven2/' } + maven { url 'https://jenkinsci.artifactoryonline.com/jenkinsci/public/' } + maven { url 'https://plugins.gradle.org/m2/' } } dependencies { From fee72a8f5ed60eb7ad106e47ccba80e85410a4c5 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 14 May 2016 01:13:19 -0400 Subject: [PATCH 063/482] 0.20.2 --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 9070350a..c56e8e51 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.20.1 +app.version=3.20.2 app.javac.version=1.6 From 55faca62fe283573dbbb435bae865ece3f6d61f9 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 14 May 2016 01:48:08 -0400 Subject: [PATCH 064/482] avoiding the logic loop of link startup --- .../sdk/addons/kinematics/gcodebridge/GcodePrismatic.java | 2 +- .../sdk/addons/kinematics/gcodebridge/GcodeRotory.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java index a9b6d842..757c70ad 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java @@ -12,7 +12,7 @@ public GcodePrismatic(LinkConfiguration conf, GcodeDevice device, String linkAxi // TODO Auto-generated constructor stub this.device = device; axis=linkAxis; - loadCurrent(); + //loadCurrent(); } @Override diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java index f1b4417b..d096536a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java @@ -13,7 +13,7 @@ public GcodeRotory(LinkConfiguration conf, GcodeDevice device, String linkAxis) // TODO Auto-generated constructor stub this.device = device; axis=linkAxis; - loadCurrent(); + //loadCurrent(); } @Override From 21d8c967f94ef154262d297a2cfaa389e624d3e3 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 14 May 2016 21:52:32 -0400 Subject: [PATCH 065/482] load a gcode device from xml --- .../kinematics/gcodebridge/GcodeDevice.java | 2 +- .../neuronrobotics/utilities/GCODETest.java | 42 +++ .../test/neuronrobotics/utilities/cnc.xml | 262 ++++++++++++++++++ 3 files changed, 305 insertions(+), 1 deletion(-) create mode 100644 test/java/src/junit/test/neuronrobotics/utilities/cnc.xml diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 97fbb1f2..7a8fa1fd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -176,7 +176,7 @@ private String getLine(){ //usb.dst contains "1.121.2" @Override - public String runLine(String line) { + public synchronized String runLine(String line) { if(!line.endsWith("\r\n")) line = line+"\r\n"; try { diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index b3fede65..0b2fbeb1 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -2,6 +2,8 @@ import static org.junit.Assert.*; +import java.util.ArrayList; + import javax.security.auth.login.FailedLoginException; import org.junit.After; @@ -11,13 +13,21 @@ import org.junit.Test; import com.neuronrobotics.sdk.addons.kinematics.AbstractLink; +import com.neuronrobotics.sdk.addons.kinematics.DHChain; +import com.neuronrobotics.sdk.addons.kinematics.DHLink; +import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; +import com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver; import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; import com.neuronrobotics.sdk.addons.kinematics.LinkFactory; import com.neuronrobotics.sdk.addons.kinematics.LinkType; +import com.neuronrobotics.sdk.addons.kinematics.MobileBase; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GCodeHeater; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodePrismatic; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeRotory; +import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.IGCodeChannel; +import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; +import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; @@ -102,6 +112,38 @@ public void linkFactoryPrismatic(){ } } @Test + public void loadFromXml(){ + MobileBase cnc = new MobileBase(GCODETest.class.getResourceAsStream("cnc.xml")); + DHParameterKinematics arm = cnc.getAppendages().get(0); + arm.setInverseSolver(new DhInverseSolver() { + @Override + public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector, DHChain chain) { + ArrayList links = chain.getLinks(); + int linkNum = jointSpaceVector.length; + double [] inv = new double[linkNum]; + inv[2] = target.getX(); + inv[1] = target.getY(); + inv[0] = target.getZ(); + for(int i=3;i + + + https://gist.github.com/51a9e0bc4ee095b03979.git + CNCMill.groovy + + + https://gist.github.com/bcb4760a449190206170.git + WalkingDriveEngine.groovy + + +CNCGroup + + +CNCDevice + + https://gist.github.com/51a9e0bc4ee095b03979.git + CNCMill.groovy + + + https://gist.github.com/51a9e0bc4ee095b03979.git + CNCKinematics.groovy + + + Z + GCODE + gcode-stepper-prismatic + 2 + 0.0084 + 25000.0 + 0.0 + 1.0E8 + -1.0E8 + 0.0 + true + 235 + false + 10000000 + standardMicro + hobbyServo + standardMicro1 + hobbyServoHorn + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 0.0 + -90.0 + + + + + Y + GCODE + gcode-stepper-prismatic + 1 + 0.0084 + 48000.0 + 0.0 + 1.0E8 + -1.0E8 + 0.0 + true + 128 + false + 10000000 + standardMicro + hobbyServo + standardMicro1 + hobbyServoHorn + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + -90.0 + 0.0 + -90.0 + + + + + X + GCODE + gcode-stepper-prismatic + 0 + 0.0084 + 25000.0 + 0.0 + 1.0E8 + -1.0E8 + 0.0 + true + 121 + false + 10000000 + standardMicro + hobbyServo + standardMicro1 + hobbyServoHorn + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + -90.0 + 0.0 + 0.0 + + + + + TOOL1 + GCODE + gcode-stepper-tool + 3 + -0.313 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 200.0 + true + 175 + false + 10000000 + standardMicro + hobbyServo + standardMicro1 + hobbyServoHorn + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 0.0 + 90.0 + + + + + TOOL2 + GCODE + gcode-heater-tool + 0 + 0.3125 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 255.0 + true + 255 + false + 10000000 + standardMicro + hobbyServo + standardMicro1 + hobbyServoHorn + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 0.0 + -90.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + 0.5 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + \ No newline at end of file From ade910bbca7f75a4efc083138c2db92f3dd18be6 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 14 May 2016 22:02:01 -0400 Subject: [PATCH 066/482] smaller dh-solver --- .../neuronrobotics/utilities/GCODETest.java | 274 +++++++++--------- 1 file changed, 135 insertions(+), 139 deletions(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index 0b2fbeb1..51d50bac 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -82,53 +82,49 @@ public void M105() { } @Test public void linkFactoryPrismatic(){ - if (hasPort) { - LinkFactory lf = new LinkFactory(); - LinkConfiguration confp = new LinkConfiguration(); - confp.setType(LinkType.GCODE_STEPPER_PRISMATIC); - confp.setDeviceScriptingName(GCODE); - confp.setHardwareIndex(0); - confp.setScale(1); - AbstractLink link = lf.getLink(confp); - assertEquals(link.getClass(), GcodePrismatic.class);// checks to see a real device was created - link.setTargetEngineeringUnits(100.5); - link.flush(1);//take 2 seconds to flush - - LinkConfiguration confp2 = new LinkConfiguration(); - confp2.setType(LinkType.GCODE_STEPPER_PRISMATIC); - confp2.setDeviceScriptingName(GCODE); - confp2.setHardwareIndex(1); - confp2.setScale(1); - AbstractLink link2 = lf.getLink(confp2); - assertEquals(link2.getClass(), GcodePrismatic.class);// checks to see a real device was created - link2.setTargetEngineeringUnits(100.5); - link2.flush(1);//take 2 seconds to flush - - link2.setTargetEngineeringUnits(0); - link.setTargetEngineeringUnits(0); - // coordinated motion flush - lf.flush(1); - - } +// if (hasPort) { +// LinkFactory lf = new LinkFactory(); +// LinkConfiguration confp = new LinkConfiguration(); +// confp.setType(LinkType.GCODE_STEPPER_PRISMATIC); +// confp.setDeviceScriptingName(GCODE); +// confp.setHardwareIndex(0); +// confp.setScale(1); +// AbstractLink link = lf.getLink(confp); +// assertEquals(link.getClass(), GcodePrismatic.class);// checks to see a real device was created +// link.setTargetEngineeringUnits(100.5); +// link.flush(1);//take 2 seconds to flush +// +// LinkConfiguration confp2 = new LinkConfiguration(); +// confp2.setType(LinkType.GCODE_STEPPER_PRISMATIC); +// confp2.setDeviceScriptingName(GCODE); +// confp2.setHardwareIndex(1); +// confp2.setScale(1); +// AbstractLink link2 = lf.getLink(confp2); +// assertEquals(link2.getClass(), GcodePrismatic.class);// checks to see a real device was created +// link2.setTargetEngineeringUnits(100.5); +// link2.flush(1);//take 2 seconds to flush +// +// link2.setTargetEngineeringUnits(0); +// link.setTargetEngineeringUnits(0); +// // coordinated motion flush +// lf.flush(1); +// +// } } @Test public void loadFromXml(){ MobileBase cnc = new MobileBase(GCODETest.class.getResourceAsStream("cnc.xml")); DHParameterKinematics arm = cnc.getAppendages().get(0); - arm.setInverseSolver(new DhInverseSolver() { - @Override - public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector, DHChain chain) { - ArrayList links = chain.getLinks(); - int linkNum = jointSpaceVector.length; - double [] inv = new double[linkNum]; + arm.setInverseSolver(new DhInverseSolver() {@Override public double[] inverseKinematics + (TransformNR target, double[] jointSpaceVector, DHChain chain) { + double [] inv = new double[jointSpaceVector.length]; inv[2] = target.getX(); inv[1] = target.getY(); inv[0] = target.getZ(); for(int i=3;i 0) - System.out.println("Gcode line run: " + response); - else { - fail("No response"); - } - response = device.runLine("G1 X100.2 Y100.2 Z0 E10 F6000"); - if (response.length() > 0) - System.out.println("Gcode line run: " + response); - else { - fail("No response"); - } - response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); - if (response.length() > 0) - System.out.println("Gcode line run: " + response); - else { - fail("No response"); - } +// GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); +// String response = device.runLine("G90");// Absolute mode +// if (response.length() > 0) +// System.out.println("Gcode line run: " + response); +// else { +// fail("No response"); +// } +// response = device.runLine("G1 X100.2 Y100.2 Z0 E10 F6000"); +// if (response.length() > 0) +// System.out.println("Gcode line run: " + response); +// else { +// fail("No response"); +// } +// response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); +// if (response.length() > 0) +// System.out.println("Gcode line run: " + response); +// else { +// fail("No response"); +// } } } From f5d6aa62762d80cfa645f62769a38ae0a4bac445 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Thu, 19 May 2016 23:33:46 -0400 Subject: [PATCH 067/482] updating GCODE bridge --- .../kinematics/gcodebridge/GcodeDevice.java | 2 +- .../neuronrobotics/utilities/GCODETest.java | 270 +++++++++--------- .../test/neuronrobotics/utilities/cnc.xml | 5 +- 3 files changed, 140 insertions(+), 137 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 7a8fa1fd..0b67360b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -233,7 +233,7 @@ public void flush(double seconds) { loadCurrent(); AbstractLink firstLink = (AbstractLink)links.get(links.keySet().toArray()[0]); double distance = firstLink.getTargetValue()-firstLink.getCurrentPosition(); - if(distance !=0){ + if(distance !=0 && seconds>0){ int feedrate = (int)Math.abs((distance/(seconds/60)));//mm/min run +=" F"+feedrate; } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index 51d50bac..5c44d388 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -82,34 +82,34 @@ public void M105() { } @Test public void linkFactoryPrismatic(){ -// if (hasPort) { -// LinkFactory lf = new LinkFactory(); -// LinkConfiguration confp = new LinkConfiguration(); -// confp.setType(LinkType.GCODE_STEPPER_PRISMATIC); -// confp.setDeviceScriptingName(GCODE); -// confp.setHardwareIndex(0); -// confp.setScale(1); -// AbstractLink link = lf.getLink(confp); -// assertEquals(link.getClass(), GcodePrismatic.class);// checks to see a real device was created -// link.setTargetEngineeringUnits(100.5); -// link.flush(1);//take 2 seconds to flush -// -// LinkConfiguration confp2 = new LinkConfiguration(); -// confp2.setType(LinkType.GCODE_STEPPER_PRISMATIC); -// confp2.setDeviceScriptingName(GCODE); -// confp2.setHardwareIndex(1); -// confp2.setScale(1); -// AbstractLink link2 = lf.getLink(confp2); -// assertEquals(link2.getClass(), GcodePrismatic.class);// checks to see a real device was created -// link2.setTargetEngineeringUnits(100.5); -// link2.flush(1);//take 2 seconds to flush -// -// link2.setTargetEngineeringUnits(0); -// link.setTargetEngineeringUnits(0); -// // coordinated motion flush -// lf.flush(1); -// -// } + if (hasPort) { + LinkFactory lf = new LinkFactory(); + LinkConfiguration confp = new LinkConfiguration(); + confp.setType(LinkType.GCODE_STEPPER_PRISMATIC); + confp.setDeviceScriptingName(GCODE); + confp.setHardwareIndex(0); + confp.setScale(1); + AbstractLink link = lf.getLink(confp); + assertEquals(link.getClass(), GcodePrismatic.class);// checks to see a real device was created + link.setTargetEngineeringUnits(100.5); + link.flush(1);//take 2 seconds to flush + + LinkConfiguration confp2 = new LinkConfiguration(); + confp2.setType(LinkType.GCODE_STEPPER_PRISMATIC); + confp2.setDeviceScriptingName(GCODE); + confp2.setHardwareIndex(1); + confp2.setScale(1); + AbstractLink link2 = lf.getLink(confp2); + assertEquals(link2.getClass(), GcodePrismatic.class);// checks to see a real device was created + link2.setTargetEngineeringUnits(100.5); + link2.flush(1);//take 2 seconds to flush + + link2.setTargetEngineeringUnits(0); + link.setTargetEngineeringUnits(0); + // coordinated motion flush + lf.flush(1); + + } } @Test public void loadFromXml(){ @@ -118,9 +118,9 @@ public void loadFromXml(){ arm.setInverseSolver(new DhInverseSolver() {@Override public double[] inverseKinematics (TransformNR target, double[] jointSpaceVector, DHChain chain) { double [] inv = new double[jointSpaceVector.length]; - inv[2] = target.getX(); + //inv[2] = target.getX(); inv[1] = target.getY(); - inv[0] = target.getZ(); + inv[0] = target.getX(); for(int i=3;i 0) -// System.out.println("Gcode line run: " + response); -// else { -// fail("No response"); -// } -// response = device.runLine("G1 X100.2 Y100.2 Z0 E10 F6000"); -// if (response.length() > 0) -// System.out.println("Gcode line run: " + response); -// else { -// fail("No response"); -// } -// response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); -// if (response.length() > 0) -// System.out.println("Gcode line run: " + response); -// else { -// fail("No response"); -// } + GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); + String response = device.runLine("G90");// Absolute mode + if (response.length() > 0) + System.out.println("Gcode line run: " + response); + else { + fail("No response"); + } + response = device.runLine("G1 X100.2 Y100.2 Z0 E10 F6000"); + if (response.length() > 0) + System.out.println("Gcode line run: " + response); + else { + fail("No response"); + } + response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); + if (response.length() > 0) + System.out.println("Gcode line run: " + response); + else { + fail("No response"); + } } } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/cnc.xml b/test/java/src/junit/test/neuronrobotics/utilities/cnc.xml index 75274842..6bf6cef8 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/cnc.xml +++ b/test/java/src/junit/test/neuronrobotics/utilities/cnc.xml @@ -21,6 +21,7 @@ https://gist.github.com/51a9e0bc4ee095b03979.git CNCKinematics.groovy + Y GCODE @@ -132,6 +134,7 @@ + 0.0 0.0 From f4173b8bfa1d265e9ad3a0b593aa26ceec57d7ba Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 20 May 2016 10:04:31 -0400 Subject: [PATCH 068/482] only run unit test when port is present --- .../neuronrobotics/utilities/GCODETest.java | 150 +++++++++++------- 1 file changed, 92 insertions(+), 58 deletions(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index 5c44d388..11d13180 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -80,8 +80,9 @@ public void M105() { } } + @Test - public void linkFactoryPrismatic(){ + public void linkFactoryPrismatic() { if (hasPort) { LinkFactory lf = new LinkFactory(); LinkConfiguration confp = new LinkConfiguration(); @@ -90,57 +91,77 @@ public void linkFactoryPrismatic(){ confp.setHardwareIndex(0); confp.setScale(1); AbstractLink link = lf.getLink(confp); - assertEquals(link.getClass(), GcodePrismatic.class);// checks to see a real device was created + assertEquals(link.getClass(), GcodePrismatic.class);// checks to see + // a real device + // was created link.setTargetEngineeringUnits(100.5); - link.flush(1);//take 2 seconds to flush - + link.flush(1);// take 2 seconds to flush + LinkConfiguration confp2 = new LinkConfiguration(); confp2.setType(LinkType.GCODE_STEPPER_PRISMATIC); confp2.setDeviceScriptingName(GCODE); confp2.setHardwareIndex(1); confp2.setScale(1); AbstractLink link2 = lf.getLink(confp2); - assertEquals(link2.getClass(), GcodePrismatic.class);// checks to see a real device was created + assertEquals(link2.getClass(), GcodePrismatic.class);// checks to + // see a + // real + // device + // was + // created link2.setTargetEngineeringUnits(100.5); - link2.flush(1);//take 2 seconds to flush - + link2.flush(1);// take 2 seconds to flush + link2.setTargetEngineeringUnits(0); link.setTargetEngineeringUnits(0); // coordinated motion flush lf.flush(1); - + } } + @Test - public void loadFromXml(){ - MobileBase cnc = new MobileBase(GCODETest.class.getResourceAsStream("cnc.xml")); - DHParameterKinematics arm = cnc.getAppendages().get(0); - arm.setInverseSolver(new DhInverseSolver() {@Override public double[] inverseKinematics - (TransformNR target, double[] jointSpaceVector, DHChain chain) { - double [] inv = new double[jointSpaceVector.length]; - //inv[2] = target.getX(); - inv[1] = target.getY(); - inv[0] = target.getX(); - for(int i=3;i Date: Sun, 29 May 2016 12:13:11 -0400 Subject: [PATCH 069/482] import cleanup --- .../junit/test/neuronrobotics/utilities/GCODETest.java | 9 --------- 1 file changed, 9 deletions(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index 11d13180..646982b0 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -2,19 +2,12 @@ import static org.junit.Assert.*; -import java.util.ArrayList; - -import javax.security.auth.login.FailedLoginException; - -import org.junit.After; import org.junit.AfterClass; -import org.junit.Before; import org.junit.BeforeClass; import org.junit.Test; import com.neuronrobotics.sdk.addons.kinematics.AbstractLink; import com.neuronrobotics.sdk.addons.kinematics.DHChain; -import com.neuronrobotics.sdk.addons.kinematics.DHLink; import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; import com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver; import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; @@ -29,8 +22,6 @@ import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.common.DeviceManager; -import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; - import gnu.io.NRSerialPort; public class GCODETest { From 021d0dd291e060ecca0daee4786ee9ba4b488295 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 29 May 2016 12:39:40 -0400 Subject: [PATCH 070/482] adding an IMU listener framework --- .../sdk/addons/kinematics/imu/IMU.java | 61 ++++++++++++++++ .../sdk/addons/kinematics/imu/IMUUpdate.java | 73 +++++++++++++++++++ .../kinematics/imu/IMUUpdateListener.java | 9 +++ 3 files changed, 143 insertions(+) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMUUpdate.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMUUpdateListener.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java new file mode 100644 index 00000000..8120a783 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java @@ -0,0 +1,61 @@ +package com.neuronrobotics.sdk.addons.kinematics.imu; + +import java.util.ArrayList; + +public class IMU { + private ArrayList virtualListeneras = new ArrayList(); + private ArrayList hardwareListeneras = new ArrayList(); + + private IMUUpdate virtualState=new IMUUpdate(0.0,0.0,0.0,0.0,0.0,0.0); + private IMUUpdate hardwareState=new IMUUpdate(null,null,null,null,null,null); + + public void addhardwareListeners(IMUUpdateListener l){ + if(!hardwareListeneras.contains(l)) + hardwareListeneras.add(l); + } + public void addvirtualListeners(IMUUpdateListener l){ + if(!virtualListeneras.contains(l)) + virtualListeneras.add(l); + } + + public void removehardwareListeners(IMUUpdateListener l){ + if(hardwareListeneras.contains(l)) + hardwareListeneras.remove(l); + } + public void removevirtualListeners(IMUUpdateListener l){ + if(virtualListeneras.contains(l)) + virtualListeneras.remove(l); + } + public void clearhardwareListeners(){ + + hardwareListeneras.clear();; + } + public void clearvirtualListeners(){ + + virtualListeneras.clear(); + } + public IMUUpdate getVirtualState() { + + return virtualState; + } + public void setVirtualState(IMUUpdate virtualState) { + for(int i=0;i Date: Sun, 29 May 2016 14:11:19 -0400 Subject: [PATCH 071/482] adding the IMU to the Links and abstract kinematics. The imu has a centroid which is loaded for the links and the mobile base. Thes objects also have an IMU object that can be accessed to ass event listeners and to set new values to. It is a bidirectional message passer. --- .../kinematics/AbstractKinematicsNR.java | 9 +++++++ .../sdk/addons/kinematics/AbstractLink.java | 10 +++++-- .../addons/kinematics/LinkConfiguration.java | 26 +++++++++++++++--- .../sdk/addons/kinematics/MobileBase.java | 27 ++++++++++++++++--- .../sdk/addons/kinematics/imu/IMU.java | 3 +-- 5 files changed, 65 insertions(+), 10 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 7e932fe6..4c743a4d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -16,6 +16,7 @@ import Jama.Matrix; +import com.neuronrobotics.sdk.addons.kinematics.imu.IMU; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; @@ -99,6 +100,10 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP /** The retry number before fail. */ private int retryNumberBeforeFail = 5; + /** + * The object for communicating IMU information and registering it with the hardware + */ + private IMU imu = new IMU(); /** @@ -1323,4 +1328,8 @@ protected String getCode(Element e,String tag){ return null; } + public IMU getImu() { + return imu; + } + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index a77ad2d4..beb7741f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -5,6 +5,7 @@ import javafx.scene.transform.Affine; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.IGcodeExecuter; +import com.neuronrobotics.sdk.addons.kinematics.imu.IMU; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.common.IFlushable; import com.neuronrobotics.sdk.common.Log; @@ -36,7 +37,10 @@ public abstract class AbstractLink implements IFlushable{ private Affine linksLocation=new Affine(); - + /** + * The object for communicating IMU information and registering it with the hardware + */ + private IMU imu = new IMU(); /** * Instantiates a new abstract link. @@ -550,5 +554,7 @@ public void setSlaveFactory(LinkFactory slaveFactory) { this.slaveFactory = slaveFactory; } - + public IMU getImu() { + return imu; + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 333490e0..3f4fb707 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -79,7 +79,7 @@ public class LinkConfiguration { private double mass=0.01;// KG private TransformNR centerOfMassFromCentroid=new TransformNR(); - + private TransformNR imuFromCentroid=new TransformNR(); /** The static offset. */ private double staticOffset=0; @@ -194,7 +194,20 @@ public LinkConfiguration(Element eElement){ }catch (Exception e){ } - + try{ + if (eElement.getNodeType() == Node.ELEMENT_NODE && eElement.getNodeName().contentEquals("imuFromCentroid")) { + Element cntr = (Element)eElement; + setimuFromCentroid(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), + Double.parseDouble(XmlFactory.getTagValue("y",cntr)), + Double.parseDouble(XmlFactory.getTagValue("z",cntr)), + new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), + Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))}))); + } + }catch (Exception e){ + + } isLatch=XmlFactory.getTagValue("isLatch",eElement).contains("true"); indexLatch=Integer.parseInt(XmlFactory.getTagValue("indexLatch",eElement)); isStopOnLatch=XmlFactory.getTagValue("isStopOnLatch",eElement).contains("true"); @@ -292,7 +305,8 @@ public String getXml(){ "\t"+getShaftType()+"\n"+ "\t"+isPassive()+"\n"+ "\t"+getMassKg()+"\n"+ - "\t"+getCenterOfMassFromCentroid().getXml()+"\n" + "\t"+getCenterOfMassFromCentroid().getXml()+"\n"+ + "\t"+getimuFromCentroid().getXml()+"\n" +slaves; } @@ -730,6 +744,12 @@ public TransformNR getCenterOfMassFromCentroid() { public void setCenterOfMassFromCentroid(TransformNR centerOfMassFromCentroid) { this.centerOfMassFromCentroid = centerOfMassFromCentroid; } + public TransformNR getimuFromCentroid() { + return imuFromCentroid; + } + public void setimuFromCentroid(TransformNR centerOfMassFromCentroid) { + this.imuFromCentroid = centerOfMassFromCentroid; + } public String getElectroMechanicalType() { return electroMechanicalType; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index ffc33fe1..c9aaf0fb 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -44,6 +44,8 @@ public class MobileBase extends AbstractKinematicsNR{ private double mass=0.5;// KG private TransformNR centerOfMassFromCentroid=new TransformNR(); + + private TransformNR IMUFromCentroid=new TransformNR(); /** * Instantiates a new mobile base. @@ -141,7 +143,20 @@ private void loadConfigs(Element doc){ }catch (Exception e){ } - + try{ + if (doc.getNodeType() == Node.ELEMENT_NODE && doc.getNodeName().contentEquals("imuFromCentroid")) { + Element cntr = (Element)doc; + setIMUFromCentroid(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), + Double.parseDouble(XmlFactory.getTagValue("y",cntr)), + Double.parseDouble(XmlFactory.getTagValue("z",cntr)), + new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), + Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))}))); + } + }catch (Exception e){ + + } } /** @@ -353,7 +368,8 @@ public String getEmbedableXml(){ xml+=getRobotToFiducialTransform().getXml(); xml+="\n\n"+ "\t"+getMassKg()+"\n"+ - "\t"+getCenterOfMassFromCentroid().getXml()+"\n"; + "\t"+getCenterOfMassFromCentroid().getXml()+"\n"+ + "\t"+getIMUFromCentroid().getXml()+"\n"; xml+="\n\n"; setGlobalToFiducialTransform(location); return xml; @@ -504,7 +520,12 @@ public TransformNR getCenterOfMassFromCentroid() { public void setCenterOfMassFromCentroid(TransformNR centerOfMassFromCentroid) { this.centerOfMassFromCentroid = centerOfMassFromCentroid; } - + public TransformNR getIMUFromCentroid() { + return IMUFromCentroid; + } + public void setIMUFromCentroid(TransformNR centerOfMassFromCentroid) { + this.IMUFromCentroid = centerOfMassFromCentroid; + } public void setFiducialToGlobalTransform(TransformNR globe) { setGlobalToFiducialTransform(globe); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java index 8120a783..19fd5d02 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java @@ -39,17 +39,16 @@ public IMUUpdate getVirtualState() { return virtualState; } public void setVirtualState(IMUUpdate virtualState) { + this.virtualState = virtualState; for(int i=0;i Date: Sun, 29 May 2016 14:11:51 -0400 Subject: [PATCH 072/482] 3.20.3 --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index c56e8e51..bf373732 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.20.2 +app.version=3.20.3 app.javac.version=1.6 From dc22521f0d133a2441e35535da20a96d2fbf773d Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Tue, 7 Jun 2016 11:08:03 -0400 Subject: [PATCH 073/482] Adding The Lewis Debugger --- .debuggerDefaults | 35 +++++++++++++++++++++++++++++++++++ build.gradle | 24 +++--------------------- 2 files changed, 38 insertions(+), 21 deletions(-) create mode 100644 .debuggerDefaults diff --git a/.debuggerDefaults b/.debuggerDefaults new file mode 100644 index 00000000..9044d3b9 --- /dev/null +++ b/.debuggerDefaults @@ -0,0 +1,35 @@ +# ODB Defaults 28.Mar.07 -- You may edit by hand. See Manual for details + +# Class & method names must be complete. '*' must be freestanding. +# DidntInstrument: This is informative only. (You may change to InstrumentOnly.) +# DontInstrumentMethod: These methods won't be instrumented (but may be recorded). +# DontRecordMethod: These methods won't be recorded (ie, from the calling method). +# DontEither: These methods won't be recorded or instrumented. +# MaxTimeStamps: This is overridded by the command line argument, hence seldom used. +# StartPattern: Recording will start when this pattern is matched. +# StopPattern: Recording will stop when this pattern is matched (no restarts!). +# SourceDirectory: If sources can't be found normally, look here. +# OnlyInstrument: Only classes which match this prefix will be instrumented. +# OnlyInstrument: "" means default package only. No entry means everything. +# UserSelectedField: This instance variable (a final String) will be appended to the display string +# UserSelectedField: "com.lambda.Thing name" -> +# SpecialFormatter: com.lambda.Debugger.SpecialTimeStampFormatter + +MaxTimeStamps: 400000 +StartPattern: +StopPattern: +SourceDirectory: "/home/hephaestus/git/java-bowler/examples/java/src/" +SourceDirectory: "/home/hephaestus/git/java-bowler/src/main/java/" +SourceDirectory: "/home/hephaestus/git/nrjavaserial/src/main/java/" +OnlyInstrument: +DidntInstrument: +DontInstrumentMethod: +DontInstrumentMethod: "* toString" +DontInstrumentMethod: "* valueOf" +DontRecordMethod: +DontRecordMethod: "* toString" +DontRecordMethod: "* valueOf" +DontRecordMethod: "java.lang.StringBuilder *" +DontRecordMethod: "java.lang.StringBuffer *" +DontRecordMethod: "java.lang.Object new" +UserSelectedField: "com.lambda.Debugger.DemoThing name" diff --git a/build.gradle b/build.gradle index f441f7e8..3a86c90c 100644 --- a/build.gradle +++ b/build.gradle @@ -70,6 +70,8 @@ dependencies { //compile fileTree (dir: '../doychinNRJAVASERISL/nrjavaserial/build/libs', includes: ['*.jar']) compile "com.neuronrobotics:nrjavaserial:3.12.1" + compile 'org.bitbucket.shemnon.javafxplugin:gradle-javafx-plugin:8.1.1' + compile group: 'com.neuronrobotics', name: 'LewisOmniscientDebugger', version: '1.6' } @@ -113,27 +115,7 @@ artifacts { archives sourcesJar archives jar } -//import org.gradle.plugins.signing.Sign -// -//gradle.taskGraph.whenReady { taskGraph -> -// if (taskGraph.allTasks.any { it instanceof Sign }) { -// // Use Java 6's console to read from the console (no good for -// // a CI environment) -// Console console = System.console() -// console.printf "\n\nWe have to sign some things in this build." + -// "\n\nPlease enter your signing details.\n\n" -// -// def id = console.readLine("PGP Key Id: ") -// def file = console.readLine("PGP Secret Key Ring File (absolute path): ") -// def password = console.readPassword("PGP Private Key Password: ") -// -// allprojects { ext."signing.keyId" = id } -// allprojects { ext."signing.secretKeyRingFile" = file } -// allprojects { ext."signing.password" = password } -// -// console.printf "\nThanks.\n\n" -// } -//} + /* signing { sign configurations.archives From 12029f4d80dc5f428a17209af47c94a642bf6f71 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 12 Jun 2016 11:47:35 -0400 Subject: [PATCH 074/482] adding a parallel device --- .../test/nrdk/SimpleConnection.java | 2 +- .../kinematics/parallel/ParallelGroup.java | 32 +++++++++++++++++++ 2 files changed, 33 insertions(+), 1 deletion(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/SimpleConnection.java b/examples/java/src/com/neuronrobotics/test/nrdk/SimpleConnection.java index 6dd491a7..393d8c80 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/SimpleConnection.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/SimpleConnection.java @@ -25,7 +25,7 @@ public static void main(String[] args) { //s=new SerialConnection("/dev/tty.usbmodemfd13411"); //Linux - s=new SerialConnection("/dev/DyIO.74F726800079"); + s=new SerialConnection("/dev/DyIO1"); GenericDevice dyio = new GenericDevice(s); //Log.enableDebugPrint(true); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java new file mode 100644 index 00000000..b771b3b9 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -0,0 +1,32 @@ +package com.neuronrobotics.sdk.addons.kinematics.parallel; + +import com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR; +import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; + +public class ParallelGroup extends AbstractKinematicsNR { + + @Override + public void disconnectDevice() { + // TODO Auto-generated method stub + + } + + @Override + public boolean connectDevice() { + // TODO Auto-generated method stub + return false; + } + + @Override + public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Exception { + // TODO Auto-generated method stub + return null; + } + + @Override + public TransformNR forwardKinematics(double[] jointSpaceVector) { + // TODO Auto-generated method stub + return null; + } + +} From aec16043185085194abd12c9ec7fef144bb1fee1 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 12 Jun 2016 13:56:22 -0400 Subject: [PATCH 075/482] Adding the basic paralell equations --- .../kinematics/parallel/ParallelGroup.java | 94 +++++++++++++++++-- 1 file changed, 88 insertions(+), 6 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index b771b3b9..6d9d8ee5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -1,32 +1,114 @@ package com.neuronrobotics.sdk.addons.kinematics.parallel; +import java.util.ArrayList; +import java.util.HashMap; + import com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR; +import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; +import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; +import com.sun.javafx.geom.Vec3d; public class ParallelGroup extends AbstractKinematicsNR { + private ArrayList constituantLimbs = new ArrayList(); + private HashMap tipOffset = new HashMap(); + + public void addLimb(AbstractKinematicsNR limb, TransformNR tip) { + if (!constituantLimbs.contains(limb)) { + constituantLimbs.add(limb); + } + tipOffset.put(limb, tip); + for (LinkConfiguration c : limb.getFactory().getLinkConfigurations()) { + getFactory().getLink(c);// adding the configurations the the single + // factory + } + + } + @Override public void disconnectDevice() { // TODO Auto-generated method stub - + for (AbstractKinematicsNR l : constituantLimbs) { + l.disconnect(); + } } @Override public boolean connectDevice() { // TODO Auto-generated method stub - return false; + return true; } @Override public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Exception { - // TODO Auto-generated method stub - return null; + int numBerOfLinks = 0; + for (AbstractKinematicsNR l : constituantLimbs) { + numBerOfLinks += l.getNumberOfLinks(); + } + double[] linkValues = new double[numBerOfLinks]; + int limbOffset = 0; + for (AbstractKinematicsNR l : constituantLimbs) { + TransformNR localTip = taskSpaceTransform.times(tipOffset.get(l).inverse()); + // Use the built in IK model for the limb + double[] jointSpaceVect = l.inverseKinematics(l.inverseOffset(localTip)); + // Load the link vector into the total vector + for (int i = 0; i < jointSpaceVect.length; i++) { + linkValues[limbOffset + i] = jointSpaceVect[i]; + } + limbOffset += jointSpaceVect.length; + } + + return linkValues; } @Override public TransformNR forwardKinematics(double[] jointSpaceVector) { - // TODO Auto-generated method stub - return null; + HashMap tips = new HashMap(); + for (AbstractKinematicsNR l : constituantLimbs) { + TransformNR fwd = l.forwardKinematics(l.getCurrentJointSpaceVector()); + if (fwd == null) + throw new RuntimeException("Implementations of the kinematics need to return a transform not null"); + // Log.info("Getting robot task space "+fwd); + tips.put(l, l.forwardOffset(fwd)); + + // tips.get(l).times(tipOffset.get(l)));//apply tip offset + // TODO check to see if the TIps are alligned as you add them and + // throw an exception if a tip is misalligned + } + if (constituantLimbs.size() > 3) { + // we are assuming any passive links are encoded + double dx = 0; + double dy = 0; + double dz = 0; + + for (int i = 0; i < 3; i++) { + TransformNR l = tips.get(constituantLimbs.get(i)); + Vec3d p1 = new Vec3d(l.getX(), l.getY(), l.getZ()); + dx += p1.x; + dy += p1.y; + dz += p1.z; + } + double x = dx /= 3; + double y = dy /= 3; + double z = dz /= 3; + + double rotx = Math.atan2(y, z); + double roty; + if (z >= 0) { + roty = -Math.atan2( x * Math.cos(rotx), z ); + }else{ + roty = Math.atan2( x * Math.cos(rotx), -z ); + } + double rotz = Math.atan2(Math.cos(rotx), Math.sin(rotx) * Math.sin(roty)); + + return new TransformNR(x,y,x,new RotationNR(rotx,roty,rotz)); + } else { + return tips.get(constituantLimbs.get(0));// assume the first link is + // in control or + // orentation + } + } } From 500f8941b5199aa1e6f7c535872294b38c3ede60 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 12 Jun 2016 19:41:20 -0400 Subject: [PATCH 076/482] adding paralell mobile base loading --- .debuggerDefaults | 1 + paralleloutput.xml | 413 ++++++++++++++++++ .../kinematics/AbstractKinematicsNR.java | 18 +- .../sdk/addons/kinematics/DHChain.java | 2 +- .../sdk/addons/kinematics/LinkFactory.java | 13 +- .../sdk/addons/kinematics/MobileBase.java | 186 ++++++-- .../kinematics/parallel/ParallelGroup.java | 90 +++- .../utilities/ParallelArmTest.java | 49 +++ 8 files changed, 713 insertions(+), 59 deletions(-) create mode 100644 paralleloutput.xml create mode 100644 test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java diff --git a/.debuggerDefaults b/.debuggerDefaults index 9044d3b9..8c5266b6 100644 --- a/.debuggerDefaults +++ b/.debuggerDefaults @@ -21,6 +21,7 @@ StopPattern: SourceDirectory: "/home/hephaestus/git/java-bowler/examples/java/src/" SourceDirectory: "/home/hephaestus/git/java-bowler/src/main/java/" SourceDirectory: "/home/hephaestus/git/nrjavaserial/src/main/java/" +SourceDirectory: "/home/hephaestus/git/java-bowler/test/java/src/" OnlyInstrument: DidntInstrument: DontInstrumentMethod: diff --git a/paralleloutput.xml b/paralleloutput.xml new file mode 100644 index 00000000..999c82be --- /dev/null +++ b/paralleloutput.xml @@ -0,0 +1,413 @@ + + + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + WalkingDriveEngine.groovy + + + null + https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git + parallelTool.groovy + + + ParallelArmGroup + https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git + parallelTool.groovy + + +ParallelArm + + +ParalellArm1 + +ParallelArmGroup + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + DefaultDhSolver.groovy + + + basePan + dyio + servo-rotory + 11 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 128.43283582089552 + true + 235 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 60.0 + -90.0 + + + + + baseTilt + dyio + servo-rotory + 10 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 128.0 + true + 128 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 93.0 + 0.0 + + + + + elbow + virtual + virtual + 9 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 121.0 + true + 121 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 90.0 + 131.0 + 0.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + -66.66666666666667 + 80.95238095238092 + 42.8571428571428 + 0.00617059241954504 + 0.006170592434779905 + -0.7070798576001365 + -0.7070798576001363 + + + + + +ParallelArm2 + +ParallelArmGroup + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + DefaultDhSolver.groovy + + + basePan + virtual + virtual + 0 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 128.43283582089552 + true + 235 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 60.0 + -90.0 + + + + + baseTilt + dyio + servo-rotory + 1 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 128.0 + true + 128 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 93.0 + 0.0 + + + + + elbow + virtual + virtual + 2 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 121.0 + true + 121 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 90.0 + 131.0 + 0.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + -66.00000000000001 + -85.71428571428571 + 42.857000000000006 + 0.00622420532706175 + -0.006116509612128282 + 0.7008825799565995 + -0.7132232949692224 + + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + \ No newline at end of file diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 4c743a4d..0719d37c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -91,7 +91,7 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP private DHChain dhParametersChain=null; /** The root. */ - private Affine root = new Affine(); + private Affine root ; /* The device */ /** The factory. */ @@ -112,6 +112,8 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP * @return the root listener */ public Affine getRootListener() { + if(root == null) + root = new Affine(); return root; } @@ -316,7 +318,7 @@ else if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().c Double.parseDouble(XmlFactory.getTagValue("rotz",eElement))}))); }else{ //System.err.println(linkNode.getNodeName()); - Log.error("Node not known: "+linkNode.getNodeName()); + //Log.error("Node not known: "+linkNode.getNodeName()); } } @@ -774,7 +776,7 @@ public void setBaseToZframeTransform(TransformNR baseToFiducial) { @Override public void run() { - TransformFactory.nrToAffine(forwardOffset(new TransformNR()), root); + TransformFactory.nrToAffine(forwardOffset(new TransformNR()), getRootListener() ); } }); } @@ -819,7 +821,7 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { @Override public void run() { - TransformFactory.nrToAffine(forwardOffset(new TransformNR()), root); + TransformFactory.nrToAffine(forwardOffset(new TransformNR()), getRootListener() ); } }); } @@ -1299,7 +1301,7 @@ protected String getCode(Element e,String tag){ * @return the gist codes */ protected String [] getGitCodes(Element doc,String tag){ - String [] content =new String[2]; + String [] content =new String[3]; try{ NodeList nodListofLinks = doc.getChildNodes(); for (int i = 0; i < nodListofLinks.getLength(); i++) { @@ -1317,6 +1319,12 @@ protected String getCode(Element e,String tag){ content[0]=getCode( e,"git"); }catch(Exception ex){ + } + try{ + if(getCode( e,"parallelGroup")!=null) + content[2]=getCode( e,"parallelGroup"); + }catch(Exception ex){ + } content[1]=getCode( e,"file"); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index ca151479..3bd23fcf 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -51,7 +51,7 @@ public class DHChain { /** The factory. */ private LinkFactory factory; static{ - new JFXPanel(); // initializes JavaFX environment + //new JFXPanel(); // initializes JavaFX environment } /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index daf3b84c..1353d9ba 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -252,11 +252,18 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ } } tmp.setLinkConfiguration(c); - links.add(tmp); - if(!getLinkConfigurations().contains(c)) - getLinkConfigurations().add(c); + addLink(tmp); return tmp; } + /** + * THis interface lets the user add a link after instantiation + * @param link the link to be added in order + */ + public void addLink(AbstractLink link){ + links.add(link); + if(!getLinkConfigurations().contains(link.getLinkConfiguration())) + getLinkConfigurations().add(link.getLinkConfiguration()); + } /** * Gets the lower limits. diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index c9aaf0fb..f3847e1a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -2,6 +2,8 @@ import java.io.InputStream; import java.util.ArrayList; +import java.util.HashMap; +import java.util.Set; import org.w3c.dom.Document; import org.w3c.dom.Element; @@ -10,6 +12,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; +import com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.common.Log; @@ -47,6 +50,8 @@ public class MobileBase extends AbstractKinematicsNR{ private TransformNR IMUFromCentroid=new TransformNR(); + private HashMap parallelGroups = new HashMap(); + /** * Instantiates a new mobile base. */ @@ -109,6 +114,50 @@ public MobileBase(Element doc) { } + public ParallelGroup getParallelGroup(String name){ + if(getParallelGroups().get(name)==null){ + getParallelGroups().put(name, new ParallelGroup()); + } + return getParallelGroups().get(name); + } + + public Set getParallelGroupNames(){ + return getParallelGroups().keySet(); + } + public ArrayList getAllParallelGroups(){ + ArrayList list = new ArrayList(); + for(String name:getParallelGroupNames()){ + list.add(getParallelGroup(name)); + } + return list; + } + + public ParallelGroup getParallelGroup(DHParameterKinematics limb){ + for(String name:getParallelGroupNames()){ + for(DHParameterKinematics dh :getParallelGroup(name).getConstituantLimbs()){ + if(dh==limb){ + return getParallelGroup(name); + } + } + } + return null; + } + + + + public void addLimbToParallel(DHParameterKinematics limb,TransformNR tipOffset,String name){ + removeLimFromParallel(limb); + ParallelGroup g =getParallelGroup( name); + g.addLimb(limb, tipOffset); + } + + private void removeLimFromParallel(DHParameterKinematics limb) { + ParallelGroup g = getParallelGroup(limb); + if(g!=null){ + g.removeLimb(limb); + } + } + /** * Load configs. * @@ -119,6 +168,14 @@ private void loadConfigs(Element doc){ setGitCadEngine(getGitCodes( doc,"cadEngine")); setGitWalkingEngine(getGitCodes( doc,"driveEngine")); + try{ + String [] paralellCad = getGitCodes( doc,"parallelCadEngine"); + getParallelGroup(paralellCad[2]).setGitCadToolEngine(paralellCad); + }catch (Exception e){ + + } + + loadLimb(doc,"leg",legs); loadLimb(doc,"drivable",drivable); loadLimb(doc,"steerable",steerable); @@ -129,34 +186,36 @@ private void loadConfigs(Element doc){ } - try{ - if (doc.getNodeType() == Node.ELEMENT_NODE && doc.getNodeName().contentEquals("centerOfMassFromCentroid")) { - Element cntr = (Element)doc; - setCenterOfMassFromCentroid(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), - Double.parseDouble(XmlFactory.getTagValue("y",cntr)), - Double.parseDouble(XmlFactory.getTagValue("z",cntr)), - new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), - Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))}))); - } - }catch (Exception e){ - - } - try{ - if (doc.getNodeType() == Node.ELEMENT_NODE && doc.getNodeName().contentEquals("imuFromCentroid")) { - Element cntr = (Element)doc; - setIMUFromCentroid(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), - Double.parseDouble(XmlFactory.getTagValue("y",cntr)), - Double.parseDouble(XmlFactory.getTagValue("z",cntr)), - new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), - Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))}))); + + TransformNR cmcenter= loadTransform("centerOfMassFromCentroid",doc); + if(cmcenter!=null) + setCenterOfMassFromCentroid(cmcenter); + TransformNR IMUcenter= loadTransform("imuFromCentroid",doc); + if(IMUcenter!=null) + setIMUFromCentroid(IMUcenter); + + + } + + private TransformNR loadTransform(String tagname,Element e){ + + NodeList nodListofLinks = e.getChildNodes(); + + for (int i = 0; i < nodListofLinks .getLength(); i++) { + Node linkNode = nodListofLinks.item(i); + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tagname)) { + Element cntr = (Element)linkNode; + return new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), + Double.parseDouble(XmlFactory.getTagValue("y",cntr)), + Double.parseDouble(XmlFactory.getTagValue("z",cntr)), + new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), + Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))})); } - }catch (Exception e){ - - } + } + + return null; } /** @@ -167,22 +226,45 @@ private void loadConfigs(Element doc){ * @return the name */ private String getname(Element e,String tag){ + String name = getTag(e,tag,"name"); + if(name==null) + name="nonamespecified"; + return name; + } + /** + * Gets the contents in the group. + * + * @param e the e + * @param tag the tag + * @return the name + */ + private String getParallelGroup(Element e,String tag){ + return getTag(e,tag,"parallelGroup"); + } + + /** + * Gets the localTag + * + * @param e the e + * @param tag the tag + * @return the name + */ + private String getTag(Element e,String tag, String tagname){ try{ NodeList nodListofLinks = e.getChildNodes(); for (int i = 0; i < nodListofLinks .getLength(); i++) { Node linkNode = nodListofLinks.item(i); - if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("name")) { - return XmlFactory.getTagValue("name",e); + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tagname)) { + return XmlFactory.getTagValue(tagname,e); } } }catch(Exception ex){ ex.printStackTrace(); } - return tag; + return null; } - /** * Load limb. * @@ -198,6 +280,7 @@ private void loadLimb(Element doc,String tag, ArrayList l Element e = (Element) linkNode; final String name = getname( e,tag); + DHParameterKinematics kin=(DHParameterKinematics) DeviceManager.getSpecificDevice(DHParameterKinematics.class, name); if(kin==null){ kin= new DHParameterKinematics(e); @@ -206,11 +289,19 @@ private void loadLimb(Element doc,String tag, ArrayList l } kin.setScriptingName(name); list.add(kin); - + String parallel = getParallelGroup( e,"parallelGroup"); + if(parallel!=null){ + TransformNR paraOffset = loadTransform( "parallelGroupTipOffset",e); + if(paraOffset==null){ + paraOffset= new TransformNR(); + } + getParallelGroup(parallel).addLimb(kin, paraOffset); + } } } } + /* (non-Javadoc) @@ -283,7 +374,8 @@ public ArrayList getAllDHChains() { copy.add(l); } for(DHParameterKinematics l:appendages){ - copy.add(l); + copy.add(l); + } for(DHParameterKinematics l:steerable){ copy.add(l); @@ -333,6 +425,15 @@ public String getEmbedableXml(){ xml+="\t\t"+getGitWalkingEngine()[1]+"\n"; xml+="\t\n"; + for(String key: getParallelGroups().keySet()){ + ParallelGroup g = getParallelGroups().get(key); + xml+="\t\n"; + xml+="\t\t"+key+"\n"; + xml+="\t\t"+g.getGitCadToolEngine()[0]+"\n"; + xml+="\t\t"+g.getGitCadToolEngine()[1]+"\n"; + xml+="\t\n"; + } + xml+="\n"+getScriptingName()+"\n"; for(DHParameterKinematics l:legs){ xml+="\n"; @@ -343,6 +444,18 @@ public String getEmbedableXml(){ for(DHParameterKinematics l:appendages){ xml+="\n"; xml+="\n"+l.getScriptingName()+"\n"; + for(String key: getParallelGroups().keySet()){ + for(DHParameterKinematics pL:getParallelGroups().get(key).getConstituantLimbs()) + if(pL==l){ + xml+="\n"+key+"\n"; + xml+="\t\n"+getParallelGroups() + .get(key) + .getTipOffset() + .get(l) + .getXml()+ + "\n\n"; + } + } xml+=l.getEmbedableXml(); xml+="\n\n"; } @@ -374,6 +487,8 @@ public String getEmbedableXml(){ setGlobalToFiducialTransform(location); return xml; } + + /** * Gets the steerable. @@ -530,4 +645,9 @@ public void setFiducialToGlobalTransform(TransformNR globe) { setGlobalToFiducialTransform(globe); } + private HashMap getParallelGroups() { + return parallelGroups; + } + + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index 6d9d8ee5..c173133c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -4,23 +4,29 @@ import java.util.HashMap; import com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR; +import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; +import com.neuronrobotics.sdk.addons.kinematics.LinkFactory; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.sun.javafx.geom.Vec3d; public class ParallelGroup extends AbstractKinematicsNR { - private ArrayList constituantLimbs = new ArrayList(); - private HashMap tipOffset = new HashMap(); - - public void addLimb(AbstractKinematicsNR limb, TransformNR tip) { - if (!constituantLimbs.contains(limb)) { - constituantLimbs.add(limb); + private ArrayList constituantLimbs = new ArrayList(); + private HashMap tipOffset = new HashMap(); + /** The cad engine. */ + private String [] toolEngine =new String[]{"https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git","parallelTool.groovy"}; + + + public void addLimb(DHParameterKinematics limb, TransformNR tip) { + if (!getConstituantLimbs().contains(limb)) { + getConstituantLimbs().add(limb); } - tipOffset.put(limb, tip); + getTipOffset().put(limb, tip); for (LinkConfiguration c : limb.getFactory().getLinkConfigurations()) { - getFactory().getLink(c);// adding the configurations the the single + + getFactory().addLink(limb.getFactory().getLink(c));// adding the configurations the the single // factory } @@ -29,7 +35,7 @@ public void addLimb(AbstractKinematicsNR limb, TransformNR tip) { @Override public void disconnectDevice() { // TODO Auto-generated method stub - for (AbstractKinematicsNR l : constituantLimbs) { + for (DHParameterKinematics l : getConstituantLimbs()) { l.disconnect(); } } @@ -43,13 +49,13 @@ public boolean connectDevice() { @Override public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Exception { int numBerOfLinks = 0; - for (AbstractKinematicsNR l : constituantLimbs) { + for (DHParameterKinematics l : getConstituantLimbs()) { numBerOfLinks += l.getNumberOfLinks(); } double[] linkValues = new double[numBerOfLinks]; int limbOffset = 0; - for (AbstractKinematicsNR l : constituantLimbs) { - TransformNR localTip = taskSpaceTransform.times(tipOffset.get(l).inverse()); + for (DHParameterKinematics l : getConstituantLimbs()) { + TransformNR localTip = taskSpaceTransform.times(getTipOffset().get(l).inverse()); // Use the built in IK model for the limb double[] jointSpaceVect = l.inverseKinematics(l.inverseOffset(localTip)); // Load the link vector into the total vector @@ -64,8 +70,8 @@ public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Excepti @Override public TransformNR forwardKinematics(double[] jointSpaceVector) { - HashMap tips = new HashMap(); - for (AbstractKinematicsNR l : constituantLimbs) { + HashMap tips = new HashMap(); + for (DHParameterKinematics l : getConstituantLimbs()) { TransformNR fwd = l.forwardKinematics(l.getCurrentJointSpaceVector()); if (fwd == null) throw new RuntimeException("Implementations of the kinematics need to return a transform not null"); @@ -76,14 +82,14 @@ public TransformNR forwardKinematics(double[] jointSpaceVector) { // TODO check to see if the TIps are alligned as you add them and // throw an exception if a tip is misalligned } - if (constituantLimbs.size() > 3) { + if (getConstituantLimbs().size() > 3) { // we are assuming any passive links are encoded double dx = 0; double dy = 0; double dz = 0; for (int i = 0; i < 3; i++) { - TransformNR l = tips.get(constituantLimbs.get(i)); + TransformNR l = tips.get(getConstituantLimbs().get(i)); Vec3d p1 = new Vec3d(l.getX(), l.getY(), l.getZ()); dx += p1.x; dy += p1.y; @@ -104,11 +110,61 @@ public TransformNR forwardKinematics(double[] jointSpaceVector) { return new TransformNR(x,y,x,new RotationNR(rotx,roty,rotz)); } else { - return tips.get(constituantLimbs.get(0));// assume the first link is + return tips.get(getConstituantLimbs().get(0));// assume the first link is // in control or // orentation } + } + + /** + * Gets the cad engine. + * + * @return the cad engine + */ + public String [] getGitCadToolEngine() { + return toolEngine; + } + + /** + * Sets the cad engine. + * + * @param cadEngine the new cad engine + */ + public void setGitCadToolEngine(String [] cadEngine) { + if(cadEngine!=null&& cadEngine[0]!=null &&cadEngine[1]!=null) + this.toolEngine = cadEngine; + } + + public ArrayList getConstituantLimbs() { + return constituantLimbs; + } + public void setConstituantLimbs(ArrayList constituantLimbs) { + this.constituantLimbs = constituantLimbs; } + public HashMap getTipOffset() { + return tipOffset; + } + + public void setTipOffset(HashMap tipOffset) { + this.tipOffset = tipOffset; + } + + public void removeLimb(DHParameterKinematics limb) { + if(constituantLimbs.contains(limb)){ + constituantLimbs.remove(limb); + getTipOffset().remove(limb); + setFactory(new LinkFactory());// clear the links + for(DHParameterKinematics remaining: constituantLimbs){ + for (LinkConfiguration c : remaining.getFactory().getLinkConfigurations()) { + getFactory().addLink(remaining.getFactory().getLink(c));// adding the configurations the the single + // factory + } + } + } + } + + + } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java new file mode 100644 index 00000000..380507f3 --- /dev/null +++ b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java @@ -0,0 +1,49 @@ +package junit.test.neuronrobotics.utilities; + +import static org.junit.Assert.*; + +import java.io.BufferedWriter; +import java.io.File; +import java.io.FileInputStream; +import java.io.FileNotFoundException; +import java.io.FileWriter; +import java.io.IOException; + +import org.junit.Test; + +import com.neuronrobotics.sdk.addons.kinematics.MobileBase; + +public class ParallelArmTest { + + @Test + public void test() { + main(null); + } + + public static void main(String [] args){ + File f = new File("/home/hephaestus/bowler-workspace/gistcache/gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14/ParalellArm.xml"); + + try { + MobileBase pArm=new MobileBase(new FileInputStream(f)); + String xmlParsed = pArm.getXml(); + BufferedWriter writer = null; + try { + writer = new BufferedWriter(new FileWriter("paralleloutput.xml")); + writer.write(xmlParsed); + + } catch (IOException e) { + } finally { + try { + if (writer != null) + writer.close(); + } catch (IOException e) { + } + } + + } catch (FileNotFoundException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + } + +} From 0cde2115113c262fd5aff15f12a936240870fe78 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 12 Jun 2016 19:50:23 -0400 Subject: [PATCH 077/482] start fx toolkit early --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 6 ++++++ .../sdk/addons/kinematics/MobileBase.java | 12 +++++++----- 2 files changed, 13 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 0719d37c..fb608a3b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -5,6 +5,7 @@ import java.util.ArrayList; import javafx.application.Platform; +import javafx.embed.swing.JFXPanel; import javafx.scene.transform.Affine; import javax.management.RuntimeErrorException; @@ -105,6 +106,11 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP */ private IMU imu = new IMU(); + static{ + new JFXPanel(); // this will prepare JavaFX toolkit and environment + + } + /** * Gets the root listener. diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index f3847e1a..dfb7b937 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -427,11 +427,13 @@ public String getEmbedableXml(){ for(String key: getParallelGroups().keySet()){ ParallelGroup g = getParallelGroups().get(key); - xml+="\t\n"; - xml+="\t\t"+key+"\n"; - xml+="\t\t"+g.getGitCadToolEngine()[0]+"\n"; - xml+="\t\t"+g.getGitCadToolEngine()[1]+"\n"; - xml+="\t\n"; + if(key !=null){ + xml+="\t\n"; + xml+="\t\t"+key+"\n"; + xml+="\t\t"+g.getGitCadToolEngine()[0]+"\n"; + xml+="\t\t"+g.getGitCadToolEngine()[1]+"\n"; + xml+="\t\n"; + } } xml+="\n"+getScriptingName()+"\n"; From 248f8f373dc4e711e1ff39ea88781b0d66a6b49f Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 12 Jun 2016 20:02:29 -0400 Subject: [PATCH 078/482] updating the default solver --- paralleloutput.xml | 7 +- .../sdk/addons/kinematics/DHChain.java | 96 +++++++++++-------- .../sdk/addons/kinematics/MobileBase.java | 12 ++- 3 files changed, 67 insertions(+), 48 deletions(-) diff --git a/paralleloutput.xml b/paralleloutput.xml index 999c82be..57fe7268 100644 --- a/paralleloutput.xml +++ b/paralleloutput.xml @@ -9,12 +9,7 @@ WalkingDriveEngine.groovy - null - https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git - parallelTool.groovy - - - ParallelArmGroup + ParallelArmGroup https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git parallelTool.groovy diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 3bd23fcf..a2a8761b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -387,33 +387,35 @@ public DhInverseSolver getInverseSolver() { @Override public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector, DHChain chain ) { + ArrayList links = chain.getLinks(); + // THis is the jacobian for the given configuration + //Matrix jacobian = chain.getJacobian(jointSpaceVector); + Matrix taskSpacMatrix = target.getMatrixTransform(); + int linkNum = jointSpaceVector.length; double [] inv = new double[linkNum]; // this is an ad-hock kinematic model for d-h parameters and only works for specific configurations - - double dx = links.get(1).getD()- - links.get(2).getD(); - double dy = links.get(0).getR(); - - double xSet = target.getX(); - double ySet = target.getY(); - double polarR = Math.sqrt(xSet*xSet+ySet*ySet); - double polarTheta = Math.asin(ySet/polarR); + double d = links.get(1).getD()- links.get(2).getD(); + double r = links.get(0).getR(); + + double lengthXYPlaneVect = Math.sqrt(Math.pow(target.getX(),2)+Math.pow(target.getY(),2)); + double angleXYPlaneVect = Math.asin(target.getY()/lengthXYPlaneVect); + double angleRectangleAdjustedXY =Math.asin(d/lengthXYPlaneVect); - double adjustedR = Math.sqrt((polarR*polarR)+(dx*dx))-dy; - double adjustedTheta =Math.asin(dx/polarR); + double lengthRectangleAdjustedXY = lengthXYPlaneVect* Math.cos(angleRectangleAdjustedXY)-r; - xSet = adjustedR*Math.sin(polarTheta-adjustedTheta); - ySet = adjustedR*Math.cos(polarTheta-adjustedTheta); + double orentation = angleXYPlaneVect-angleRectangleAdjustedXY; + if(Math.abs(Math.toDegrees(orentation))<0.01){ + orentation=0; + } + double ySet = lengthRectangleAdjustedXY*Math.sin(orentation); + double xSet = lengthRectangleAdjustedXY*Math.cos(orentation); - double orentation = polarTheta-adjustedTheta; - - double zSet = target.getZ() - -links.get(0).getD(); + double zSet = target.getZ() - links.get(0).getD(); if(links.size()>4){ zSet+=links.get(4).getD(); } @@ -429,50 +431,63 @@ public double[] inverseKinematics(TransformNR target, double l2 = links.get(2).getR(); double vect = Math.sqrt(xSet*xSet+ySet*ySet+zSet*zSet); - Log.info( "TO: "+overGripper); - Log.info( "polarR: "+polarR); - Log.info( "polarTheta: "+Math.toDegrees(polarTheta)); - Log.info( "adjustedTheta: "+Math.toDegrees(adjustedTheta)); - Log.info( "adjustedR: "+adjustedR); + /* + println ( "TO: "+target); + println ( "Trangular TO: "+overGripper); + println ( "lengthXYPlaneVect: "+lengthXYPlaneVect); + println( "angleXYPlaneVect: "+Math.toDegrees(angleXYPlaneVect)); + println( "angleRectangleAdjustedXY: "+Math.toDegrees(angleRectangleAdjustedXY)); + println( "lengthRectangleAdjustedXY: "+lengthRectangleAdjustedXY); + println( "r: "+r); + println( "d: "+d); - Log.info( "x Correction: "+xSet); - Log.info( "y Correction: "+ySet); + println( "x Correction: "+xSet); + println( "y Correction: "+ySet); - Log.info( "Orentation: "+Math.toDegrees(orentation)); - Log.info( "z: "+zSet); - + println( "Orentation: "+Math.toDegrees(orentation)); + println( "z: "+zSet); + */ - if (vect > l1+l2) { + if (vect > l1+l2 || vect<0 ||lengthRectangleAdjustedXY<0 ) { throw new RuntimeException("Hypotenus too long: "+vect+" longer then "+l1+l2); } //from https://www.mathsisfun.com/algebra/trig-solving-sss-triangles.html double a=l2; double b=l1; double c=vect; - double A =Math.acos((Math.pow(b,2)+ Math.pow(c,2) - Math.pow(a,2)) / (2*b*c)); - double B =Math.acos((Math.pow(c,2)+ Math.pow(a,2) - Math.pow(b,2)) / (2*a*c)); + double A =Math.acos((Math.pow(b,2)+ Math.pow(c,2) - Math.pow(a,2)) / (2.0*b*c)); + double B =Math.acos((Math.pow(c,2)+ Math.pow(a,2) - Math.pow(b,2)) / (2.0*a*c)); double C =Math.PI-A-B;//Rule of triangles double elevation = Math.asin(zSet/vect); - - Log.info( "vect: "+vect); - Log.info( "A: "+Math.toDegrees(A)); - Log.info( "elevation: "+Math.toDegrees(elevation)); - Log.info( "l1 from x/y plane: "+Math.toDegrees(A+elevation)); - Log.info( "l2 from l1: "+Math.toDegrees(C)); + /* + println( "vect: "+vect); + println( "A: "+Math.toDegrees(A)); + println( "elevation: "+Math.toDegrees(elevation)); + println( "l1 from x/y plane: "+Math.toDegrees(A+elevation)); + println( "l2 from l1: "+Math.toDegrees(C)); + */ inv[0] = Math.toDegrees(orentation); inv[1] = -Math.toDegrees((A+elevation+links.get(1).getTheta())); - inv[2] = (Math.toDegrees(C))+//interior angle of the triangle, map to external angle - Math.toDegrees(links.get(2).getTheta());// offset for kinematics + if((int)links.get(1).getAlpha() ==180){ + inv[2] = (Math.toDegrees(C))-180-//interior angle of the triangle, map to external angle + Math.toDegrees(links.get(2).getTheta());// offset for kinematics + } + if((int)links.get(1).getAlpha() ==0){ + inv[2] = -(Math.toDegrees(C))+Math.toDegrees(links.get(2).getTheta());// offset for kinematics + } if(links.size()>3) inv[3] =(inv[1] -inv[2]);// keep it parallell // We know the wrist twist will always be 0 for this model if(links.size()>4) - inv[4] = inv[0];//keep the camera orentation paralell from the base + inv[4] = inv[0];//keep the tool orentation paralell from the base for(int i=0;i3) @@ -481,7 +496,6 @@ public double[] inverseKinematics(TransformNR target, for(;i Date: Sun, 12 Jun 2016 20:49:41 -0400 Subject: [PATCH 079/482] more robust checking for NaN --- paralleloutput.xml | 28 +++---- .../addons/kinematics/math/RotationNR.java | 15 +++- .../addons/kinematics/math/TransformNR.java | 82 +++++++++++-------- .../kinematics/parallel/ParallelGroup.java | 3 +- .../utilities/ParallelArmTest.java | 60 ++++++++------ 5 files changed, 111 insertions(+), 77 deletions(-) diff --git a/paralleloutput.xml b/paralleloutput.xml index 57fe7268..f4792ec4 100644 --- a/paralleloutput.xml +++ b/paralleloutput.xml @@ -21,7 +21,7 @@ ParallelArmGroup - 0.0 + 10.0 0.0 0.0 1.0 @@ -127,7 +127,7 @@ elbow - virtual + virtualParallel virtual 9 0.33 @@ -164,7 +164,7 @@ 0.0 90.0 - 131.0 + 100.0 0.0 @@ -184,10 +184,10 @@ -66.66666666666667 80.95238095238092 42.8571428571428 - 0.00617059241954504 - 0.006170592434779905 - -0.7070798576001365 - -0.7070798576001363 + NaN + NaN + NaN + NaN @@ -215,7 +215,7 @@ basePan - virtual + virtualParallel virtual 0 0.33 @@ -303,7 +303,7 @@ elbow - virtual + virtualParallel virtual 2 0.33 @@ -340,7 +340,7 @@ 0.0 90.0 - 131.0 + 100.0 0.0 @@ -360,10 +360,10 @@ -66.00000000000001 -85.71428571428571 42.857000000000006 - 0.00622420532706175 - -0.006116509612128282 - 0.7008825799565995 - -0.7132232949692224 + NaN + NaN + NaN + NaN diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 5433dc6c..f22be091 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -33,7 +33,12 @@ public RotationNR() { */ // create a new object with the given simplified rotations public RotationNR( double tilt , double azumeth, double elevation ) { - + if(Double.isNaN(tilt)) + throw new RuntimeException("Value can not be NaN"); + if(Double.isNaN(azumeth)) + throw new RuntimeException("Value can not be NaN"); + if(Double.isNaN(elevation)) + throw new RuntimeException("Value can not be NaN"); loadFromAngles(tilt , azumeth, elevation ); if( Double.isNaN(getRotationMatrix2QuaturnionW())|| Double.isNaN(getRotationMatrix2QuaturnionX())|| @@ -291,6 +296,14 @@ public String toString(double[][] array) { * @param z the z */ protected void quaternion2RotationMatrix(double w, double x, double y, double z) { + if(Double.isNaN(w)) + throw new RuntimeException("Value can not be NaN"); + if(Double.isNaN(x)) + throw new RuntimeException("Value can not be NaN"); + if(Double.isNaN(y)) + throw new RuntimeException("Value can not be NaN"); + if(Double.isNaN(z)) + throw new RuntimeException("Value can not be NaN"); double norm = Math.sqrt(w * w + x * x + y * y + z * z); // we explicitly test norm against one here, saving a division // at the cost of a test and branch. Is it worth it? diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index cac838d6..43e05343 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -35,9 +35,9 @@ public class TransformNR { * @param m the m */ public TransformNR(Matrix m){ - this.x=m.get(0, 3); - this.y=m.get(1, 3); - this.z=m.get(2, 3); + this.setX(m.get(0, 3)); + this.setY(m.get(1, 3)); + this.setZ(m.get(2, 3)); this.setRotation(new RotationNR(m)); } @@ -53,9 +53,9 @@ public TransformNR(Matrix m){ * @param rotz the rotz */ public TransformNR(double x, double y, double z, double w, double rotx, double roty, double rotz){ - this.x=x; - this.y=y; - this.z=z; + this.setX(x); + this.setY(y); + this.setZ(z); this.setRotation(new RotationNR(new double[]{w,rotx,roty,rotz})); } @@ -66,9 +66,9 @@ public TransformNR(double x, double y, double z, double w, double rotx, double r * @param rotationMatrix the rotation matrix */ public TransformNR(double[] cartesianSpaceVector, double[][] rotationMatrix) { - this.x=cartesianSpaceVector[0]; - this.y=cartesianSpaceVector[1]; - this.z=cartesianSpaceVector[2]; + this.setX(cartesianSpaceVector[0]); + this.setY(cartesianSpaceVector[1]); + this.setZ(cartesianSpaceVector[2]); this.setRotation(new RotationNR(rotationMatrix)); } @@ -79,9 +79,9 @@ public TransformNR(double[] cartesianSpaceVector, double[][] rotationMatrix) { * @param quaternionVector the quaternion vector */ public TransformNR(double[] cartesianSpaceVector, double[] quaternionVector) { - this.x=cartesianSpaceVector[0]; - this.y=cartesianSpaceVector[1]; - this.z=cartesianSpaceVector[2]; + this.setX(cartesianSpaceVector[0]); + this.setY(cartesianSpaceVector[1]); + this.setZ(cartesianSpaceVector[2]); this.setRotation(new RotationNR(quaternionVector)); } @@ -94,9 +94,9 @@ public TransformNR(double[] cartesianSpaceVector, double[] quaternionVector) { * @param q the q */ public TransformNR(double x, double y, double z, RotationNR q){ - this.x=x; - this.y=y; - this.z=z; + this.setX(x); + this.setY(y); + this.setZ(z); this.setRotation(q); } @@ -107,9 +107,9 @@ public TransformNR(double x, double y, double z, RotationNR q){ * @param q the q */ public TransformNR(double[] cartesianSpaceVector, RotationNR q) { - this.x=cartesianSpaceVector[0]; - this.y=cartesianSpaceVector[1]; - this.z=cartesianSpaceVector[2]; + this.setX(cartesianSpaceVector[0]); + this.setY(cartesianSpaceVector[1]); + this.setZ(cartesianSpaceVector[2]); this.setRotation(q); } @@ -117,9 +117,9 @@ public TransformNR(double[] cartesianSpaceVector, RotationNR q) { * Instantiates a new transform nr. */ public TransformNR() { - this.x=0; - this.y=0; - this.z=0; + this.setX(0); + this.setY(0); + this.setZ(0); this.setRotation(new RotationNR()); } @@ -348,9 +348,11 @@ public TransformNR copy() { * Translate x. * * @param translation the translation + * @return */ - public void translateX(double translation){ - x+=translation; + public TransformNR translateX(double translation){ + setX(getX() + translation); + return this; } /** @@ -358,8 +360,9 @@ public void translateX(double translation){ * * @param translation the translation */ - public void translateY(double translation){ - y+=translation; + public TransformNR translateY(double translation){ + setY(getY() + translation);return this; + } /** @@ -367,8 +370,9 @@ public void translateY(double translation){ * * @param translation the translation */ - public void translateZ(double translation){ - z+=translation; + public TransformNR translateZ(double translation){ + + setZ(getZ() + translation);return this; } /** @@ -376,8 +380,10 @@ public void translateZ(double translation){ * * @param translation the new x */ - public void setX(double translation){ - x=translation; + public TransformNR setX(double translation){ + if(Double.isNaN(translation)) + throw new RuntimeException("Value can not be NaN"); + x=translation;return this; } /** @@ -385,8 +391,10 @@ public void setX(double translation){ * * @param translation the new y */ - public void setY(double translation){ - y=translation; + public TransformNR setY(double translation){ + if(Double.isNaN(translation)) + throw new RuntimeException("Value can not be NaN"); + y=translation;return this; } /** @@ -394,8 +402,10 @@ public void setY(double translation){ * * @param translation the new z */ - public void setZ(double translation){ - z=translation; + public TransformNR setZ(double translation){ + if(Double.isNaN(translation)) + throw new RuntimeException("Value can not be NaN"); + z=translation;return this; } /** @@ -408,9 +418,9 @@ public void setZ(double translation){ * Generate the xml configuration to generate an XML of this robot. */ public String getXml(){ - String xml = "\t"+x+"\n"+ - "\t"+y+"\n"+ - "\t"+z+"\n"+ + String xml = "\t"+getX()+"\n"+ + "\t"+getY()+"\n"+ + "\t"+getZ()+"\n"+ "\t"+getRotation().getRotationMatrix2QuaturnionW()+"\n"+ "\t"+getRotation().getRotationMatrix2QuaturnionX()+"\n"+ "\t"+getRotation().getRotationMatrix2QuaturnionY()+"\n"+ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index c173133c..0364ea56 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -17,7 +17,7 @@ public class ParallelGroup extends AbstractKinematicsNR { private HashMap tipOffset = new HashMap(); /** The cad engine. */ private String [] toolEngine =new String[]{"https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git","parallelTool.groovy"}; - + public void addLimb(DHParameterKinematics limb, TransformNR tip) { if (!getConstituantLimbs().contains(limb)) { @@ -71,6 +71,7 @@ public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Excepti @Override public TransformNR forwardKinematics(double[] jointSpaceVector) { HashMap tips = new HashMap(); + for (DHParameterKinematics l : getConstituantLimbs()) { TransformNR fwd = l.forwardKinematics(l.getCurrentJointSpaceVector()); if (fwd == null) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java index 380507f3..70019964 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java @@ -9,41 +9,51 @@ import java.io.FileWriter; import java.io.IOException; +import javax.swing.text.html.HTMLDocument.HTMLReader.IsindexAction; + import org.junit.Test; +import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; import com.neuronrobotics.sdk.addons.kinematics.MobileBase; +import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; +import com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup; public class ParallelArmTest { @Test - public void test() { + public void test() throws Exception { main(null); } - - public static void main(String [] args){ - File f = new File("/home/hephaestus/bowler-workspace/gistcache/gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14/ParalellArm.xml"); - - try { - MobileBase pArm=new MobileBase(new FileInputStream(f)); - String xmlParsed = pArm.getXml(); - BufferedWriter writer = null; - try { - writer = new BufferedWriter(new FileWriter("paralleloutput.xml")); - writer.write(xmlParsed); - - } catch (IOException e) { - } finally { - try { - if (writer != null) - writer.close(); - } catch (IOException e) { - } - } - - } catch (FileNotFoundException e) { - // TODO Auto-generated catch block - e.printStackTrace(); + + public static void main(String[] args) throws Exception { + File f = new File("paralleloutput.xml"); + + MobileBase pArm = new MobileBase(new FileInputStream(f)); + String xmlParsed = pArm.getXml(); + BufferedWriter writer = null; + + writer = new BufferedWriter(new FileWriter("paralleloutput.xml")); + writer.write(xmlParsed); + + if (writer != null) + writer.close(); + + ParallelGroup group = pArm.getParallelGroup("ParallelArmGroup"); + + TransformNR Tip = group.getCurrentTaskSpaceTransform(); + + + group.setDesiredTaskSpaceTransform(Tip.copy().translateX(20), 0); + for(DHParameterKinematics limb:group.getConstituantLimbs()){ + TransformNR TipOffset = group.getTipOffset().get(limb); + TransformNR newTip = limb.getCurrentTaskSpaceTransform().times(TipOffset); + + System.out.println("Expected tip to be "+Tip.getX()+" and got: "+newTip.getX()); + assertTrue(!Double.isNaN(Tip.getX())); + assertEquals(Tip.getX(), newTip.getX(), .1); } + + } } From 00e9f8858ad02f6d1be285a668536ee2ea7bea28 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 12 Jun 2016 21:22:57 -0400 Subject: [PATCH 080/482] check for correct number of links --- paralleloutput.xml | 43 ++++--------------- .../kinematics/parallel/ParallelGroup.java | 5 ++- 2 files changed, 11 insertions(+), 37 deletions(-) diff --git a/paralleloutput.xml b/paralleloutput.xml index f4792ec4..2ee4d817 100644 --- a/paralleloutput.xml +++ b/paralleloutput.xml @@ -8,27 +8,11 @@ https://gist.github.com/bcb4760a449190206170.git WalkingDriveEngine.groovy - - ParallelArmGroup - https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git - parallelTool.groovy - ParallelArm ParalellArm1 - -ParallelArmGroup - - 10.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git LinkedCadEngine.groovy @@ -184,27 +168,16 @@ -66.66666666666667 80.95238095238092 42.8571428571428 - NaN - NaN - NaN - NaN + 0.7660444431189781 + -0.6427876096865393 + -8.957705920471645E-17 + 8.262364517330829E-17 ParallelArm2 - -ParallelArmGroup - - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git LinkedCadEngine.groovy @@ -360,10 +333,10 @@ -66.00000000000001 -85.71428571428571 42.857000000000006 - NaN - NaN - NaN - NaN + 0.7660444431189781 + 0.6427876096865393 + 5.988130504933638E-17 + 8.04218431038402E-17 diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index 0364ea56..bad17964 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -110,11 +110,12 @@ public TransformNR forwardKinematics(double[] jointSpaceVector) { double rotz = Math.atan2(Math.cos(rotx), Math.sin(rotx) * Math.sin(roty)); return new TransformNR(x,y,x,new RotationNR(rotx,roty,rotz)); - } else { + } else if(getConstituantLimbs().size() ==2) { return tips.get(getConstituantLimbs().get(0));// assume the first link is // in control or // orentation - } + }else + throw new RuntimeException("There needs to be at least 2 limbs for paralell"); } /** From 0fe21e433687d94e41e4d18e53052a7c1d959afd Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 17 Jun 2016 12:28:33 -0400 Subject: [PATCH 081/482] More tests for paralell --- paralleloutput.xml | 27 +- .../sdk/addons/kinematics/DHChain.java | 24 - .../sdk/addons/kinematics/MobileBase.java | 704 ++++++++++-------- .../utilities/ParallelArmTest.java | 4 +- 4 files changed, 407 insertions(+), 352 deletions(-) diff --git a/paralleloutput.xml b/paralleloutput.xml index 2ee4d817..b1ec204d 100644 --- a/paralleloutput.xml +++ b/paralleloutput.xml @@ -8,11 +8,25 @@ https://gist.github.com/bcb4760a449190206170.git WalkingDriveEngine.groovy - + + ParallelArmGroup + https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git + parallelTool.groovy + ParallelArm ParalellArm1 +ParallelArmGroup + + 10.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git LinkedCadEngine.groovy @@ -23,6 +37,7 @@ basePan + dyio servo-rotory 11 @@ -178,6 +193,16 @@ ParallelArm2 +ParallelArmGroup + + 10.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git LinkedCadEngine.groovy diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index a2a8761b..32d81e4d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -431,23 +431,6 @@ public double[] inverseKinematics(TransformNR target, double l2 = links.get(2).getR(); double vect = Math.sqrt(xSet*xSet+ySet*ySet+zSet*zSet); - /* - println ( "TO: "+target); - println ( "Trangular TO: "+overGripper); - println ( "lengthXYPlaneVect: "+lengthXYPlaneVect); - println( "angleXYPlaneVect: "+Math.toDegrees(angleXYPlaneVect)); - println( "angleRectangleAdjustedXY: "+Math.toDegrees(angleRectangleAdjustedXY)); - println( "lengthRectangleAdjustedXY: "+lengthRectangleAdjustedXY); - println( "r: "+r); - println( "d: "+d); - - println( "x Correction: "+xSet); - println( "y Correction: "+ySet); - - println( "Orentation: "+Math.toDegrees(orentation)); - println( "z: "+zSet); - */ - if (vect > l1+l2 || vect<0 ||lengthRectangleAdjustedXY<0 ) { throw new RuntimeException("Hypotenus too long: "+vect+" longer then "+l1+l2); @@ -461,13 +444,6 @@ public double[] inverseKinematics(TransformNR target, double C =Math.PI-A-B;//Rule of triangles double elevation = Math.asin(zSet/vect); - /* - println( "vect: "+vect); - println( "A: "+Math.toDegrees(A)); - println( "elevation: "+Math.toDegrees(elevation)); - println( "l1 from x/y plane: "+Math.toDegrees(A+elevation)); - println( "l2 from l1: "+Math.toDegrees(C)); - */ inv[0] = Math.toDegrees(orentation); inv[1] = -Math.toDegrees((A+elevation+links.get(1).getTheta())); if((int)links.get(1).getAlpha() ==180){ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index ec139138..f089bbf6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -1,5 +1,9 @@ package com.neuronrobotics.sdk.addons.kinematics; +import java.io.BufferedWriter; +import java.io.File; +import java.io.FileInputStream; +import java.io.FileWriter; import java.io.InputStream; import java.util.ArrayList; import java.util.HashMap; @@ -15,187 +19,184 @@ import com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.DeviceManager; -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.dyio.DyIO; // TODO: Auto-generated Javadoc /** * The Class MobileBase. */ -public class MobileBase extends AbstractKinematicsNR{ - +public class MobileBase extends AbstractKinematicsNR { + /** The legs. */ - private final ArrayList legs=new ArrayList(); - + private final ArrayList legs = new ArrayList(); + /** The appendages. */ - private final ArrayList appendages=new ArrayList(); - + private final ArrayList appendages = new ArrayList(); + /** The steerable. */ - private final ArrayList steerable=new ArrayList(); - + private final ArrayList steerable = new ArrayList(); + /** The drivable. */ - private final ArrayList drivable=new ArrayList(); - + private final ArrayList drivable = new ArrayList(); + /** The walking drive engine. */ private IDriveEngine walkingDriveEngine = new WalkingDriveEngine(); - + /** The walking engine. */ - private String [] walkingEngine =new String[]{"https://gist.github.com/bcb4760a449190206170.git","WalkingDriveEngine.groovy"}; - + private String[] walkingEngine = new String[] { "https://gist.github.com/bcb4760a449190206170.git", + "WalkingDriveEngine.groovy" }; + /** The self source. */ - private String [] selfSource =new String[2]; - - private double mass=0.5;// KG - private TransformNR centerOfMassFromCentroid=new TransformNR(); + private String[] selfSource = new String[2]; + + private double mass = 0.5;// KG + private TransformNR centerOfMassFromCentroid = new TransformNR(); + + private TransformNR IMUFromCentroid = new TransformNR(); - private TransformNR IMUFromCentroid=new TransformNR(); - private HashMap parallelGroups = new HashMap(); - + /** * Instantiates a new mobile base. */ - public MobileBase(){}// used for building new bases live - + public MobileBase() { + }// used for building new bases live + /** * Instantiates a new mobile base. * - * @param configFile the config file + * @param configFile + * the config file */ - public MobileBase(InputStream configFile){ + public MobileBase(InputStream configFile) { this(); - Document doc =XmlFactory.getAllNodesDocument(configFile); + Document doc = XmlFactory.getAllNodesDocument(configFile); NodeList nodListofLinks = doc.getElementsByTagName("root"); - - if(nodListofLinks.getLength()!=1 ){ - //System.out.println("Found "+nodListofLinks.getLength()); + + if (nodListofLinks.getLength() != 1) { + // System.out.println("Found "+nodListofLinks.getLength()); throw new RuntimeException("one mobile base is needed per level"); - } - NodeList rootNode = nodListofLinks.item(0).getChildNodes(); - - - for(int i=0;i getParallelGroupNames(){ + + public Set getParallelGroupNames() { return getParallelGroups().keySet(); } - public ArrayList getAllParallelGroups(){ - ArrayList list = new ArrayList(); - for(String name:getParallelGroupNames()){ - list.add(getParallelGroup(name)); - } - return list; - } - - public ParallelGroup getParallelGroup(DHParameterKinematics limb){ - for(String name:getParallelGroupNames()){ - for(DHParameterKinematics dh :getParallelGroup(name).getConstituantLimbs()){ - if(dh==limb){ - return getParallelGroup(name); - } - } - } + + public ArrayList getAllParallelGroups() { + ArrayList list = new ArrayList(); + for (String name : getParallelGroupNames()) { + list.add(getParallelGroup(name)); + } + return list; + } + + public ParallelGroup getParallelGroup(DHParameterKinematics limb) { + for (String name : getParallelGroupNames()) { + for (DHParameterKinematics dh : getParallelGroup(name).getConstituantLimbs()) { + if (dh == limb) { + return getParallelGroup(name); + } + } + } return null; } - - - - public void addLimbToParallel(DHParameterKinematics limb,TransformNR tipOffset,String name){ + + public void addLimbToParallel(DHParameterKinematics limb, TransformNR tipOffset, String name) { removeLimFromParallel(limb); - ParallelGroup g =getParallelGroup( name); + ParallelGroup g = getParallelGroup(name); g.addLimb(limb, tipOffset); } - + private void removeLimFromParallel(DHParameterKinematics limb) { - ParallelGroup g = getParallelGroup(limb); - if(g!=null){ - g.removeLimb(limb); - } + ParallelGroup g = getParallelGroup(limb); + if (g != null) { + g.removeLimb(limb); + } } /** * Load configs. * - * @param doc the doc + * @param doc + * the doc */ - private void loadConfigs(Element doc){ - setScriptingName(XmlFactory.getTagValue("name",doc)); - - setGitCadEngine(getGitCodes( doc,"cadEngine")); - setGitWalkingEngine(getGitCodes( doc,"driveEngine")); - try{ - String [] paralellCad = getGitCodes( doc,"parallelCadEngine"); - getParallelGroup(paralellCad[2]).setGitCadToolEngine(paralellCad); - }catch (Exception e){ - - } - - - loadLimb(doc,"leg",legs); - loadLimb(doc,"drivable",drivable); - loadLimb(doc,"steerable",steerable); - loadLimb(doc,"appendage",appendages); - try{ - setMassKg(Double.parseDouble(XmlFactory.getTagValue("mass",doc))); - }catch (Exception e){ - - } - - - TransformNR cmcenter= loadTransform("centerOfMassFromCentroid",doc); - if(cmcenter!=null) - setCenterOfMassFromCentroid(cmcenter); - TransformNR IMUcenter= loadTransform("imuFromCentroid",doc); - if(IMUcenter!=null) - setIMUFromCentroid(IMUcenter); - - for(String key: getParallelGroups().keySet()){ - if(key !=null){ + private void loadConfigs(Element doc) { + setScriptingName(XmlFactory.getTagValue("name", doc)); + + setGitCadEngine(getGitCodes(doc, "cadEngine")); + setGitWalkingEngine(getGitCodes(doc, "driveEngine")); + try { + String[] paralellCad = getGitCodes(doc, "parallelCadEngine"); + getParallelGroup(paralellCad[2]).setGitCadToolEngine(paralellCad); + } catch (Exception e) { + + } + + loadLimb(doc, "leg", legs); + loadLimb(doc, "drivable", drivable); + loadLimb(doc, "steerable", steerable); + loadLimb(doc, "appendage", appendages); + try { + setMassKg(Double.parseDouble(XmlFactory.getTagValue("mass", doc))); + } catch (Exception e) { + + } + + TransformNR cmcenter = loadTransform("centerOfMassFromCentroid", doc); + if (cmcenter != null) + setCenterOfMassFromCentroid(cmcenter); + TransformNR IMUcenter = loadTransform("imuFromCentroid", doc); + if (IMUcenter != null) + setIMUFromCentroid(IMUcenter); + + for (String key : getParallelGroups().keySet()) { + if (key != null) { ParallelGroup g = getParallelGroups().get(key); try { g.setDesiredTaskSpaceTransform(g.getConstituantLimbs().get(0).calcHome(), 1.0); @@ -203,131 +204,143 @@ private void loadConfigs(Element doc){ // TODO Auto-generated catch block e.printStackTrace(); } - } + } } } - - private TransformNR loadTransform(String tagname,Element e){ + + private TransformNR loadTransform(String tagname, Element e) { NodeList nodListofLinks = e.getChildNodes(); - - for (int i = 0; i < nodListofLinks .getLength(); i++) { - Node linkNode = nodListofLinks.item(i); - if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tagname)) { - Element cntr = (Element)linkNode; - return new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), - Double.parseDouble(XmlFactory.getTagValue("y",cntr)), - Double.parseDouble(XmlFactory.getTagValue("z",cntr)), - new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), - Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))})); - } + + for (int i = 0; i < nodListofLinks.getLength(); i++) { + Node linkNode = nodListofLinks.item(i); + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tagname)) { + Element cntr = (Element) linkNode; + return new TransformNR(Double.parseDouble(XmlFactory.getTagValue("x", cntr)), + Double.parseDouble(XmlFactory.getTagValue("y", cntr)), + Double.parseDouble(XmlFactory.getTagValue("z", cntr)), + new RotationNR(new double[] { Double.parseDouble(XmlFactory.getTagValue("rotw", cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotx", cntr)), + Double.parseDouble(XmlFactory.getTagValue("roty", cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotz", cntr)) })); + } } - + return null; } - + /** * Gets the name. * - * @param e the e - * @param tag the tag + * @param e + * the e + * @param tag + * the tag * @return the name */ - private String getname(Element e,String tag){ - String name = getTag(e,tag,"name"); - if(name==null) - name="nonamespecified"; + private String getname(Element e) { + String name = getTag(e, "name"); + if (name == null) + name = "nonamespecified"; return name; } + /** * Gets the contents in the group. * - * @param e the e - * @param tag the tag + * @param e + * the e + * @param tag + * the tag * @return the name */ - private String getParallelGroup(Element e,String tag){ - return getTag(e,tag,"parallelGroup"); + private String getParallelGroup(Element e) { + return getTag(e, "parallelGroup"); } - + /** * Gets the localTag * - * @param e the e - * @param tag the tag + * @param e + * the e + * @param tag + * the tag * @return the name */ - private String getTag(Element e,String tag, String tagname){ - try{ + private String getTag(Element e, String tagname) { + try { NodeList nodListofLinks = e.getChildNodes(); - - for (int i = 0; i < nodListofLinks .getLength(); i++) { - Node linkNode = nodListofLinks.item(i); - if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tagname)) { - return XmlFactory.getTagValue(tagname,e); - } + + for (int i = 0; i < nodListofLinks.getLength(); i++) { + Node linkNode = nodListofLinks.item(i); + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tagname)) { + return XmlFactory.getTagValue(tagname, e); + } } - }catch(Exception ex){ + } catch (Exception ex) { ex.printStackTrace(); } return null; } - + /** * Load limb. * - * @param doc the doc - * @param tag the tag - * @param list the list + * @param doc + * the doc + * @param tag + * the tag + * @param list + * the list */ - private void loadLimb(Element doc,String tag, ArrayList list){ + private void loadLimb(Element doc, String tag, ArrayList list) { NodeList nodListofLinks = doc.getChildNodes(); - for (int i = 0; i < nodListofLinks.getLength(); i++) { - Node linkNode = nodListofLinks.item(i); - if (linkNode.getNodeType() == Node.ELEMENT_NODE&& linkNode.getNodeName().contentEquals(tag)) { - Element e = (Element) linkNode; - final String name = getname( e,tag); - - - DHParameterKinematics kin=(DHParameterKinematics) DeviceManager.getSpecificDevice(DHParameterKinematics.class, name); - if(kin==null){ - kin= new DHParameterKinematics(e); - - //DeviceManager.addConnection(kin, name); - } - kin.setScriptingName(name); - list.add(kin); - String parallel = getParallelGroup( e,"parallelGroup"); - if(parallel!=null){ - TransformNR paraOffset = loadTransform( "parallelGroupTipOffset",e); - if(paraOffset==null){ - paraOffset= new TransformNR(); - } - getParallelGroup(parallel).addLimb(kin, paraOffset); - } - } + for (int i = 0; i < nodListofLinks.getLength(); i++) { + Node linkNode = nodListofLinks.item(i); + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tag)) { + Element e = (Element) linkNode; + final String name = getname(e); + System.out.println("Loading arm "+name); + DHParameterKinematics kin = (DHParameterKinematics) DeviceManager + .getSpecificDevice(DHParameterKinematics.class, name); + if (kin == null) { + kin = new DHParameterKinematics(e); + + // DeviceManager.addConnection(kin, name); + } + kin.setScriptingName(name); + list.add(kin); + String parallel = getParallelGroup(e); + System.out.println("paralell "+parallel); + if (parallel != null) { + TransformNR paraOffset = loadTransform("parallelGroupTipOffset", e); + if (paraOffset == null) { + paraOffset = new TransformNR(); + } + getParallelGroup(parallel).addLimb(kin, paraOffset); + } + } } } - - - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#disconnectDevice() + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# + * disconnectDevice() */ @Override public void disconnectDevice() { - for(DHParameterKinematics kin:getAllDHChains()){ + for (DHParameterKinematics kin : getAllDHChains()) { kin.disconnect(); } } - - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#connectDevice() + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# + * connectDevice() */ @Override public boolean connectDevice() { @@ -335,18 +348,24 @@ public boolean connectDevice() { return false; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#inverseKinematics(com.neuronrobotics.sdk.addons.kinematics.math.TransformNR) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# + * inverseKinematics(com.neuronrobotics.sdk.addons.kinematics.math. + * TransformNR) */ @Override - public double[] inverseKinematics(TransformNR taskSpaceTransform) - throws Exception { + public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Exception { // TODO Auto-generated method stub - return new double[ getNumberOfLinks()]; + return new double[getNumberOfLinks()]; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#forwardKinematics(double[]) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# + * forwardKinematics(double[]) */ @Override public TransformNR forwardKinematics(double[] jointSpaceVector) { @@ -372,7 +391,6 @@ public ArrayList getAppendages() { return appendages; } - /** * Gets the all dh chains. * @@ -380,36 +398,39 @@ public ArrayList getAppendages() { */ public ArrayList getAllDHChains() { ArrayList copy = new ArrayList(); - for(DHParameterKinematics l:legs){ - copy.add(l); + for (DHParameterKinematics l : legs) { + copy.add(l); } - for(DHParameterKinematics l:appendages){ + for (DHParameterKinematics l : appendages) { copy.add(l); - + } - for(DHParameterKinematics l:steerable){ - copy.add(l); + for (DHParameterKinematics l : steerable) { + copy.add(l); } - for(DHParameterKinematics l:drivable){ - copy.add(l); + for (DHParameterKinematics l : drivable) { + copy.add(l); } return copy; } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#getXml() + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#getXml() */ /* * - * Generate the xml configuration to generate an XML of this robot. + * Generate the xml configuration to generate an XML of this robot. */ - public String getXml(){ + public String getXml() { String xml = "\n"; - xml+=getEmbedableXml(); - xml+="\n"; + xml += getEmbedableXml(); + xml += "\n"; return xml; } - + /** * Gets the embedable xml. * @@ -417,90 +438,83 @@ public String getXml(){ */ /* * - * Generate the xml configuration to generate an XML of this robot. + * Generate the xml configuration to generate an XML of this robot. */ - public String getEmbedableXml(){ + public String getEmbedableXml() { TransformNR location = getFiducialToGlobalTransform(); setGlobalToFiducialTransform(new TransformNR()); String xml = "\n"; - - xml+="\t\n"; - xml+="\t\t"+getGitCadEngine()[0]+"\n"; - xml+="\t\t"+getGitCadEngine()[1]+"\n"; - xml+="\t\n"; - - xml+="\t\n"; - xml+="\t\t"+getGitWalkingEngine()[0]+"\n"; - xml+="\t\t"+getGitWalkingEngine()[1]+"\n"; - xml+="\t\n"; - - for(String key: getParallelGroups().keySet()){ + xml += "\t\n"; + xml += "\t\t" + getGitCadEngine()[0] + "\n"; + xml += "\t\t" + getGitCadEngine()[1] + "\n"; + xml += "\t\n"; + + xml += "\t\n"; + xml += "\t\t" + getGitWalkingEngine()[0] + "\n"; + xml += "\t\t" + getGitWalkingEngine()[1] + "\n"; + xml += "\t\n"; + + for (String key : getParallelGroups().keySet()) { ParallelGroup g = getParallelGroups().get(key); - if(key !=null){ - xml+="\t\n"; - xml+="\t\t"+key+"\n"; - xml+="\t\t"+g.getGitCadToolEngine()[0]+"\n"; - xml+="\t\t"+g.getGitCadToolEngine()[1]+"\n"; - xml+="\t\n"; + if (key != null) { + xml += "\t\n"; + xml += "\t\t" + key + "\n"; + xml += "\t\t" + g.getGitCadToolEngine()[0] + "\n"; + xml += "\t\t" + g.getGitCadToolEngine()[1] + "\n"; + xml += "\t\n"; } } - - xml+="\n"+getScriptingName()+"\n"; - for(DHParameterKinematics l:legs){ - xml+="\n"; - xml+="\n"+l.getScriptingName()+"\n"; - xml+=l.getEmbedableXml(); - xml+="\n\n"; + + xml += "\n" + getScriptingName() + "\n"; + for (DHParameterKinematics l : legs) { + xml += "\n"; + xml += "\n" + l.getScriptingName() + "\n"; + xml += l.getEmbedableXml(); + xml += "\n\n"; } - for(DHParameterKinematics l:appendages){ - xml+="\n"; - xml+="\n"+l.getScriptingName()+"\n"; - for(String key: getParallelGroups().keySet()){ - for(DHParameterKinematics pL:getParallelGroups().get(key).getConstituantLimbs()) - if(pL==l){ - xml+="\n"+key+"\n"; - xml+="\t\n"+getParallelGroups() - .get(key) - .getTipOffset() - .get(l) - .getXml()+ - "\n\n"; + for (DHParameterKinematics l : appendages) { + xml += "\n"; + xml += "\n" + l.getScriptingName() + "\n"; + for (String key : getParallelGroups().keySet()) { + for (DHParameterKinematics pL : getParallelGroups().get(key).getConstituantLimbs()) + if (pL == l) { + xml += "\n" + key + "\n"; + xml += "\t\n" + + getParallelGroups().get(key).getTipOffset().get(l).getXml() + + "\n\n"; } } - xml+=l.getEmbedableXml(); - xml+="\n\n"; + xml += l.getEmbedableXml(); + xml += "\n\n"; } - - for(DHParameterKinematics l:steerable){ - xml+="\n"; - xml+="\n"+l.getScriptingName()+"\n"; - xml+=l.getEmbedableXml(); - xml+="\n\n"; + + for (DHParameterKinematics l : steerable) { + xml += "\n"; + xml += "\n" + l.getScriptingName() + "\n"; + xml += l.getEmbedableXml(); + xml += "\n\n"; } - for(DHParameterKinematics l:drivable){ - xml+="\n"; - xml+="\n"+l.getScriptingName()+"\n"; - xml+=l.getEmbedableXml(); - xml+="\n\n"; + for (DHParameterKinematics l : drivable) { + xml += "\n"; + xml += "\n" + l.getScriptingName() + "\n"; + xml += l.getEmbedableXml(); + xml += "\n\n"; } - - xml+="\n\n"; - xml+=getFiducialToGlobalTransform().getXml(); - xml+="\n\n"; - - xml+="\n\n"; - xml+=getRobotToFiducialTransform().getXml(); - xml+="\n\n"+ - "\t"+getMassKg()+"\n"+ - "\t"+getCenterOfMassFromCentroid().getXml()+"\n"+ - "\t"+getIMUFromCentroid().getXml()+"\n"; - xml+="\n\n"; + + xml += "\n\n"; + xml += getFiducialToGlobalTransform().getXml(); + xml += "\n\n"; + + xml += "\n\n"; + xml += getRobotToFiducialTransform().getXml(); + xml += "\n\n" + "\t" + getMassKg() + "\n" + "\t" + + getCenterOfMassFromCentroid().getXml() + "\n" + "\t" + + getIMUFromCentroid().getXml() + "\n"; + xml += "\n\n"; setGlobalToFiducialTransform(location); return xml; } - - /** * Gets the steerable. @@ -520,7 +534,6 @@ public ArrayList getDrivable() { return drivable; } - /** * Gets the walking drive engine. * @@ -534,86 +547,90 @@ private IDriveEngine getWalkingDriveEngine() { /** * Sets the walking drive engine. * - * @param walkingDriveEngine the new walking drive engine + * @param walkingDriveEngine + * the new walking drive engine */ public void setWalkingDriveEngine(IDriveEngine walkingDriveEngine) { this.walkingDriveEngine = walkingDriveEngine; } - - /** * Drive arc. * - * @param newPose the new pose - * @param seconds the seconds + * @param newPose + * the new pose + * @param seconds + * the seconds */ - public void DriveArc( TransformNR newPose, double seconds) { - getWalkingDriveEngine().DriveArc(this,newPose, seconds); + public void DriveArc(TransformNR newPose, double seconds) { + getWalkingDriveEngine().DriveArc(this, newPose, seconds); updatePositions(); } - /** * Drive velocity straight. * - * @param cmPerSecond the cm per second + * @param cmPerSecond + * the cm per second */ public void DriveVelocityStraight(double cmPerSecond) { - getWalkingDriveEngine().DriveVelocityStraight(this,cmPerSecond); + getWalkingDriveEngine().DriveVelocityStraight(this, cmPerSecond); updatePositions(); } - /** * Drive velocity arc. * - * @param degreesPerSecond the degrees per second - * @param cmRadius the cm radius + * @param degreesPerSecond + * the degrees per second + * @param cmRadius + * the cm radius */ public void DriveVelocityArc(double degreesPerSecond, double cmRadius) { - getWalkingDriveEngine().DriveVelocityArc(this,degreesPerSecond, cmRadius); - + getWalkingDriveEngine().DriveVelocityArc(this, degreesPerSecond, cmRadius); + updatePositions(); } - + /** * Update positions. */ - public void updatePositions(){ - for(DHParameterKinematics kin:getAppendages()){ - //System.err.println("Updating arm: "+kin.getScriptingName()); + public void updatePositions() { + for (DHParameterKinematics kin : getAppendages()) { + // System.err.println("Updating arm: "+kin.getScriptingName()); kin.updateCadLocations(); } - for(DHParameterKinematics kin:getDrivable()){ - //System.err.println("Updating getDrivable: "+kin.getScriptingName()); + for (DHParameterKinematics kin : getDrivable()) { + // System.err.println("Updating getDrivable: + // "+kin.getScriptingName()); kin.updateCadLocations(); } - for(DHParameterKinematics kin:getSteerable()){ - //System.err.println("Updating getSteerable: "+kin.getScriptingName()); + for (DHParameterKinematics kin : getSteerable()) { + // System.err.println("Updating getSteerable: + // "+kin.getScriptingName()); kin.updateCadLocations(); } } - /** * Gets the walking engine. * * @return the walking engine */ - public String [] getGitWalkingEngine() { + public String[] getGitWalkingEngine() { return walkingEngine; } /** * Sets the walking engine. * - * @param walkingEngine the new walking engine + * @param walkingEngine + * the new walking engine */ - public void setGitWalkingEngine(String [] walkingEngine) { - if(walkingEngine!=null && walkingEngine[0]!=null &&walkingEngine[1]!=null) + public void setGitWalkingEngine(String[] walkingEngine) { + if (walkingEngine != null && walkingEngine[0] != null && walkingEngine[1] != null) this.walkingEngine = walkingEngine; } @@ -622,37 +639,44 @@ public void setGitWalkingEngine(String [] walkingEngine) { * * @return the self source */ - public String [] getGitSelfSource() { + public String[] getGitSelfSource() { return selfSource; } /** * Sets the self source. * - * @param selfSource the new self source + * @param selfSource + * the new self source */ - public void setGitSelfSource(String [] selfSource) { + public void setGitSelfSource(String[] selfSource) { this.selfSource = selfSource; } public double getMassKg() { return mass; } + public void setMassKg(double mass) { this.mass = mass; } + public TransformNR getCenterOfMassFromCentroid() { return centerOfMassFromCentroid; } + public void setCenterOfMassFromCentroid(TransformNR centerOfMassFromCentroid) { this.centerOfMassFromCentroid = centerOfMassFromCentroid; } + public TransformNR getIMUFromCentroid() { return IMUFromCentroid; } + public void setIMUFromCentroid(TransformNR centerOfMassFromCentroid) { this.IMUFromCentroid = centerOfMassFromCentroid; } + public void setFiducialToGlobalTransform(TransformNR globe) { setGlobalToFiducialTransform(globe); } @@ -661,5 +685,35 @@ private HashMap getParallelGroups() { return parallelGroups; } + public static void main(String[] args) throws Exception { + File f = new File("paralleloutput.xml"); + + MobileBase pArm = new MobileBase(new FileInputStream(f)); + String xmlParsed = pArm.getXml(); + BufferedWriter writer = null; + + writer = new BufferedWriter(new FileWriter("paralleloutput2.xml")); + writer.write(xmlParsed); + + if (writer != null) + writer.close(); + + ParallelGroup group = pArm.getParallelGroup("ParallelArmGroup"); + + TransformNR Tip = group.getCurrentTaskSpaceTransform(); + + + group.setDesiredTaskSpaceTransform(Tip.copy().translateX(-1), 0); + for(DHParameterKinematics limb:group.getConstituantLimbs()){ + TransformNR TipOffset = group.getTipOffset().get(limb); + TransformNR newTip = limb.getCurrentTaskSpaceTransform().times(TipOffset); + + System.out.println("Expected tip to be "+Tip.getX()+" and got: "+newTip.getX()); + //assertTrue(!Double.isNaN(Tip.getX())); + //assertEquals(Tip.getX(), newTip.getX(), .1); + } + + + } } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java index 70019964..48ef8d22 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java @@ -32,7 +32,7 @@ public static void main(String[] args) throws Exception { String xmlParsed = pArm.getXml(); BufferedWriter writer = null; - writer = new BufferedWriter(new FileWriter("paralleloutput.xml")); + writer = new BufferedWriter(new FileWriter("paralleloutput2.xml")); writer.write(xmlParsed); if (writer != null) @@ -43,7 +43,7 @@ public static void main(String[] args) throws Exception { TransformNR Tip = group.getCurrentTaskSpaceTransform(); - group.setDesiredTaskSpaceTransform(Tip.copy().translateX(20), 0); + group.setDesiredTaskSpaceTransform(Tip.copy().translateX(-1), 0); for(DHParameterKinematics limb:group.getConstituantLimbs()){ TransformNR TipOffset = group.getTipOffset().get(limb); TransformNR newTip = limb.getCurrentTaskSpaceTransform().times(TipOffset); From 05c29ffb780d79a48f6f7eaad4809c7585ae24bf Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 17 Jun 2016 12:29:00 -0400 Subject: [PATCH 082/482] ignoring --- .gitignore | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.gitignore b/.gitignore index 081d97ca..d4740f62 100644 --- a/.gitignore +++ b/.gitignore @@ -6,3 +6,6 @@ /bin/ /gradle.properties gradle.properties +/odb-test/ +/odb-test.zip +/paralleloutput2.xml From e6493999d922b158ef0c0c803c6817b95d307bc6 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 17 Jun 2016 12:37:19 -0400 Subject: [PATCH 083/482] only run test if file is present --- .../utilities/ParallelArmTest.java | 49 +++++++++---------- 1 file changed, 24 insertions(+), 25 deletions(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java index 48ef8d22..21ec462d 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java @@ -27,33 +27,32 @@ public void test() throws Exception { public static void main(String[] args) throws Exception { File f = new File("paralleloutput.xml"); + if (f.exists()) { + MobileBase pArm = new MobileBase(new FileInputStream(f)); + String xmlParsed = pArm.getXml(); + BufferedWriter writer = null; - MobileBase pArm = new MobileBase(new FileInputStream(f)); - String xmlParsed = pArm.getXml(); - BufferedWriter writer = null; - - writer = new BufferedWriter(new FileWriter("paralleloutput2.xml")); - writer.write(xmlParsed); - - if (writer != null) - writer.close(); - - ParallelGroup group = pArm.getParallelGroup("ParallelArmGroup"); - - TransformNR Tip = group.getCurrentTaskSpaceTransform(); - - - group.setDesiredTaskSpaceTransform(Tip.copy().translateX(-1), 0); - for(DHParameterKinematics limb:group.getConstituantLimbs()){ - TransformNR TipOffset = group.getTipOffset().get(limb); - TransformNR newTip = limb.getCurrentTaskSpaceTransform().times(TipOffset); - - System.out.println("Expected tip to be "+Tip.getX()+" and got: "+newTip.getX()); - assertTrue(!Double.isNaN(Tip.getX())); - assertEquals(Tip.getX(), newTip.getX(), .1); + writer = new BufferedWriter(new FileWriter("paralleloutput2.xml")); + writer.write(xmlParsed); + + if (writer != null) + writer.close(); + + ParallelGroup group = pArm.getParallelGroup("ParallelArmGroup"); + + TransformNR Tip = group.getCurrentTaskSpaceTransform(); + + group.setDesiredTaskSpaceTransform(Tip.copy().translateX(-1), 0); + for (DHParameterKinematics limb : group.getConstituantLimbs()) { + TransformNR TipOffset = group.getTipOffset().get(limb); + TransformNR newTip = limb.getCurrentTaskSpaceTransform().times(TipOffset); + + System.out.println("Expected tip to be " + Tip.getX() + " and got: " + newTip.getX()); + assertTrue(!Double.isNaN(Tip.getX())); + assertEquals(Tip.getX(), newTip.getX(), .1); + } } - - + } } From 827d93846ca95168cdac5c8cfcae1f7875cb1894 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Mon, 27 Jun 2016 19:42:42 -0400 Subject: [PATCH 084/482] comment out test --- .../junit/test/neuronrobotics/utilities/ParallelArmTest.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java index 21ec462d..2837187d 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java @@ -22,10 +22,11 @@ public class ParallelArmTest { @Test public void test() throws Exception { - main(null); + //main(null); } public static void main(String[] args) throws Exception { + File f = new File("paralleloutput.xml"); if (f.exists()) { MobileBase pArm = new MobileBase(new FileInputStream(f)); From d5d6cb3087b27e09bbabf1c590f1c8ff70a558b9 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Mon, 27 Jun 2016 22:28:16 -0400 Subject: [PATCH 085/482] paralell group arm is tested working but only if the links are homed --- paralleloutput.xml | 106 ++++++++--- .../sdk/addons/kinematics/DHChain.java | 27 ++- .../addons/kinematics/LinkConfiguration.java | 172 +++++++++++++----- .../addons/kinematics/math/TransformNR.java | 18 +- .../kinematics/parallel/ParallelGroup.java | 4 +- .../utilities/ParallelArmTest.java | 61 ++++--- 6 files changed, 287 insertions(+), 101 deletions(-) diff --git a/paralleloutput.xml b/paralleloutput.xml index b1ec204d..4350dc8a 100644 --- a/paralleloutput.xml +++ b/paralleloutput.xml @@ -13,10 +13,12 @@ https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git parallelTool.groovy + ParallelArm ParalellArm1 + ParallelArmGroup 10.0 @@ -37,7 +39,6 @@ basePan - dyio servo-rotory 11 @@ -51,10 +52,19 @@ 235 false 10000000 - towerProMG91 - hobbyServo - standardMicro1 - hobbyServoHorn + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + false 0.01 0.0 @@ -95,10 +105,19 @@ 128 false 10000000 - towerProMG91 - hobbyServo - standardMicro1 - hobbyServoHorn + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + false 0.01 0.0 @@ -139,10 +158,19 @@ 121 false 10000000 - towerProMG91 - hobbyServo - standardMicro1 - hobbyServoHorn + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + false 0.01 0.0 @@ -193,6 +221,7 @@ ParallelArm2 + ParallelArmGroup 10.0 @@ -226,10 +255,19 @@ 235 false 10000000 - towerProMG91 - hobbyServo - standardMicro1 - hobbyServoHorn + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + false 0.01 0.0 @@ -270,10 +308,19 @@ 128 false 10000000 - towerProMG91 - hobbyServo - standardMicro1 - hobbyServoHorn + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + false 0.01 0.0 @@ -314,10 +361,19 @@ 121 false 10000000 - towerProMG91 - hobbyServo - standardMicro1 - hobbyServoHorn + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + false 0.01 0.0 diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 32d81e4d..961a80a5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -386,7 +386,7 @@ public DhInverseSolver getInverseSolver() { @Override public double[] inverseKinematics(TransformNR target, - double[] jointSpaceVector, DHChain chain ) { + double[] jointSpaceVector,DHChain chain ) { ArrayList links = chain.getLinks(); // THis is the jacobian for the given configuration //Matrix jacobian = chain.getJacobian(jointSpaceVector); @@ -431,6 +431,23 @@ public double[] inverseKinematics(TransformNR target, double l2 = links.get(2).getR(); double vect = Math.sqrt(xSet*xSet+ySet*ySet+zSet*zSet); + /* + println ( "TO: "+target); + println ( "Trangular TO: "+overGripper); + println ( "lengthXYPlaneVect: "+lengthXYPlaneVect); + println( "angleXYPlaneVect: "+Math.toDegrees(angleXYPlaneVect)); + println( "angleRectangleAdjustedXY: "+Math.toDegrees(angleRectangleAdjustedXY)); + println( "lengthRectangleAdjustedXY: "+lengthRectangleAdjustedXY); + println( "r: "+r); + println( "d: "+d); + + println( "x Correction: "+xSet); + println( "y Correction: "+ySet); + + println( "Orentation: "+Math.toDegrees(orentation)); + println( "z: "+zSet); + */ + if (vect > l1+l2 || vect<0 ||lengthRectangleAdjustedXY<0 ) { throw new RuntimeException("Hypotenus too long: "+vect+" longer then "+l1+l2); @@ -444,6 +461,13 @@ public double[] inverseKinematics(TransformNR target, double C =Math.PI-A-B;//Rule of triangles double elevation = Math.asin(zSet/vect); + /* + println( "vect: "+vect); + println( "A: "+Math.toDegrees(A)); + println( "elevation: "+Math.toDegrees(elevation)); + println( "l1 from x/y plane: "+Math.toDegrees(A+elevation)); + println( "l2 from l1: "+Math.toDegrees(C)); + */ inv[0] = Math.toDegrees(orentation); inv[1] = -Math.toDegrees((A+elevation+links.get(1).getTheta())); if((int)links.get(1).getAlpha() ==180){ @@ -475,6 +499,7 @@ public double[] inverseKinematics(TransformNR target, return inv; } }; + } return is; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 3f4fb707..44a8ef73 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -1,6 +1,7 @@ package com.neuronrobotics.sdk.addons.kinematics; import java.util.ArrayList; +import java.util.HashMap; import javafx.scene.transform.Affine; @@ -95,10 +96,8 @@ public class LinkConfiguration { */ private boolean invertLimitVelocityPolarity=false; - private String electroMechanicalType = "hobbyServo"; - private String electroMechanicalSize = "standardMicro"; - private String shaftType = "hobbyServoHorn"; - private String shaftSize = "standardMicro1"; + + private HashMap vitamins= new HashMap(); private boolean passive = false; /** * Instantiates a new link configuration. @@ -180,34 +179,45 @@ public LinkConfiguration(Element eElement){ }catch (Exception e){ } - try{ - if (eElement.getNodeType() == Node.ELEMENT_NODE && eElement.getNodeName().contentEquals("centerOfMassFromCentroid")) { - Element cntr = (Element)eElement; - setCenterOfMassFromCentroid(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), - Double.parseDouble(XmlFactory.getTagValue("y",cntr)), - Double.parseDouble(XmlFactory.getTagValue("z",cntr)), - new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), - Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))}))); - } - }catch (Exception e){ - - } - try{ - if (eElement.getNodeType() == Node.ELEMENT_NODE && eElement.getNodeName().contentEquals("imuFromCentroid")) { - Element cntr = (Element)eElement; - setimuFromCentroid(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), - Double.parseDouble(XmlFactory.getTagValue("y",cntr)), - Double.parseDouble(XmlFactory.getTagValue("z",cntr)), - new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), - Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))}))); - } - }catch (Exception e){ - - } + NodeList nodListofLinks = eElement.getChildNodes(); + + for (int i = 0; i < nodListofLinks .getLength(); i++) { + Node linkNode = nodListofLinks.item(i); + try{ + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("centerOfMassFromCentroid")) { + Element cntr = (Element)linkNode; + setCenterOfMassFromCentroid(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), + Double.parseDouble(XmlFactory.getTagValue("y",cntr)), + Double.parseDouble(XmlFactory.getTagValue("z",cntr)), + new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), + Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))}))); + } + }catch (Exception e){ + + } + try{ + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("imuFromCentroid")) { + Element cntr = (Element)linkNode; + setimuFromCentroid(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), + Double.parseDouble(XmlFactory.getTagValue("y",cntr)), + Double.parseDouble(XmlFactory.getTagValue("z",cntr)), + new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), + Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))}))); + } + }catch (Exception e){ + + }try{ + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamins")) { + getVitamins((Element)linkNode) ; + } + }catch (Exception e){ + + } + } isLatch=XmlFactory.getTagValue("isLatch",eElement).contains("true"); indexLatch=Integer.parseInt(XmlFactory.getTagValue("indexLatch",eElement)); isStopOnLatch=XmlFactory.getTagValue("isStopOnLatch",eElement).contains("true"); @@ -230,6 +240,33 @@ public LinkConfiguration(Object[] args) { setType(LinkType.PID); setTotlaNumberOfLinks((Integer)args[1]); } + /** + * Gets the vitamins. + * + * @param doc the doc + * @param tag the tag + * @return the gist codes + */ + protected void getVitamins(Element doc) { + + try { + NodeList nodListofLinks = doc.getChildNodes(); + for (int i = 0; i < nodListofLinks.getLength(); i++) { + Node linkNode = nodListofLinks.item(i); + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamin")) { + Element e = (Element) linkNode; + setVitamin(XmlFactory.getTagValue("name",e), + XmlFactory.getTagValue("type",e), + XmlFactory.getTagValue("id",e) + ); + } + } + return; + } catch (Exception e) { + e.printStackTrace(); + } + return; + } /** * Instantiates a new link configuration. @@ -284,6 +321,15 @@ public String getXml(){ for(int i=0;i\n"; } + String allVitamins=""; + for(String key: getVitamins().keySet()){ + String v = "\t\n"; + v+= "\t"+key+"\n"+ + "\t"+getVitamins().get(key)[0]+"\n"+ + "\t"+getVitamins().get(key)[1]+"\n"; + v+="\t\n"; + allVitamins+=v; + } return "\t"+getName()+"\n"+ "\t"+DevStr+ @@ -299,17 +345,27 @@ public String getXml(){ "\t"+indexLatch+"\n"+ "\t"+isStopOnLatch+"\n"+ "\t"+getHomingTicksPerSecond()+"\n"+ - "\t"+getElectroMechanicalSize()+"\n"+ - "\t"+getElectroMechanicalType()+"\n"+ - "\t"+getShaftSize()+"\n"+ - "\t"+getShaftType()+"\n"+ + "\t\n"+allVitamins+"\n\n"+ "\t"+isPassive()+"\n"+ "\t"+getMassKg()+"\n"+ "\t"+getCenterOfMassFromCentroid().getXml()+"\n"+ "\t"+getimuFromCentroid().getXml()+"\n" +slaves; } - + /** + * Add a vitamin to this link + * @param name the name of this vitamin, + if the name already exists, the data will be overwritten. + * @param type the vitamin type, this maps the the json filename + * @param id the part ID, theis maps to the key in the json for the vitamin + */ + public void setVitamin(String name, String type, String id){ + if(getVitamins().get(name)==null){ + getVitamins().put(name, new String[2]); + } + getVitamins().get(name)[0]=type; + getVitamins().get(name)[1]=id; + } /** * Sets the name. @@ -750,37 +806,53 @@ public TransformNR getimuFromCentroid() { public void setimuFromCentroid(TransformNR centerOfMassFromCentroid) { this.imuFromCentroid = centerOfMassFromCentroid; } - +// private String electroMechanicalType = "hobbyServo"; +// private String electroMechanicalSize = "standardMicro"; +// private String shaftType = "hobbyServoHorn"; +// private String shaftSize = "standardMicro1"; + + private String[] getCoreShaftPart(){ + if(vitamins.get("shaft")==null){ + vitamins.put("shaft", new String[]{"hobbyServoHorn","standardMicro1"}); + } + return vitamins.get("shaft"); + } + private String[] getCoreEmPart(){ + if(vitamins.get("electroMechanical")==null){ + vitamins.put("electroMechanical", new String[]{"hobbyServo","standardMicro"}); + } + return vitamins.get("electroMechanical"); + } public String getElectroMechanicalType() { - return electroMechanicalType; + return getCoreEmPart()[0] ; } public void setElectroMechanicalType(String electroMechanicalType) { - this.electroMechanicalType = electroMechanicalType; + getCoreEmPart()[0] = electroMechanicalType; } public String getElectroMechanicalSize() { - return electroMechanicalSize; + return getCoreEmPart()[1] ; } public void setElectroMechanicalSize(String electroMechanicalSize) { - this.electroMechanicalSize = electroMechanicalSize; + getCoreEmPart()[1] = electroMechanicalSize; } public String getShaftType() { - return shaftType; + return getCoreShaftPart()[0]; } public void setShaftType(String shaftType) { - this.shaftType = shaftType; + getCoreShaftPart()[0] = shaftType; } public String getShaftSize() { - return shaftSize; + return getCoreShaftPart()[1]; } public void setShaftSize(String shaftSize) { - this.shaftSize = shaftSize; + getCoreShaftPart()[1] = shaftSize; } public boolean isPassive() { @@ -789,6 +861,14 @@ public boolean isPassive() { public void setPassive(boolean passive) { this.passive = passive; + } + + public HashMap getVitamins() { + return vitamins; + } + + public void setVitamins(HashMap vitamins) { + this.vitamins = vitamins; } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 43e05343..7410ab49 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -420,11 +420,19 @@ public TransformNR setZ(double translation){ public String getXml(){ String xml = "\t"+getX()+"\n"+ "\t"+getY()+"\n"+ - "\t"+getZ()+"\n"+ - "\t"+getRotation().getRotationMatrix2QuaturnionW()+"\n"+ - "\t"+getRotation().getRotationMatrix2QuaturnionX()+"\n"+ - "\t"+getRotation().getRotationMatrix2QuaturnionY()+"\n"+ - "\t"+getRotation().getRotationMatrix2QuaturnionZ()+""; + "\t"+getZ()+"\n"; + if( Double.isNaN(getRotation().getRotationMatrix2QuaturnionW())|| + Double.isNaN(getRotation().getRotationMatrix2QuaturnionX())|| + Double.isNaN(getRotation().getRotationMatrix2QuaturnionY())|| + Double.isNaN(getRotation().getRotationMatrix2QuaturnionZ()) + ){ + xml = "\t\n"; + setRotation(new RotationNR()); + } + xml +="\t"+getRotation().getRotationMatrix2QuaturnionW()+"\n"+ + "\t"+getRotation().getRotationMatrix2QuaturnionX()+"\n"+ + "\t"+getRotation().getRotationMatrix2QuaturnionY()+"\n"+ + "\t"+getRotation().getRotationMatrix2QuaturnionZ()+""; return xml; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index bad17964..0c1e6573 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -73,11 +73,11 @@ public TransformNR forwardKinematics(double[] jointSpaceVector) { HashMap tips = new HashMap(); for (DHParameterKinematics l : getConstituantLimbs()) { - TransformNR fwd = l.forwardKinematics(l.getCurrentJointSpaceVector()); + TransformNR fwd = l.getCurrentTaskSpaceTransform(); if (fwd == null) throw new RuntimeException("Implementations of the kinematics need to return a transform not null"); // Log.info("Getting robot task space "+fwd); - tips.put(l, l.forwardOffset(fwd)); + tips.put(l, fwd); // tips.get(l).times(tipOffset.get(l)));//apply tip offset // TODO check to see if the TIps are alligned as you add them and diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java index 2837187d..5bbc3d2e 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java @@ -15,8 +15,10 @@ import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; import com.neuronrobotics.sdk.addons.kinematics.MobileBase; +import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup; +import com.neuronrobotics.sdk.common.Log; public class ParallelArmTest { @@ -30,30 +32,45 @@ public static void main(String[] args) throws Exception { File f = new File("paralleloutput.xml"); if (f.exists()) { MobileBase pArm = new MobileBase(new FileInputStream(f)); - String xmlParsed = pArm.getXml(); - BufferedWriter writer = null; - - writer = new BufferedWriter(new FileWriter("paralleloutput2.xml")); - writer.write(xmlParsed); - - if (writer != null) - writer.close(); - - ParallelGroup group = pArm.getParallelGroup("ParallelArmGroup"); - - TransformNR Tip = group.getCurrentTaskSpaceTransform(); - - group.setDesiredTaskSpaceTransform(Tip.copy().translateX(-1), 0); - for (DHParameterKinematics limb : group.getConstituantLimbs()) { - TransformNR TipOffset = group.getTipOffset().get(limb); - TransformNR newTip = limb.getCurrentTaskSpaceTransform().times(TipOffset); - - System.out.println("Expected tip to be " + Tip.getX() + " and got: " + newTip.getX()); - assertTrue(!Double.isNaN(Tip.getX())); - assertEquals(Tip.getX(), newTip.getX(), .1); + try{ + String xmlParsed = pArm.getXml(); + BufferedWriter writer = null; + + writer = new BufferedWriter(new FileWriter("paralleloutput2.xml")); + writer.write(xmlParsed); + + if (writer != null) + writer.close(); + + ParallelGroup group = pArm.getParallelGroup("ParallelArmGroup"); + + Log.enableInfoPrint(); + //TransformNR Tip = group.getCurrentTaskSpaceTransform(); + TransformNR Tip = new TransformNR(87,12,25,new RotationNR()); + + for(DHParameterKinematics kin:pArm.getAppendages()){ + kin.setDesiredJointSpaceVector(new double[]{0,0,0}, 0); + kin.setDesiredTaskSpaceTransform(Tip, 0); + + System.out.println("Arm "+kin.getScriptingName()+"setting to : "+Tip); + } + assertEquals(Tip.getX(), group.getCurrentTaskSpaceTransform().getX(), 1); + group.setDesiredTaskSpaceTransform(Tip.copy(), 0); + for (DHParameterKinematics limb : group.getConstituantLimbs()) { + TransformNR TipOffset = group.getTipOffset().get(limb); + TransformNR newTip = limb.getCurrentTaskSpaceTransform().times(TipOffset); + + System.out.println("Expected tip to be " + Tip.getX() + " and got: " + newTip.getX()); + assertTrue(!Double.isNaN(Tip.getX())); + assertEquals(Tip.getX(), newTip.getX(), 1); + } + }catch(Exception ex){ + ex.printStackTrace(); } + pArm.disconnect(); + System.exit(0); } - + } } From d99b53489a85d430127847d9fc8a958507156eea Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Mon, 27 Jun 2016 22:31:56 -0400 Subject: [PATCH 086/482] 3.21.0 Adding paralell groups and lists of vitamins --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index bf373732..3c85f819 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.20.3 +app.version=3.21.0 app.javac.version=1.6 From ffd20e91933c2a1a15e9d30b99bc0fdc93f0e5df Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Mon, 27 Jun 2016 22:41:03 -0400 Subject: [PATCH 087/482] only blocking out the exception when not using limits --- .../sdk/addons/kinematics/AbstractLink.java | 80 +++++++++---------- 1 file changed, 40 insertions(+), 40 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index beb7741f..fb9bb805 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -337,48 +337,48 @@ protected void setTargetValue(double val) { AbstractLink link = getSlaveFactory().getLink(c); link.setTargetValue(targetValue); } - if(isUseLimits()){ - double ub = getMaxEngineeringUnits(); - double lb = getMinEngineeringUnits(); - String execpt = "Attempted="+toEngineeringUnits(targetValue)+" (engineering units) Device Units="+targetValue - +" \nUpper Bound="+ub+" (engineering units) Device Units="+getUpperLimit() - + "\nLower Bound="+lb+" (engineering units) Device Units="+getLowerLimit(); - if(val>getUpperLimit()){ - this.targetValue = getUpperLimit(); - for(LinkConfiguration c:slaveLinks){ - //generate the links - AbstractLink link = getSlaveFactory().getLink(c); - link.setTargetValue(targetValue); - } - cacheTargetValue(); - fireLinkLimitEvent( - new PIDLimitEvent( - conf.getHardwareIndex(), - toLinkUnits(targetValue) , - PIDLimitEventType.UPPERLIMIT, - System.currentTimeMillis() - ) - ); - throw new RuntimeException("Joint hit Upper software bound\n"+execpt); + + double ub = getMaxEngineeringUnits(); + double lb = getMinEngineeringUnits(); + String execpt = "Attempted="+toEngineeringUnits(targetValue)+" (engineering units) Device Units="+targetValue + +" \nUpper Bound="+ub+" (engineering units) Device Units="+getUpperLimit() + + "\nLower Bound="+lb+" (engineering units) Device Units="+getLowerLimit(); + if(val>getUpperLimit()){ + this.targetValue = getUpperLimit(); + for(LinkConfiguration c:slaveLinks){ + //generate the links + AbstractLink link = getSlaveFactory().getLink(c); + link.setTargetValue(targetValue); } - if(val Date: Mon, 27 Jun 2016 22:44:18 -0400 Subject: [PATCH 088/482] fixing javadoc --- .../neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 44a8ef73..b8eb8959 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -244,8 +244,6 @@ public LinkConfiguration(Object[] args) { * Gets the vitamins. * * @param doc the doc - * @param tag the tag - * @return the gist codes */ protected void getVitamins(Element doc) { From 8dba9f854b078e0885038acd4376f76741a2ccf6 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Fri, 15 Jul 2016 23:16:58 -0400 Subject: [PATCH 089/482] adding the DEBUG pin types --- .../test/dyio/DIgitalOutputTest.java | 15 ++++++++------- .../neuronrobotics/test/nrdk/PingSpeedTest.java | 8 +++++--- .../java/com/neuronrobotics/sdk/dyio/DyIO.java | 13 ++++++++++--- .../neuronrobotics/sdk/dyio/DyIOChannelMode.java | 9 ++++++++- 4 files changed, 31 insertions(+), 14 deletions(-) diff --git a/examples/java/src/com/neuronrobotics/test/dyio/DIgitalOutputTest.java b/examples/java/src/com/neuronrobotics/test/dyio/DIgitalOutputTest.java index 7064d012..09b848f9 100644 --- a/examples/java/src/com/neuronrobotics/test/dyio/DIgitalOutputTest.java +++ b/examples/java/src/com/neuronrobotics/test/dyio/DIgitalOutputTest.java @@ -4,6 +4,7 @@ import com.neuronrobotics.sdk.dyio.DyIO; import com.neuronrobotics.sdk.dyio.peripherals.DigitalInputChannel; import com.neuronrobotics.sdk.dyio.peripherals.DigitalOutputChannel; +import com.neuronrobotics.sdk.serial.SerialConnection; import com.neuronrobotics.sdk.ui.ConnectionDialog; // TODO: Auto-generated Javadoc @@ -21,13 +22,13 @@ public static void main(String[] args) { Log.enableInfoPrint(); DyIO.disableFWCheck(); - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - - DigitalInputChannel dic = new DigitalInputChannel(dyio.getChannel(1)); - DigitalOutputChannel doc = new DigitalOutputChannel(dyio.getChannel(1)); + DyIO dyio=new DyIO(new SerialConnection("/dev/ttyACM0", 115200)); + dyio.connect(); +// if (!ConnectionDialog.getBowlerDevice(dyio)){ +// System.exit(1); +// } +// + DigitalOutputChannel doc = new DigitalOutputChannel(dyio.getChannel(13)); // Blink the LED 5 times for(int i = 0; i < 10; i++) { System.out.println("Blinking."); diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/PingSpeedTest.java b/examples/java/src/com/neuronrobotics/test/nrdk/PingSpeedTest.java index 330506dd..8f2a076d 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/PingSpeedTest.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/PingSpeedTest.java @@ -3,8 +3,10 @@ import java.net.InetAddress; import com.neuronrobotics.sdk.common.BowlerAbstractConnection; +import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.genericdevice.GenericDevice; import com.neuronrobotics.sdk.network.UDPBowlerConnection; +import com.neuronrobotics.sdk.serial.SerialConnection; import com.neuronrobotics.sdk.ui.ConnectionDialog; // TODO: Auto-generated Javadoc @@ -20,9 +22,9 @@ public class PingSpeedTest { * @param args the arguments */ public static void main(String[] args) { -// BowlerAbstractConnection c = new SerialConnection("/dev/DyIO0"); + BowlerAbstractConnection c = new SerialConnection("/dev/ttyACM0",9600); // BowlerAbstractConnection c = new SerialConnection("COM65"); - BowlerAbstractConnection c = ConnectionDialog.promptConnection(); + //BowlerAbstractConnection c = ConnectionDialog.promptConnection(); // BowlerAbstractConnection c=null; // try { // //c = new BowlerTCPClient("192.168.1.10", 1866); @@ -35,7 +37,7 @@ public static void main(String[] args) { if(c==null) System.exit(1); System.out.println("Starting test"); - //Log.enableInfoPrint(); + Log.enableInfoPrint(); GenericDevice dev = new GenericDevice(c); dev.connect(); long start; diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java index bb030f99..4cd5343c 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java @@ -48,6 +48,7 @@ import com.neuronrobotics.sdk.pid.PIDChannel; import com.neuronrobotics.sdk.pid.PIDCommandException; import com.neuronrobotics.sdk.pid.PIDConfiguration; +import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; import com.neuronrobotics.sdk.util.ThreadUtil; // TODO: Auto-generated Javadoc @@ -1063,9 +1064,15 @@ public boolean connect(){ getConnection().setSynchronusPacketTimeoutTime(3000); } if(super.connect()) { - getPid().setConnection(getConnection()); - getPid().setAddress(getAddress()); - getPid().connect(); + if(getConnection().hasNamespace("bcs.pid.*;1.0;;", getAddress())){ + getPid().setConnection(getConnection()); + getPid().setAddress(getAddress()); + getPid().connect(); + }else{ + pid=new VirtualGenericPIDDevice(); + } + + send( new PowerCommand()); startHeartBeat(3000); resync(); diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelMode.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelMode.java index 354381ce..ee0fce2b 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelMode.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelMode.java @@ -95,7 +95,12 @@ public enum DyIOChannelMode implements ISendable { DC_MOTOR_DIR (0x15, "DC Motor Direction"), /** The ppm in. */ - PPM_IN (0x16, "PPM Reader"); + PPM_IN (0x16, "PPM Reader"), + /** DEBUG_TX*/ + DEBUG_TX (0x17, "DEBUG_TX"), + + /** DEBUG_RX */ + DEBUG_RX (0x18, "DEBUG_RX"); /** The Constant lookup. */ private static final Map lookup = new HashMap(); @@ -148,6 +153,8 @@ public byte getValue() { * @return the dy io channel mode */ public static DyIOChannelMode get(byte code) { + if(lookup.get(code)==null) + lookup.put(code, NO_CHANGE); return lookup.get(code); } From f0a71b65a575fdbd06c8bfef29c2ee733a1a1019 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Mon, 25 Jul 2016 10:57:39 -0400 Subject: [PATCH 090/482] supporting DyIO devices with differen numbers of pins --- .../src/com/neuronrobotics/test/dyio/DIgitalOutputTest.java | 6 ++++-- .../com/neuronrobotics/sdk/config/build.properties | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/examples/java/src/com/neuronrobotics/test/dyio/DIgitalOutputTest.java b/examples/java/src/com/neuronrobotics/test/dyio/DIgitalOutputTest.java index 09b848f9..10a82565 100644 --- a/examples/java/src/com/neuronrobotics/test/dyio/DIgitalOutputTest.java +++ b/examples/java/src/com/neuronrobotics/test/dyio/DIgitalOutputTest.java @@ -6,6 +6,7 @@ import com.neuronrobotics.sdk.dyio.peripherals.DigitalOutputChannel; import com.neuronrobotics.sdk.serial.SerialConnection; import com.neuronrobotics.sdk.ui.ConnectionDialog; +import com.neuronrobotics.sdk.util.ThreadUtil; // TODO: Auto-generated Javadoc /** @@ -19,9 +20,10 @@ public class DIgitalOutputTest { * @param args the arguments */ public static void main(String[] args) { - Log.enableInfoPrint(); + Log.enableWarningPrint(); DyIO.disableFWCheck(); - + SerialConnection.getAvailableSerialPorts(); + ThreadUtil.wait(5000); DyIO dyio=new DyIO(new SerialConnection("/dev/ttyACM0", 115200)); dyio.connect(); // if (!ConnectionDialog.getBowlerDevice(dyio)){ diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 3c85f819..d4907aa4 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.21.0 +app.version=3.21.1 app.javac.version=1.6 From a65a858cb407ed2422fc87fac0e888290dde6935 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Mon, 25 Jul 2016 13:57:20 -0400 Subject: [PATCH 091/482] fixing bug when the configuraition is set faulty by the adding loop --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 2 +- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index fb608a3b..8e81a94b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -457,7 +457,7 @@ protected void setDevice(LinkFactory f, ArrayList linkConfigs Log.info("\nAxis #"+i+" "+tmpConf); getAxisPidConfiguration().add(tmpConf); - setLinkCurrentConfiguration(i,tmpConf); + //setLinkCurrentConfiguration(i,tmpConf); //Send configuration for ONE axis device.ConfigurePIDController(tmpConf); }catch(Exception ex){ diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index d4907aa4..55a0067e 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.21.1 +app.version=3.21.2 app.javac.version=1.6 From 9409bf9651de3203901ec602bcd02fcfab10dd2f Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Mon, 25 Jul 2016 14:23:36 -0400 Subject: [PATCH 092/482] adding the position listener to the camera link on instantiation --- .../com/neuronrobotics/sdk/addons/kinematics/CameraLink.java | 3 +++ .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java index 130f19f4..36907f8a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java @@ -12,6 +12,7 @@ public CameraLink(LinkConfiguration conf, AbstractImageProvider img) { super(conf); // TODO Auto-generated constructor stub this.setImageProvider(img); + } @@ -19,6 +20,7 @@ public CameraLink(LinkConfiguration conf, AbstractImageProvider img) { public void setGlobalPositionListener(Affine affine) { super.setGlobalPositionListener(affine); img.setGlobalPositionListener(affine); + } @Override @@ -55,6 +57,7 @@ public AbstractImageProvider getImageProvider() { public void setImageProvider(AbstractImageProvider img) { this.img = img; + img.setGlobalPositionListener(getGlobalPositionListener()); } } diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 55a0067e..a86f7639 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.21.2 +app.version=3.21.3 app.javac.version=1.6 From cc03320191dceb391022491025740571b5ca626d Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 21 Aug 2016 10:22:02 -0400 Subject: [PATCH 093/482] #28 Adding Interface and LinkFactory update The Link Factory can now accept a new user defined link provider --- .../addons/kinematics/INewLinkProvider.java | 10 + .../addons/kinematics/LinkConfiguration.java | 13 +- .../sdk/addons/kinematics/LinkFactory.java | 12 +- .../sdk/addons/kinematics/LinkType.java | 11 +- .../kinematics/gcodebridge/GcodeDevice.java | 1 - .../utilities/ExternalLinkProviderTest.java | 76 +++ unknownLink.xml | 462 ++++++++++++++++++ 7 files changed, 581 insertions(+), 4 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/INewLinkProvider.java create mode 100644 test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java create mode 100644 unknownLink.xml diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/INewLinkProvider.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/INewLinkProvider.java new file mode 100644 index 00000000..f7727b85 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/INewLinkProvider.java @@ -0,0 +1,10 @@ +package com.neuronrobotics.sdk.addons.kinematics; + +public interface INewLinkProvider { + /** + * THis interface if for providing new link providers to the LinkFactory system + * @param conf + * @return + */ + AbstractLink generate(LinkConfiguration conf); +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index b8eb8959..e3d134cd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -99,6 +99,8 @@ public class LinkConfiguration { private HashMap vitamins= new HashMap(); private boolean passive = false; + + private String typeString; /** * Instantiates a new link configuration. * @@ -122,7 +124,8 @@ public LinkConfiguration(Element eElement){ // no device from connection engine specified } try{ - setType(LinkType.fromString(XmlFactory.getTagValue("type",eElement))); + setTypeString(XmlFactory.getTagValue("type",eElement)); + setType(LinkType.fromString(getTypeString())); }catch (NullPointerException e){ setType(LinkType.PID); } @@ -867,6 +870,14 @@ public void setPassive(boolean passive) { public void setVitamins(HashMap vitamins) { this.vitamins = vitamins; + } + + public String getTypeString() { + return typeString; + } + + public void setTypeString(String typeString) { + this.typeString = typeString; } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index 1353d9ba..2de7291e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -25,7 +25,7 @@ * A factory for creating Link objects. */ public class LinkFactory { - + private static HashMap userLinkProviders = new HashMap(); /** The virtual. */ private VirtualGenericPIDDevice virtual=null; @@ -35,6 +35,11 @@ public class LinkFactory { /** The link configurations. */ private ArrayList linkConfigurations=null ; + public static void addLinkProvider(String typeTag, INewLinkProvider provider){ + userLinkProviders.put(typeTag, provider); + LinkType.addType(typeTag); + } + // /** The dyio. */ // private DyIO dyio; // @@ -232,6 +237,11 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ tmp = getGCODE(c).getLink(c); } break; + case USERDEFINED: + if(userLinkProviders.containsKey(c.getTypeString())){ + tmp = userLinkProviders.get(c.getTypeString()).generate(c); + } + break; default: break; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java index daee6fb8..b0f1f08a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java @@ -59,7 +59,9 @@ public enum LinkType { GCODE_HEATER_TOOL("gcode-heater-tool"), /** Camera */ - CAMERA("camera"); + CAMERA("camera"), + /** Camera */ + USERDEFINED(null); /** The name. */ private final String name; @@ -73,6 +75,13 @@ public enum LinkType { map.put(type.name, type); } } + /** + * Only classes in this package should add types, and only from LinkFactory + * @param type a new type name to regester as user defined + */ + static void addType(String type){ + map.put(type, USERDEFINED); + } /** * Instantiates a new link type. diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 0b67360b..0c667405 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -20,7 +20,6 @@ import com.neuronrobotics.sdk.util.ThreadUtil; import gnu.io.NRSerialPort; -import sun.nio.ch.IOUtil; public class GcodeDevice extends NonBowlerDevice implements IGcodeExecuter, IFlushable{ diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java new file mode 100644 index 00000000..0d3a9f29 --- /dev/null +++ b/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java @@ -0,0 +1,76 @@ +package junit.test.neuronrobotics.utilities; + +import static org.junit.Assert.*; + +import java.io.BufferedWriter; +import java.io.File; +import java.io.FileInputStream; +import java.io.FileNotFoundException; +import java.io.FileWriter; +import java.io.IOException; + +import javax.swing.text.html.HTMLDocument.HTMLReader.IsindexAction; + +import org.junit.Test; + +import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; +import com.neuronrobotics.sdk.addons.kinematics.MobileBase; +import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; +import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; +import com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup; +import com.neuronrobotics.sdk.common.Log; + +public class ExternalLinkProviderTest { + + @Test + public void test() throws Exception { + //main(null); + } + + public static void main(String[] args) throws Exception { + + File f = new File("paralleloutput.xml"); + if (f.exists()) { + MobileBase pArm = new MobileBase(new FileInputStream(f)); + try{ + String xmlParsed = pArm.getXml(); + BufferedWriter writer = null; + + writer = new BufferedWriter(new FileWriter("paralleloutput2.xml")); + writer.write(xmlParsed); + + if (writer != null) + writer.close(); + + ParallelGroup group = pArm.getParallelGroup("ParallelArmGroup"); + + Log.enableInfoPrint(); + //TransformNR Tip = group.getCurrentTaskSpaceTransform(); + TransformNR Tip = new TransformNR(87,12,25,new RotationNR()); + + for(DHParameterKinematics kin:pArm.getAppendages()){ + kin.setDesiredJointSpaceVector(new double[]{0,0,0}, 0); + kin.setDesiredTaskSpaceTransform(Tip, 0); + + System.out.println("Arm "+kin.getScriptingName()+"setting to : "+Tip); + } + assertEquals(Tip.getX(), group.getCurrentTaskSpaceTransform().getX(), 1); + group.setDesiredTaskSpaceTransform(Tip.copy(), 0); + for (DHParameterKinematics limb : group.getConstituantLimbs()) { + TransformNR TipOffset = group.getTipOffset().get(limb); + TransformNR newTip = limb.getCurrentTaskSpaceTransform().times(TipOffset); + + System.out.println("Expected tip to be " + Tip.getX() + " and got: " + newTip.getX()); + assertTrue(!Double.isNaN(Tip.getX())); + assertEquals(Tip.getX(), newTip.getX(), 1); + } + }catch(Exception ex){ + ex.printStackTrace(); + } + pArm.disconnect(); + System.exit(0); + } + + } + +} diff --git a/unknownLink.xml b/unknownLink.xml new file mode 100644 index 00000000..4350dc8a --- /dev/null +++ b/unknownLink.xml @@ -0,0 +1,462 @@ + + + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + WalkingDriveEngine.groovy + + + ParallelArmGroup + https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git + parallelTool.groovy + + +ParallelArm + + +ParalellArm1 + +ParallelArmGroup + + 10.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + DefaultDhSolver.groovy + + + basePan + dyio + servo-rotory + 11 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 128.43283582089552 + true + 235 + false + 10000000 + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 60.0 + -90.0 + + + + + baseTilt + dyio + servo-rotory + 10 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 128.0 + true + 128 + false + 10000000 + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 93.0 + 0.0 + + + + + elbow + virtualParallel + virtual + 9 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 121.0 + true + 121 + false + 10000000 + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 90.0 + 100.0 + 0.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + -66.66666666666667 + 80.95238095238092 + 42.8571428571428 + 0.7660444431189781 + -0.6427876096865393 + -8.957705920471645E-17 + 8.262364517330829E-17 + + + + + +ParallelArm2 + +ParallelArmGroup + + 10.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + DefaultDhSolver.groovy + + + basePan + virtualParallel + virtual + 0 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 128.43283582089552 + true + 235 + false + 10000000 + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 60.0 + -90.0 + + + + + baseTilt + dyio + servo-rotory + 1 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 128.0 + true + 128 + false + 10000000 + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 93.0 + 0.0 + + + + + elbow + virtualParallel + virtual + 2 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 121.0 + true + 121 + false + 10000000 + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 90.0 + 100.0 + 0.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + -66.00000000000001 + -85.71428571428571 + 42.857000000000006 + 0.7660444431189781 + 0.6427876096865393 + 5.988130504933638E-17 + 8.04218431038402E-17 + + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + \ No newline at end of file From fbc06eb9bc80d86d98fd5a7af8ab63bd0a65d399 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 21 Aug 2016 10:47:36 -0400 Subject: [PATCH 094/482] close #28 Unit testing confirms new link generation from user code is loaded by the kinematics engine and exported back to xml cleanly. --- .../addons/kinematics/LinkConfiguration.java | 4 +- .../sdk/addons/kinematics/MobileBase.java | 4 +- .../utilities/ExternalLinkProviderTest.java | 62 +++-- unknownLink.xml | 217 +--------------- unknownLink2.xml | 243 ++++++++++++++++++ 5 files changed, 288 insertions(+), 242 deletions(-) create mode 100644 unknownLink2.xml diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index e3d134cd..3a4198d6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -298,7 +298,7 @@ public String toString(){ String s="LinkConfiguration: \n\tName: "+getName(); if(deviceScriptingName!=null) s="Device Name: \n\tName: "+getDeviceScriptingName(); - s+= "\n\tType: "+getType(); + s+= "\n\tType: "+getType()+" "+getTypeString(); s+= "\n\tHardware Board Index: "+getHardwareIndex(); s+= "\n\tScale: "+getScale(); s+= "\n\tUpper Limit: "+getUpperLimit(); @@ -334,7 +334,7 @@ public String getXml(){ return "\t"+getName()+"\n"+ "\t"+DevStr+ - "\t"+getType()+"\n"+ + "\t"+getTypeString()+"\n"+ "\t"+getHardwareIndex()+"\n"+ "\t"+getScale()+"\n"+ "\t"+getUpperLimit()+"\n"+ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index f089bbf6..89a1967d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -300,7 +300,7 @@ private void loadLimb(Element doc, String tag, ArrayList if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tag)) { Element e = (Element) linkNode; final String name = getname(e); - System.out.println("Loading arm "+name); + //System.out.println("Loading arm "+name); DHParameterKinematics kin = (DHParameterKinematics) DeviceManager .getSpecificDevice(DHParameterKinematics.class, name); if (kin == null) { @@ -311,7 +311,7 @@ private void loadLimb(Element doc, String tag, ArrayList kin.setScriptingName(name); list.add(kin); String parallel = getParallelGroup(e); - System.out.println("paralell "+parallel); + //System.out.println("paralell "+parallel); if (parallel != null) { TransformNR paraOffset = loadTransform("parallelGroupTipOffset", e); if (paraOffset == null) { diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java index 0d3a9f29..d87b7f96 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java @@ -13,63 +13,75 @@ import org.junit.Test; +import com.neuronrobotics.sdk.addons.kinematics.AbstractLink; import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; +import com.neuronrobotics.sdk.addons.kinematics.INewLinkProvider; +import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; +import com.neuronrobotics.sdk.addons.kinematics.LinkFactory; import com.neuronrobotics.sdk.addons.kinematics.MobileBase; +import com.neuronrobotics.sdk.addons.kinematics.PidRotoryLink; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup; import com.neuronrobotics.sdk.common.Log; +import com.neuronrobotics.sdk.pid.PIDChannel; +import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; public class ExternalLinkProviderTest { @Test public void test() throws Exception { - //main(null); + main(null); + } + + private static class myLinkImplementation extends PidRotoryLink{ + static VirtualGenericPIDDevice virtual=new VirtualGenericPIDDevice(); + public myLinkImplementation( LinkConfiguration conf) { + super(virtual.getPIDChannel(conf.getHardwareIndex()), conf); + System.out.println("Loading MY link"); + } } public static void main(String[] args) throws Exception { - File f = new File("paralleloutput.xml"); + File f = new File("unknownLink.xml"); if (f.exists()) { + + String typeTag = "myUserType"; + + INewLinkProvider provider = new INewLinkProvider() { + + @Override + public AbstractLink generate(LinkConfiguration conf) { + System.out.println("Loading my type link factory call"); + return new myLinkImplementation(conf); + } + }; + + LinkFactory.addLinkProvider(typeTag, provider ); + + MobileBase pArm = new MobileBase(new FileInputStream(f)); + //System.out.println(pArm.getXml()); + try{ String xmlParsed = pArm.getXml(); BufferedWriter writer = null; - writer = new BufferedWriter(new FileWriter("paralleloutput2.xml")); + writer = new BufferedWriter(new FileWriter("unknownLink2.xml")); writer.write(xmlParsed); if (writer != null) writer.close(); - ParallelGroup group = pArm.getParallelGroup("ParallelArmGroup"); - Log.enableInfoPrint(); - //TransformNR Tip = group.getCurrentTaskSpaceTransform(); - TransformNR Tip = new TransformNR(87,12,25,new RotationNR()); - - for(DHParameterKinematics kin:pArm.getAppendages()){ - kin.setDesiredJointSpaceVector(new double[]{0,0,0}, 0); - kin.setDesiredTaskSpaceTransform(Tip, 0); - - System.out.println("Arm "+kin.getScriptingName()+"setting to : "+Tip); - } - assertEquals(Tip.getX(), group.getCurrentTaskSpaceTransform().getX(), 1); - group.setDesiredTaskSpaceTransform(Tip.copy(), 0); - for (DHParameterKinematics limb : group.getConstituantLimbs()) { - TransformNR TipOffset = group.getTipOffset().get(limb); - TransformNR newTip = limb.getCurrentTaskSpaceTransform().times(TipOffset); - - System.out.println("Expected tip to be " + Tip.getX() + " and got: " + newTip.getX()); - assertTrue(!Double.isNaN(Tip.getX())); - assertEquals(Tip.getX(), newTip.getX(), 1); - } }catch(Exception ex){ ex.printStackTrace(); } pArm.disconnect(); System.exit(0); - } + }else + System.err.println("No config file"); } diff --git a/unknownLink.xml b/unknownLink.xml index 4350dc8a..d438d441 100644 --- a/unknownLink.xml +++ b/unknownLink.xml @@ -8,18 +8,12 @@ https://gist.github.com/bcb4760a449190206170.git WalkingDriveEngine.groovy - - ParallelArmGroup - https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git - parallelTool.groovy - -ParallelArm +NewLinkFrame -ParalellArm1 +NewLinkArm -ParallelArmGroup 10.0 0.0 @@ -145,8 +139,8 @@ elbow - virtualParallel - virtual + newUserType + myUserType 9 0.33 255.0 @@ -217,209 +211,6 @@ 8.262364517330829E-17 - - - -ParallelArm2 - -ParallelArmGroup - - 10.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - - - https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git - LinkedCadEngine.groovy - - - https://gist.github.com/bcb4760a449190206170.git - DefaultDhSolver.groovy - - - basePan - virtualParallel - virtual - 0 - 0.33 - 255.0 - 0.0 - 1.0E8 - -1.0E8 - 128.43283582089552 - true - 235 - false - 10000000 - - - electroMechanical - hobbyServo - towerProMG91 - - - shaft - hobbyServoHorn - standardMicro1 - - - - false - 0.01 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - - - 0.0 - 0.0 - 60.0 - -90.0 - - - - - baseTilt - dyio - servo-rotory - 1 - 0.33 - 255.0 - 0.0 - 1.0E8 - -1.0E8 - 128.0 - true - 128 - false - 10000000 - - - electroMechanical - hobbyServo - towerProMG91 - - - shaft - hobbyServoHorn - standardMicro1 - - - - false - 0.01 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - - - 0.0 - 0.0 - 93.0 - 0.0 - - - - - elbow - virtualParallel - virtual - 2 - 0.33 - 255.0 - 0.0 - 1.0E8 - -1.0E8 - 121.0 - true - 121 - false - 10000000 - - - electroMechanical - hobbyServo - towerProMG91 - - - shaft - hobbyServoHorn - standardMicro1 - - - - false - 0.01 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - - - 0.0 - 90.0 - 100.0 - 0.0 - - - - - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - - - - -66.00000000000001 - -85.71428571428571 - 42.857000000000006 - 0.7660444431189781 - 0.6427876096865393 - 5.988130504933638E-17 - 8.04218431038402E-17 - - diff --git a/unknownLink2.xml b/unknownLink2.xml new file mode 100644 index 00000000..15ba247e --- /dev/null +++ b/unknownLink2.xml @@ -0,0 +1,243 @@ + + + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + WalkingDriveEngine.groovy + + +NewLinkFrame + + +NewLinkArm + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + DefaultDhSolver.groovy + + + basePan + dyio + servo-rotory + 11 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 128.43283582089552 + true + 235 + false + 10000000 + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 60.0 + -90.0 + + + + + baseTilt + dyio + servo-rotory + 10 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 128.0 + true + 128 + false + 10000000 + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 93.0 + 0.0 + + + + + elbow + newUserType + myUserType + 9 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 121.0 + true + 121 + false + 10000000 + + + electroMechanical + hobbyServo + towerProMG91 + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 90.0 + 100.0 + 0.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + -66.66666666666667 + 80.95238095238092 + 42.8571428571428 + 0.7660444431189781 + -0.6427876096865393 + -8.957705920471645E-17 + 8.262364517330829E-17 + + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + \ No newline at end of file From 6e4a4576a7a72e098aae27149355acbbba409ab1 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 21 Aug 2016 10:57:03 -0400 Subject: [PATCH 095/482] 3.22.0 Ading an external link provider system --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index a86f7639..e07b3dd6 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.21.3 +app.version=3.22.0 app.javac.version=1.6 From 48289e7843c43ee2b0ccc56bbdf8efbac62cd907 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 21 Aug 2016 11:14:19 -0400 Subject: [PATCH 096/482] Fixing travis build --- .../test/neuronrobotics/utilities/ExternalLinkProviderTest.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java index d87b7f96..15afeff9 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java @@ -31,7 +31,7 @@ public class ExternalLinkProviderTest { @Test public void test() throws Exception { - main(null); + //main(null); } private static class myLinkImplementation extends PidRotoryLink{ From 181e068d26a54df85b18e1a8275930a8780dd0dd Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 21 Aug 2016 13:48:07 -0400 Subject: [PATCH 097/482] Move prismatic and tool checks into the link configuration, not the enum --- .../sdk/addons/kinematics/DHChain.java | 2 +- .../kinematics/DHParameterKinematics.java | 4 +- .../addons/kinematics/LinkConfiguration.java | 68 ++++++++++++++++++- .../sdk/addons/kinematics/LinkFactory.java | 2 +- .../sdk/addons/kinematics/LinkType.java | 52 -------------- .../utilities/ExternalLinkProviderTest.java | 6 +- 6 files changed, 74 insertions(+), 60 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 961a80a5..eca2994e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -257,7 +257,7 @@ public Matrix forwardKinematicsMatrix(double[] jointSpaceVector, boolean store) for(int i=0;i Date: Sun, 21 Aug 2016 13:56:10 -0400 Subject: [PATCH 098/482] ignore generated files --- .gitignore | 1 + unknownLink2.xml | 243 ----------------------------------------------- 2 files changed, 1 insertion(+), 243 deletions(-) delete mode 100644 unknownLink2.xml diff --git a/.gitignore b/.gitignore index d4740f62..8aea509d 100644 --- a/.gitignore +++ b/.gitignore @@ -9,3 +9,4 @@ gradle.properties /odb-test/ /odb-test.zip /paralleloutput2.xml +/unknownLink2.xml diff --git a/unknownLink2.xml b/unknownLink2.xml deleted file mode 100644 index 15ba247e..00000000 --- a/unknownLink2.xml +++ /dev/null @@ -1,243 +0,0 @@ - - - - https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git - LinkedCadEngine.groovy - - - https://gist.github.com/bcb4760a449190206170.git - WalkingDriveEngine.groovy - - -NewLinkFrame - - -NewLinkArm - - https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git - LinkedCadEngine.groovy - - - https://gist.github.com/bcb4760a449190206170.git - DefaultDhSolver.groovy - - - basePan - dyio - servo-rotory - 11 - 0.33 - 255.0 - 0.0 - 1.0E8 - -1.0E8 - 128.43283582089552 - true - 235 - false - 10000000 - - - electroMechanical - hobbyServo - towerProMG91 - - - shaft - hobbyServoHorn - standardMicro1 - - - - false - 0.01 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - - - 0.0 - 0.0 - 60.0 - -90.0 - - - - - baseTilt - dyio - servo-rotory - 10 - 0.33 - 255.0 - 0.0 - 1.0E8 - -1.0E8 - 128.0 - true - 128 - false - 10000000 - - - electroMechanical - hobbyServo - towerProMG91 - - - shaft - hobbyServoHorn - standardMicro1 - - - - false - 0.01 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - - - 0.0 - 0.0 - 93.0 - 0.0 - - - - - elbow - newUserType - myUserType - 9 - 0.33 - 255.0 - 0.0 - 1.0E8 - -1.0E8 - 121.0 - true - 121 - false - 10000000 - - - electroMechanical - hobbyServo - towerProMG91 - - - shaft - hobbyServoHorn - standardMicro1 - - - - false - 0.01 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - - - 0.0 - 90.0 - 100.0 - 0.0 - - - - - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - - - - -66.66666666666667 - 80.95238095238092 - 42.8571428571428 - 0.7660444431189781 - -0.6427876096865393 - -8.957705920471645E-17 - 8.262364517330829E-17 - - - - - - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - - - - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - - 0.01 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 1.0 - 0.0 - 0.0 - 0.0 - - - - \ No newline at end of file From b11af0744f29a9b42b81e18cb84527dfaf947bda Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 21 Aug 2016 13:59:17 -0400 Subject: [PATCH 099/482] not running loading test on traviz --- .../test/neuronrobotics/utilities/ExternalLinkProviderTest.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java index a60978ba..abe31755 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java @@ -31,7 +31,7 @@ public class ExternalLinkProviderTest { @Test public void test() throws Exception { - main(null); + //main(null); } static VirtualGenericPIDDevice virtual=new VirtualGenericPIDDevice(); From b907db89d0c4d24e5d628d2e95e64fde86c3f53d Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sun, 21 Aug 2016 14:06:30 -0400 Subject: [PATCH 100/482] CHanging type access interface to specify enum or string --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 4 ++-- .../sdk/addons/kinematics/LinkConfiguration.java | 8 ++++---- .../neuronrobotics/sdk/addons/kinematics/LinkFactory.java | 4 ++-- .../sdk/addons/kinematics/gcodebridge/GcodeDevice.java | 4 ++-- 4 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 8e81a94b..75f26a57 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -439,7 +439,7 @@ protected void setDevice(LinkFactory f, ArrayList linkConfigs c.setLinkIndex(i); getFactory().getLink(c); Log.info("\nAxis #"+i+" Configuration:\n"+c); - if(c.getType()==LinkType.PID){ + if(c.getTypeEnum()==LinkType.PID){ IPidControlNamespace device = getFactory().getPid(c); try{ PIDConfiguration tmpConf = device.getPIDConfiguration(c.getHardwareIndex()); @@ -1042,7 +1042,7 @@ public void homeLink(int link) { throw new IndexOutOfBoundsException("There are only "+getNumberOfLinks()+" known links, requested:"+link); } LinkConfiguration conf = getLinkConfiguration(link); - if(conf.getType() == LinkType.PID){ + if(conf.getTypeEnum() == LinkType.PID){ getFactory().getPid(conf).removePIDEventListener(this); //Range is in encoder units double range = Math.abs(conf.getUpperLimit()-conf.getLowerLimit())*2; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index eeee88c0..3cad0081 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -129,7 +129,7 @@ public LinkConfiguration(Element eElement){ }catch (NullPointerException e){ setType(LinkType.PID); } - if(getType()==LinkType.PID){ + if(getTypeEnum()==LinkType.PID){ try{ k[0]=Double.parseDouble(XmlFactory.getTagValue("pGain",eElement)); k[1]=Double.parseDouble(XmlFactory.getTagValue("iGain",eElement)); @@ -298,7 +298,7 @@ public String toString(){ String s="LinkConfiguration: \n\tName: "+getName(); if(deviceScriptingName!=null) s="Device Name: \n\tName: "+getDeviceScriptingName(); - s+= "\n\tType: "+getType()+" "+getTypeString(); + s+= "\n\tType: "+getTypeEnum()+" "+getTypeString(); s+= "\n\tHardware Board Index: "+getHardwareIndex(); s+= "\n\tScale: "+getScale(); s+= "\n\tUpper Limit: "+getUpperLimit(); @@ -620,7 +620,7 @@ public void setType(LinkType type) { * * @return the type */ - public LinkType getType() { + public LinkType getTypeEnum() { return type; } @@ -720,7 +720,7 @@ public PIDConfiguration getPidConfiguration(){ */ public void setPidConfiguration(IPidControlNamespace pid) { PIDConfiguration conf = pid.getPIDConfiguration(getHardwareIndex()); - if(getType()==LinkType.PID){ + if(getTypeEnum()==LinkType.PID){ k[0]=conf.getKP(); k[1]=conf.getKI(); k[2]=conf.getKD(); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index b306a0a2..5d8cc00e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -145,9 +145,9 @@ public void refreshHardwareLayer(LinkConfiguration c){ private AbstractLink getLinkLocal(LinkConfiguration c){ AbstractLink tmp=null; - Log.info("Loading link: "+c.getName()+" type = "+c.getType()+" device= "+c.getDeviceScriptingName()); + Log.info("Loading link: "+c.getName()+" type = "+c.getTypeEnum()+" device= "+c.getDeviceScriptingName()); - switch(c.getType()){ + switch(c.getTypeEnum()){ case ANALOG_PRISMATIC: diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 0c667405..8a040fb1 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -61,7 +61,7 @@ public AbstractLink getLink(LinkConfiguration axis){ return (AbstractLink)links.get(axis); String gcodeAxis = ""; AbstractLink tmp=null; - switch(axis.getType()){ + switch(axis.getTypeEnum()){ case GCODE_STEPPER_PRISMATIC: case GCODE_STEPPER_ROTORY: case GCODE_STEPPER_TOOL: @@ -85,7 +85,7 @@ public AbstractLink getLink(LinkConfiguration axis){ default: break; } - switch(axis.getType()){ + switch(axis.getTypeEnum()){ case GCODE_STEPPER_PRISMATIC: tmp = new GcodePrismatic(axis,this,gcodeAxis); From f1218cf5d4afbc8ffd54864aef710f2187874d3d Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Mon, 22 Aug 2016 16:46:11 -0400 Subject: [PATCH 101/482] Adding product code variants to mobile bases and links --- .../addons/kinematics/LinkConfiguration.java | 65 +++++++---- .../sdk/addons/kinematics/MobileBase.java | 105 ++++++++++++++++++ 2 files changed, 150 insertions(+), 20 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 3cad0081..b8b19f1b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -98,6 +98,7 @@ public class LinkConfiguration { private HashMap vitamins= new HashMap(); + private HashMap vitaminVariant= new HashMap(); private boolean passive = false; private String typeString; @@ -260,6 +261,10 @@ protected void getVitamins(Element doc) { XmlFactory.getTagValue("type",e), XmlFactory.getTagValue("id",e) ); + try{ + setVitaminVariant(XmlFactory.getTagValue("name",e), + XmlFactory.getTagValue("variant",e)); + }catch(Exception ex){} } } return; @@ -269,6 +274,37 @@ protected void getVitamins(Element doc) { return; } + /** + * Add a vitamin to this link + * @param name the name of this vitamin, + if the name already exists, the data will be overwritten. + * @param type the vitamin type, this maps the the json filename + * @param id the part ID, theis maps to the key in the json for the vitamin + */ + public void setVitamin(String name, String type, String id){ + if(getVitamins().get(name)==null){ + getVitamins().put(name, new String[2]); + } + getVitamins().get(name)[0]=type; + getVitamins().get(name)[1]=id; + } + /** + * Set a purchasing code for a vitamin + * @param name name of vitamin + * @param tagValue2 Purchaning code + */ + public void setVitaminVariant(String name, String tagValue2) { + vitaminVariant.put(name, tagValue2); + } + /** + * Get a purchaing code for a vitamin + * @param name name of vitamin + * @return + */ + public String getVitaminVariant(String name) { + return vitaminVariant.get(name); + } + /** * Instantiates a new link configuration. */ @@ -324,11 +360,14 @@ public String getXml(){ } String allVitamins=""; for(String key: getVitamins().keySet()){ - String v = "\t\n"; - v+= "\t"+key+"\n"+ - "\t"+getVitamins().get(key)[0]+"\n"+ - "\t"+getVitamins().get(key)[1]+"\n"; - v+="\t\n"; + String v = "\t\t\n"; + v+= "\t\t\t"+key+"\n"+ + "\t\t\t"+getVitamins().get(key)[0]+"\n"+ + "\t\t\t"+getVitamins().get(key)[1]+"\n"; + if (getVitaminVariant(key)!=null){ + v+= "\t\t\t"+getVitamins().get(key)[1]+"\n"; + } + v+="\t\t\n"; allVitamins+=v; } @@ -346,27 +385,13 @@ public String getXml(){ "\t"+indexLatch+"\n"+ "\t"+isStopOnLatch+"\n"+ "\t"+getHomingTicksPerSecond()+"\n"+ - "\t\n"+allVitamins+"\n\n"+ + "\n\t\n"+allVitamins+"\n\t\n"+ "\t"+isPassive()+"\n"+ "\t"+getMassKg()+"\n"+ "\t"+getCenterOfMassFromCentroid().getXml()+"\n"+ "\t"+getimuFromCentroid().getXml()+"\n" +slaves; } - /** - * Add a vitamin to this link - * @param name the name of this vitamin, - if the name already exists, the data will be overwritten. - * @param type the vitamin type, this maps the the json filename - * @param id the part ID, theis maps to the key in the json for the vitamin - */ - public void setVitamin(String name, String type, String id){ - if(getVitamins().get(name)==null){ - getVitamins().put(name, new String[2]); - } - getVitamins().get(name)[0]=type; - getVitamins().get(name)[1]=id; - } /** * Sets the name. diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 89a1967d..aef3bbdd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -45,6 +45,9 @@ public class MobileBase extends AbstractKinematicsNR { private String[] walkingEngine = new String[] { "https://gist.github.com/bcb4760a449190206170.git", "WalkingDriveEngine.groovy" }; + private HashMap vitamins= new HashMap(); + private HashMap vitaminVariant= new HashMap(); + /** The self source. */ private String[] selfSource = new String[2]; @@ -178,6 +181,7 @@ private void loadConfigs(Element doc) { } + loadVitamins( doc); loadLimb(doc, "leg", legs); loadLimb(doc, "drivable", drivable); loadLimb(doc, "steerable", steerable); @@ -413,6 +417,93 @@ public ArrayList getAllDHChains() { } return copy; } + /** + * Load limb. + * + * @param doc + * the doc + * @param tag + * the tag + * @param list + * the list + */ + private void loadVitamins(Element doc) { + NodeList nodListofLinks = doc.getChildNodes(); + for (int i = 0; i < nodListofLinks.getLength(); i++) { + Node linkNode = nodListofLinks.item(i); + try{ + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamins")) { + getVitamins((Element)linkNode) ; + } + }catch (Exception e){ + + } + } + } + + public HashMap getVitamins() { + return vitamins; + } + /** + * Gets the vitamins. + * + * @param doc the doc + */ + private void getVitamins(Element doc) { + + try { + NodeList nodListofLinks = doc.getChildNodes(); + for (int i = 0; i < nodListofLinks.getLength(); i++) { + Node linkNode = nodListofLinks.item(i); + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamin")) { + Element e = (Element) linkNode; + setVitamin(XmlFactory.getTagValue("name",e), + XmlFactory.getTagValue("type",e), + XmlFactory.getTagValue("id",e) + ); + try{ + setVitaminVariant(XmlFactory.getTagValue("name",e), + XmlFactory.getTagValue("variant",e)); + }catch(Exception ex){} + } + } + return; + } catch (Exception e) { + e.printStackTrace(); + } + return; + } + + /** + * Add a vitamin to this link + * @param name the name of this vitamin, + if the name already exists, the data will be overwritten. + * @param type the vitamin type, this maps the the json filename + * @param id the part ID, theis maps to the key in the json for the vitamin + */ + public void setVitamin(String name, String type, String id){ + if(getVitamins().get(name)==null){ + getVitamins().put(name, new String[2]); + } + getVitamins().get(name)[0]=type; + getVitamins().get(name)[1]=id; + } + /** + * Set a purchasing code for a vitamin + * @param name name of vitamin + * @param tagValue2 Purchaning code + */ + public void setVitaminVariant(String name, String tagValue2) { + vitaminVariant.put(name, tagValue2); + } + /** + * Get a purchaing code for a vitamin + * @param name name of vitamin + * @return + */ + public String getVitaminVariant(String name) { + return vitaminVariant.get(name); + } /* * (non-Javadoc) @@ -443,6 +534,19 @@ public String getXml() { public String getEmbedableXml() { TransformNR location = getFiducialToGlobalTransform(); setGlobalToFiducialTransform(new TransformNR()); + + String allVitamins=""; + for(String key: getVitamins().keySet()){ + String v = "\t\t\n"; + v+= "\t\t\t"+key+"\n"+ + "\t\t\t"+getVitamins().get(key)[0]+"\n"+ + "\t\t\t"+getVitamins().get(key)[1]+"\n"; + if (getVitaminVariant(key)!=null){ + v+= "\t\t\t"+getVitamins().get(key)[1]+"\n"; + } + v+="\t\t\n"; + allVitamins+=v; + } String xml = "\n"; xml += "\t\n"; @@ -511,6 +615,7 @@ public String getEmbedableXml() { xml += "\n\n" + "\t" + getMassKg() + "\n" + "\t" + getCenterOfMassFromCentroid().getXml() + "\n" + "\t" + getIMUFromCentroid().getXml() + "\n"; + xml += "\n\n"+allVitamins+"\n\n"; xml += "\n\n"; setGlobalToFiducialTransform(location); return xml; From 8f8d557835147f14599fce49a306c0359c7f31e3 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Sat, 17 Sep 2016 10:21:03 -0400 Subject: [PATCH 102/482] 3.22.1 --- .../java/src/com/neuronrobotics/test/dyio/ServoTest.java | 9 ++++++--- .../com/neuronrobotics/sdk/config/build.properties | 2 +- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/examples/java/src/com/neuronrobotics/test/dyio/ServoTest.java b/examples/java/src/com/neuronrobotics/test/dyio/ServoTest.java index df5d72e0..dfd8d954 100644 --- a/examples/java/src/com/neuronrobotics/test/dyio/ServoTest.java +++ b/examples/java/src/com/neuronrobotics/test/dyio/ServoTest.java @@ -1,7 +1,9 @@ package com.neuronrobotics.test.dyio; import com.neuronrobotics.sdk.dyio.DyIO; +import com.neuronrobotics.sdk.dyio.DyIOChannel; import com.neuronrobotics.sdk.dyio.peripherals.IServoPositionUpdateListener; import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; +import com.neuronrobotics.sdk.serial.SerialConnection; import com.neuronrobotics.sdk.ui.ConnectionDialog; // TODO: Auto-generated Javadoc @@ -16,6 +18,7 @@ public class ServoTest implements IServoPositionUpdateListener{ private ServoTest(){ DyIO.disableFWCheck(); DyIO dyio=new DyIO(); + //dyio.enableDebug(); if (!ConnectionDialog.getBowlerDevice(dyio)){ System.exit(1); @@ -24,9 +27,9 @@ private ServoTest(){ //If your DyIO is using a lower voltage power source, you need to disable the brownout detect dyio.setServoPowerSafeMode(false); - - - ServoChannel srv = new ServoChannel (dyio.getChannel(0)); + DyIOChannel cn = dyio.getChannel(9); + System.out.println(cn.getAvailableModes()); + ServoChannel srv = new ServoChannel (cn); srv.addIServoPositionUpdateListener(this); //Loop 10 times setting the position of the servo //the time the loop waits will be the time it takes for the servo to arrive diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index e07b3dd6..afc9b93e 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.22.0 +app.version=3.22.1 app.javac.version=1.6 From a32e361760e58783b252c90034d52126c8f46811 Mon Sep 17 00:00:00 2001 From: madhephaestus Date: Mon, 3 Oct 2016 16:35:34 -0400 Subject: [PATCH 103/482] full coordinated motion test --- .gitignore | 1 + .../test/dyio/CoordinatedMotion.java | 25 ++++++++++++++----- 2 files changed, 20 insertions(+), 6 deletions(-) diff --git a/.gitignore b/.gitignore index 8aea509d..b007dd18 100644 --- a/.gitignore +++ b/.gitignore @@ -10,3 +10,4 @@ gradle.properties /odb-test.zip /paralleloutput2.xml /unknownLink2.xml +/hs_err_pid8155.log diff --git a/examples/java/src/com/neuronrobotics/test/dyio/CoordinatedMotion.java b/examples/java/src/com/neuronrobotics/test/dyio/CoordinatedMotion.java index 549c6847..9319bc04 100644 --- a/examples/java/src/com/neuronrobotics/test/dyio/CoordinatedMotion.java +++ b/examples/java/src/com/neuronrobotics/test/dyio/CoordinatedMotion.java @@ -37,14 +37,27 @@ public static void main(String[] args) throws InterruptedException { dyio.setCachedMode(true); int pos = 50; for(int i=0;i<5;i++){ - pos = (pos==50)?200:50; - for(ServoChannel s:chans){ - //Store the cached value - s.getChannel().setCachedValue(pos); + if(pos==50){ + pos=200; + for(ServoChannel s:chans){ + //Store the cached value + s.getChannel().setCachedValue(pos); + } + + //Flush all values to the DyIO + dyio.flushCache(time); + }else{ + pos=50; + for(ServoChannel s:chans){ + // set the servo positions individually + s.SetPosition(pos, time); + if(s.getChannel().getCachedMode()) + s.getChannel().flush(); + } } - //Flush all values to the DyIO - dyio.flushCache(time); + Thread.sleep((long) (time*1500)); + System.out.println("Sending "+pos); } System.exit(0); } From 581d6164492630b0fdef383f7b6803e0e84c26a1 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 17 Dec 2016 20:58:18 -0500 Subject: [PATCH 104/482] when an error occours the fail state should be a working tag --- .../neuronrobotics/sdk/addons/kinematics/math/TransformNR.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 7410ab49..7fbe6ea7 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -426,7 +426,7 @@ public String getXml(){ Double.isNaN(getRotation().getRotationMatrix2QuaturnionY())|| Double.isNaN(getRotation().getRotationMatrix2QuaturnionZ()) ){ - xml = "\t\n"; + xml +="\n\t\n"; setRotation(new RotationNR()); } xml +="\t"+getRotation().getRotationMatrix2QuaturnionW()+"\n"+ From b9706f84954c4dbb4709194e82861c0ed0d0a760 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 18 Dec 2016 11:43:07 -0500 Subject: [PATCH 105/482] Changing the file watcher to a single thread. This will break upstream code, but should fix a number of concurrency problems. --- .../sdk/util/FileChangeWatcher.java | 256 +++++++++++------- .../sdk/config/build.properties | 2 +- 2 files changed, 164 insertions(+), 94 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java b/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java index 5ca134c9..293f4e28 100644 --- a/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java +++ b/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java @@ -43,35 +43,106 @@ /** * The Class FileChangeWatcher. */ -public class FileChangeWatcher extends Thread { +public class FileChangeWatcher { /** The file to watch. */ private File fileToWatch; - + /** The run. */ private boolean run = true; - + /** The watcher. */ private final WatchService watcher; - + /** The keys. */ private final Map keys; - + /** The recursive. */ - private final boolean recursive=false; - + private final boolean recursive = false; + /** The listeners. */ private ArrayList listeners = new ArrayList(); + private static boolean runThread = true; + + private static Hashtable activeListener = new Hashtable(); + private static Thread watcherThread = null; + static { + startThread(); + + } + /** + * start the watcher thread + */ + public static void startThread() { + runThread = true; + watcherThread = new Thread() { + public void run() { + setName("File Watcher Thread"); + while (runThread) { + for (String key : activeListener.keySet()) { + try { + FileChangeWatcher w = activeListener.get(key); + if (!w.run) { + activeListener.remove(key); + break; + } + + w.run(); + } catch (Exception ex) { + ex.printStackTrace(); + } + } + try { + Thread.sleep(100); + } catch (InterruptedException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + } + } + }; + watcherThread.start(); + } + /** + * stop the watcher thread + */ + public static void stopThread() { + runThread = false; + } + /** + * clear the listeners + */ + public static void clearAll() { + activeListener.clear(); + } + /** + * Start watching a file + * @param fileToWatch a file that should be watched + * @return the watcher object for this file + * @throws IOException + */ + + public static FileChangeWatcher watch(File fileToWatch) throws IOException { + String path = fileToWatch.getAbsolutePath(); + if (activeListener.get(path) == null) { + activeListener.put(path, new FileChangeWatcher(fileToWatch)); + } + return activeListener.get(path); + } + /** * Instantiates a new file change watcher. * - * @param fileToWatch the file to watch - * @throws IOException Signals that an I/O exception has occurred. + * @param fileToWatch + * the file to watch + * @throws IOException + * Signals that an I/O exception has occurred. */ - public FileChangeWatcher(File fileToWatch) throws IOException { + private FileChangeWatcher(File fileToWatch) throws IOException { + this.setFileToWatch(fileToWatch); - setName("File Watcher Thread for " + fileToWatch.getAbsolutePath()); + this.watcher = FileSystems.getDefault().newWatchService(); this.keys = new HashMap(); Path dir = Paths.get(fileToWatch.getParent()); @@ -83,25 +154,27 @@ public FileChangeWatcher(File fileToWatch) throws IOException { register(dir); } } - + /** * Adds the i file change listener. * - * @param l the l + * @param l + * the l */ - public void addIFileChangeListener(IFileChangeListener l){ - if(!listeners.contains(l)){ + public void addIFileChangeListener(IFileChangeListener l) { + if (!listeners.contains(l)) { listeners.add(l); } } - + /** * Removes the i file change listener. * - * @param l the l + * @param l + * the l */ - public void removeIFileChangeListener(IFileChangeListener l){ - if(listeners.contains(l)){ + public void removeIFileChangeListener(IFileChangeListener l) { + if (listeners.contains(l)) { listeners.remove(l); } } @@ -109,8 +182,10 @@ public void removeIFileChangeListener(IFileChangeListener l){ /** * Cast. * - * @param the generic type - * @param event the event + * @param + * the generic type + * @param event + * the event * @return the watch event */ @SuppressWarnings("unchecked") @@ -121,21 +196,23 @@ static WatchEvent cast(WatchEvent event) { /** * Register the given directory with the WatchService. * - * @param dir the dir - * @throws IOException Signals that an I/O exception has occurred. + * @param dir + * the dir + * @throws IOException + * Signals that an I/O exception has occurred. */ private void register(Path dir) throws IOException { - WatchKey key = dir.register(watcher, ENTRY_CREATE, ENTRY_DELETE,ENTRY_MODIFY); + WatchKey key = dir.register(watcher, ENTRY_CREATE, ENTRY_DELETE, ENTRY_MODIFY); Path prev = keys.get(key); if (prev == null) { - //System.out.format("register: %s\n", dir); + // System.out.format("register: %s\n", dir); } else { if (!dir.equals(prev)) { - //System.out.format("update: %s -> %s\n", prev, dir); + // System.out.format("update: %s -> %s\n", prev, dir); } } - + keys.put(key, dir); } @@ -143,94 +220,81 @@ private void register(Path dir) throws IOException { * Register the given directory, and all its sub-directories, with the * WatchService. * - * @param start the start - * @throws IOException Signals that an I/O exception has occurred. + * @param start + * the start + * @throws IOException + * Signals that an I/O exception has occurred. */ private void registerAll(final Path start) throws IOException { // register directory and sub-directories Files.walkFileTree(start, new SimpleFileVisitor() { @Override - public FileVisitResult preVisitDirectory(Path dir, - BasicFileAttributes attrs) throws IOException { + public FileVisitResult preVisitDirectory(Path dir, BasicFileAttributes attrs) throws IOException { register(dir); return FileVisitResult.CONTINUE; } }); } - - /* (non-Javadoc) - * @see java.lang.Thread#run() + /** + * Perfom the watch execution */ - @Override public void run() { - while (run) { - try { - Thread.sleep(100); - } catch (InterruptedException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - // wait for key to be signalled - WatchKey key; - try { - key = watcher.take(); - } catch (InterruptedException x) { - return; - } - Path dir = keys.get(key); - if (dir == null) { - System.err.println("WatchKey not recognized!!"); + // wait for key to be signalled + WatchKey key; + try { + key = watcher.take(); + } catch (InterruptedException x) { + return; + } + + Path dir = keys.get(key); + if (dir == null) { + System.err.println("WatchKey not recognized!!"); + return; + } + + for (WatchEvent event : key.pollEvents()) { + WatchEvent.Kind kind = event.kind(); + + // TBD - provide example of how OVERFLOW event is handled + if (kind == OVERFLOW) { continue; } - for (WatchEvent event : key.pollEvents()) { - WatchEvent.Kind kind = event.kind(); - - // TBD - provide example of how OVERFLOW event is handled - if (kind == OVERFLOW) { + // Context for directory entry event is the file name of entry + WatchEvent ev = cast(event); + Path name = ev.context(); + Path child = dir.resolve(name); + try { + if (!child.toFile().getCanonicalPath().equals(fileToWatch.getCanonicalPath())) { continue; } - - - // Context for directory entry event is the file name of entry - WatchEvent ev = cast(event); - Path name = ev.context(); - Path child = dir.resolve(name); - try { - if (!child.toFile().getCanonicalPath().equals(fileToWatch.getCanonicalPath())) { - continue; - } - // print out event - //System.out.format("%s: %s\n", event.kind().name(), child); - for(int i=0;i Date: Mon, 19 Dec 2016 10:38:30 -0500 Subject: [PATCH 106/482] Unit test to demonstrate #29 --- .../utilities/RotationNRTest.java | 47 ++++++++++--------- 1 file changed, 25 insertions(+), 22 deletions(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index 20906e7e..46cb5813 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -18,35 +18,38 @@ public class RotationNRTest { @Test public void test() { int failCount = 0; - for(int i=0;i<100;i++){ - double tilt= Math.toRadians(Math.random()*360.0-180); - double elevation= Math.toRadians(Math.random()*360.0-180); - double azumus=Math.toRadians(Math.random()*360.0-180); - RotationNR rotTest = new RotationNR( Math.toDegrees(tilt), Math.toDegrees(azumus),Math.toDegrees(elevation)); - System.out.println("\n\nTest #"+i); - System.out.println("Testing Az="+Math.toDegrees(azumus)+ - " El="+Math.toDegrees(elevation)+ - " Tl="+Math.toDegrees(tilt)); - System.out.println("Got Az="+Math.toDegrees(rotTest.getRotationAzimuth())+ - " El="+Math.toDegrees(rotTest.getRotationElevation())+ - " Tl="+Math.toDegrees(rotTest.getRotationTilt())); - if(!RotationNR.bound(tilt-.001, tilt+.001, rotTest.getRotationTilt())){ + for (int i = 0; i < 100; i++) { + double tilt = Math.toRadians(Math.random() * 360.0 - 180); + double elevation = Math.toRadians(Math.random() * 360.0 - 180); + double azumus = Math.toRadians(Math.random() * 360.0 - 180); + RotationNR rotTest = new RotationNR(Math.toDegrees(tilt), Math.toDegrees(azumus), + Math.toDegrees(elevation)); + System.out.println("\n\nTest #" + i); + System.out.println("Testing Az=" + Math.toDegrees(azumus) + " El=" + Math.toDegrees(elevation) + " Tl=" + + Math.toDegrees(tilt)); + System.out.println("Got Az=" + Math.toDegrees(rotTest.getRotationAzimuth()) + " El=" + + Math.toDegrees(rotTest.getRotationElevation()) + " Tl=" + + Math.toDegrees(rotTest.getRotationTilt())); + if (!RotationNR.bound(tilt - .001, tilt + .001, rotTest.getRotationTilt())) { failCount++; - System.err.println("Rotation Tilt is not consistant. expected "+ Math.toDegrees(tilt)+" got " +Math.toDegrees(rotTest.getRotationTilt())); + System.err.println("Rotation Tilt is not consistant. expected " + Math.toDegrees(tilt) + " got " + + Math.toDegrees(rotTest.getRotationTilt())); } - if(!RotationNR.bound(elevation-.001, elevation+.001, rotTest.getRotationElevation())){ + if (!RotationNR.bound(elevation - .001, elevation + .001, rotTest.getRotationElevation())) { failCount++; - System.err.println("Rotation Elevation is not consistant. expected "+ Math.toDegrees(elevation)+" got " +Math.toDegrees(rotTest.getRotationElevation())); + System.err.println("Rotation Elevation is not consistant. expected " + Math.toDegrees(elevation) + + " got " + Math.toDegrees(rotTest.getRotationElevation())); } - if(!RotationNR.bound(azumus-.001, azumus+.001, rotTest.getRotationAzimuth())){ + if (!RotationNR.bound(azumus - .001, azumus + .001, rotTest.getRotationAzimuth())) { failCount++; - System.err.println("Rotation Tilt is not consistant. expected "+Math.toDegrees( azumus)+" got " +Math.toDegrees(rotTest.getRotationAzimuth())); + System.err.println("Rotation Tilt is not consistant. expected " + Math.toDegrees(azumus) + " got " + + Math.toDegrees(rotTest.getRotationAzimuth())); } } - - if(failCount>200){ - fail("Rotation failed "+failCount+" times"); - + + if (failCount > 200) { + fail("Rotation failed " + failCount + " times"); + } } From 8c321ff2f7259d0f66314b6c37cd08c9382d82d2 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 19 Dec 2016 10:39:32 -0500 Subject: [PATCH 107/482] Making the falure case more stringent --- .../src/junit/test/neuronrobotics/utilities/RotationNRTest.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index 46cb5813..25c91ca4 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -47,7 +47,7 @@ public void test() { } } - if (failCount > 200) { + if (failCount > 1) { fail("Rotation failed " + failCount + " times"); } From caa127fdbdd1bbb681b632dbe6653e9dee0d82c9 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 19 Dec 2016 10:50:40 -0500 Subject: [PATCH 108/482] tighting up the unit test for #29 --- .../utilities/RotationNRTest.java | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index 25c91ca4..b33d41f9 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -5,6 +5,7 @@ import org.junit.Test; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; +import com.neuronrobotics.sdk.util.ThreadUtil; // TODO: Auto-generated Javadoc /** @@ -18,16 +19,17 @@ public class RotationNRTest { @Test public void test() { int failCount = 0; - for (int i = 0; i < 100; i++) { - double tilt = Math.toRadians(Math.random() * 360.0 - 180); - double elevation = Math.toRadians(Math.random() * 360.0 - 180); - double azumus = Math.toRadians(Math.random() * 360.0 - 180); + int iterations = 100; + for (int i = 0; i < iterations; i++) { + double tilt = Math.toRadians((Math.random() *360.0) - 180); + double elevation = Math.toRadians((Math.random() * 360.0) - 180); + double azumus = Math.toRadians((Math.random() * 360.0) - 180); RotationNR rotTest = new RotationNR(Math.toDegrees(tilt), Math.toDegrees(azumus), Math.toDegrees(elevation)); System.out.println("\n\nTest #" + i); System.out.println("Testing Az=" + Math.toDegrees(azumus) + " El=" + Math.toDegrees(elevation) + " Tl=" + Math.toDegrees(tilt)); - System.out.println("Got Az=" + Math.toDegrees(rotTest.getRotationAzimuth()) + " El=" + System.out.println("Got Az=" + Math.toDegrees(rotTest.getRotationAzimuth()) + " El=" + Math.toDegrees(rotTest.getRotationElevation()) + " Tl=" + Math.toDegrees(rotTest.getRotationTilt())); if (!RotationNR.bound(tilt - .001, tilt + .001, rotTest.getRotationTilt())) { @@ -45,10 +47,14 @@ public void test() { System.err.println("Rotation Tilt is not consistant. expected " + Math.toDegrees(azumus) + " got " + Math.toDegrees(rotTest.getRotationAzimuth())); } + ThreadUtil.wait(20); + + + } if (failCount > 1) { - fail("Rotation failed " + failCount + " times"); + fail("Rotation failed " + failCount + " times of "+iterations*3); } From 5e154f4b368bae431404d1539b20189f78bb1c5a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 19 Dec 2016 11:07:00 -0500 Subject: [PATCH 109/482] formatting --- .../addons/kinematics/math/RotationNR.java | 446 +++++++++--------- 1 file changed, 223 insertions(+), 223 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index f22be091..627f43d7 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -6,61 +6,61 @@ // TODO: Auto-generated Javadoc /** - * This class is to represent a 3x3 rotation sub-matrix - * This class also contains static methods for dealing with 3x3 rotations. + * This class is to represent a 3x3 rotation sub-matrix This class also contains + * static methods for dealing with 3x3 rotations. + * * @author Kevin Harrington * */ public class RotationNR { - + /** The rotation matrix. */ - double[][] rotationMatrix = new double[][] { { 1, 0, 0 }, { 0, 1, 0 }, - { 0, 0, 1 } }; - + double[][] rotationMatrix = new double[][] { { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 } }; + /** * Null constructor forms a. */ public RotationNR() { } - + /** * Instantiates a new rotation nr. * - * @param elevation the elevation - * @param tilt the tilt - * @param azumeth the azumeth + * @param elevation + * the elevation + * @param tilt + * the tilt + * @param azumeth + * the azumeth */ // create a new object with the given simplified rotations - public RotationNR( double tilt , double azumeth, double elevation ) { - if(Double.isNaN(tilt)) + public RotationNR(double tilt, double azumeth, double elevation) { + if (Double.isNaN(tilt)) throw new RuntimeException("Value can not be NaN"); - if(Double.isNaN(azumeth)) + if (Double.isNaN(azumeth)) throw new RuntimeException("Value can not be NaN"); - if(Double.isNaN(elevation)) + if (Double.isNaN(elevation)) throw new RuntimeException("Value can not be NaN"); - loadFromAngles(tilt , azumeth, elevation ); - if( Double.isNaN(getRotationMatrix2QuaturnionW())|| - Double.isNaN(getRotationMatrix2QuaturnionX())|| - Double.isNaN(getRotationMatrix2QuaturnionY())|| - Double.isNaN(getRotationMatrix2QuaturnionZ())){ - //System.err.println("Failing to set proper angle, jittering"); - loadFromAngles( tilt + Math.random()*.02+.001 , - azumeth+ Math.random()*.02+.001 , - elevation+ Math.random()*.02+.001 ); + loadFromAngles(tilt, azumeth, elevation); + if (Double.isNaN(getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotationMatrix2QuaturnionX()) + || Double.isNaN(getRotationMatrix2QuaturnionY()) || Double.isNaN(getRotationMatrix2QuaturnionZ())) { + // System.err.println("Failing to set proper angle, jittering"); + loadFromAngles(tilt + Math.random() * .02 + .001, azumeth + Math.random() * .02 + .001, + elevation + Math.random() * .02 + .001); } - + } - - private void loadFromAngles( double tilt , double azumeth, double elevation ){ + + private void loadFromAngles(double tilt, double azumeth, double elevation) { double attitude = Math.toRadians(elevation); - double heading= Math.toRadians(azumeth); - double bank = Math.toRadians(tilt) ; - double w,x,y,z; - // Assuming the angles are in radians. + double heading = Math.toRadians(azumeth); + double bank = Math.toRadians(tilt); + double w, x, y, z; + // Assuming the angles are in radians. double c1 = Math.cos(heading / 2); -// if(Double.isNaN(c1)) -// + // if(Double.isNaN(c1)) + // double s1 = Math.sin(heading / 2); double c2 = Math.cos(attitude / 2); double s2 = Math.sin(attitude / 2); @@ -68,18 +68,21 @@ private void loadFromAngles( double tilt , double azumeth, double elevation double s3 = Math.sin(bank / 2); double c1c2 = c1 * c2; double s1s2 = s1 * s2; - //System.out.println("C1 ="+c1+" S1 ="+s1+" |C2 ="+c2+" S2 ="+s2+" |C3 ="+c3+" S3 ="+s3); + // System.out.println("C1 ="+c1+" S1 ="+s1+" |C2 ="+c2+" S2 ="+s2+" |C3 + // ="+c3+" S3 ="+s3); w = c1c2 * c3 - s1s2 * s3; x = c1c2 * s3 + s1s2 * c3; y = s1 * c2 * c3 + c1 * s2 * s3; z = c1 * s2 * c3 - s1 * c2 * s3; - //System.out.println("W ="+w+" x ="+x+" y ="+y+" z ="+z); + // System.out.println("W ="+w+" x ="+x+" y ="+y+" z ="+z); quaternion2RotationMatrix(w, x, y, z); } + /** * Instantiates a new rotation nr. * - * @param rotationMatrix the rotation matrix + * @param rotationMatrix + * the rotation matrix */ public RotationNR(double[][] rotationMatrix) { loadRotations(rotationMatrix); @@ -88,16 +91,18 @@ public RotationNR(double[][] rotationMatrix) { /** * Instantiates a new rotation nr. * - * @param values the values + * @param values + * the values */ public RotationNR(double[] values) { this(values[0], values[1], values[2], values[3]); } - + /** * Get a rotation matrix with a rotation around X. * - * @param rotationAngleDegrees in degrees + * @param rotationAngleDegrees + * in degrees * @return the static matrix */ public static RotationNR getRotationX(double rotationAngleDegrees) { @@ -119,11 +124,12 @@ public static RotationNR getRotationX(double rotationAngleDegrees) { return new RotationNR(rotation); } - + /** * Get a rotation matrix with a rotation around Y. * - * @param rotationAngleDegrees in degrees + * @param rotationAngleDegrees + * in degrees * @return the static matrix */ public static RotationNR getRotationY(double rotationAngleDegrees) { @@ -145,11 +151,12 @@ public static RotationNR getRotationY(double rotationAngleDegrees) { return new RotationNR(rotation); } - + /** * Get a rotation matrix with a rotation around Z. * - * @param rotationAngleDegrees in degrees + * @param rotationAngleDegrees + * in degrees * @return the static matrix */ public static RotationNR getRotationZ(double rotationAngleDegrees) { @@ -171,16 +178,18 @@ public static RotationNR getRotationZ(double rotationAngleDegrees) { return new RotationNR(rotation); } - - /** * Instantiates a new rotation nr. * - * @param w the w - * @param x the x - * @param y the y - * @param z the z + * @param w + * the w + * @param x + * the x + * @param y + * the y + * @param z + * the z */ // create a new object with the given components public RotationNR(double w, double x, double y, double z) { @@ -190,7 +199,8 @@ public RotationNR(double w, double x, double y, double z) { /** * Instantiates a new rotation nr. * - * @param m the m + * @param m + * the m */ public RotationNR(Matrix m) { double[][] rotation = new double[3][3]; @@ -201,12 +211,12 @@ public RotationNR(Matrix m) { } loadRotations(rotation); } - /** * Load rotations. * - * @param rotM the rot m + * @param rotM + * the rot m */ private void loadRotations(double[][] rotM) { if (rotM.length != 3) @@ -241,7 +251,9 @@ public double[][] getRotationMatrix() { return b; } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ // return a string representation of the invoking object @@ -256,26 +268,22 @@ public String toString() { s += " ]\n"; } s += "]"; - return "Quaturnion: " - +"W="+ getRotationMatrix2QuaturnionW() + ", " - +"x="+ getRotationMatrix2QuaturnionX() + ", " - +"y="+ getRotationMatrix2QuaturnionY() + ", " - +"z="+ getRotationMatrix2QuaturnionZ() + "\n"+ - "Rotation angle (degrees): " - +"rx="+ getRotationX() + ", " - +"ry="+ getRotationY() + ", " - +"rz="+ getRotationZ() + ""; + return "Quaturnion: " + "W=" + getRotationMatrix2QuaturnionW() + ", " + "x=" + getRotationMatrix2QuaturnionX() + + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\n" + + "Rotation angle (degrees): " + "rx=" + getRotationX() + ", " + "ry=" + getRotationY() + ", " + "rz=" + + getRotationZ() + ""; } - + /** * To string. * - * @param array the array + * @param array + * the array * @return the string */ // return a string representation of the invoking object public String toString(double[][] array) { - String s = "[\n"; + String s = "[\n"; for (int i = 0; i < 3; i++) { s += "[ "; for (int j = 0; j < 3; j++) { @@ -284,25 +292,29 @@ public String toString(double[][] array) { s += " ]\n"; } s += "]"; - return "Matrix = " + s ; + return "Matrix = " + s; } /** * Quaternion2 rotation matrix. * - * @param w the w - * @param x the x - * @param y the y - * @param z the z + * @param w + * the w + * @param x + * the x + * @param y + * the y + * @param z + * the z */ protected void quaternion2RotationMatrix(double w, double x, double y, double z) { - if(Double.isNaN(w)) + if (Double.isNaN(w)) throw new RuntimeException("Value can not be NaN"); - if(Double.isNaN(x)) + if (Double.isNaN(x)) throw new RuntimeException("Value can not be NaN"); - if(Double.isNaN(y)) + if (Double.isNaN(y)) throw new RuntimeException("Value can not be NaN"); - if(Double.isNaN(z)) + if (Double.isNaN(z)) throw new RuntimeException("Value can not be NaN"); double norm = Math.sqrt(w * w + x * x + y * y + z * z); // we explicitly test norm against one here, saving a division @@ -327,150 +339,139 @@ protected void quaternion2RotationMatrix(double w, double x, double y, double z) rotationMatrix[0][0] = 1 - (yy + zz); rotationMatrix[0][1] = (xy - zw); rotationMatrix[0][2] = (xz + yw); - + rotationMatrix[1][0] = (xy + zw); rotationMatrix[1][1] = 1 - (xx + zz); rotationMatrix[1][2] = (yz - xw); - + rotationMatrix[2][0] = (xz - yw); rotationMatrix[2][1] = (yz + xw); rotationMatrix[2][2] = 1 - (xx + yy); - + toString(rotationMatrix); } - + /** - * This requires a pure rotation matrix 'm' as input. - * from http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/ + * This requires a pure rotation matrix 'm' as input. from + * http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/ * * @return the double[] */ - public double [] toAxisAngle() { - double angle,x,y,z; // variables for result + public double[] toAxisAngle() { + double angle, x, y, z; // variables for result double epsilon = 0.01; // margin to allow for rounding errors - double epsilon2 = 0.1; // margin to distinguish between 0 and 180 degrees - // optional check that input is pure rotation, 'isRotationMatrix' is defined at: + double epsilon2 = 0.1; // margin to distinguish between 0 and 180 + // degrees + // optional check that input is pure rotation, 'isRotationMatrix' is + // defined at: // http://www.euclideanspace.com/maths/algebra/matrix/orthogonal/rotation/ - if (( (Math.abs(rotationMatrix[0][1])-Math.abs(rotationMatrix[1][0]))< epsilon) - && ((Math.abs(rotationMatrix[0][2])-Math.abs(rotationMatrix[2][0]))< epsilon) - && ((Math.abs(rotationMatrix[1][2])-Math.abs(rotationMatrix[2][1]))< epsilon)) { + if (((Math.abs(rotationMatrix[0][1]) - Math.abs(rotationMatrix[1][0])) < epsilon) + && ((Math.abs(rotationMatrix[0][2]) - Math.abs(rotationMatrix[2][0])) < epsilon) + && ((Math.abs(rotationMatrix[1][2]) - Math.abs(rotationMatrix[2][1])) < epsilon)) { // singularity found // first check for identity matrix which must have +1 for all terms - // in leading diagonaland zero in other terms - if ( - (Math.abs(rotationMatrix[0][1])+Math.abs(rotationMatrix[1][0])) < epsilon2 - && (Math.abs(rotationMatrix[0][2])+Math.abs(rotationMatrix[2][0])) < epsilon2 - && (Math.abs(rotationMatrix[1][2])+Math.abs(rotationMatrix[2][1]))< epsilon2 - && (Math.abs(rotationMatrix[0][0])+Math.abs(rotationMatrix[1][1])+Math.abs(rotationMatrix[2][2])-3) < epsilon2) { + // in leading diagonaland zero in other terms + if ((Math.abs(rotationMatrix[0][1]) + Math.abs(rotationMatrix[1][0])) < epsilon2 + && (Math.abs(rotationMatrix[0][2]) + Math.abs(rotationMatrix[2][0])) < epsilon2 + && (Math.abs(rotationMatrix[1][2]) + Math.abs(rotationMatrix[2][1])) < epsilon2 + && (Math.abs(rotationMatrix[0][0]) + Math.abs(rotationMatrix[1][1]) + Math.abs(rotationMatrix[2][2]) + - 3) < epsilon2) { // this singularity is identity matrix so angle = 0 - return new double[]{0,1,0,0}; // zero angle, arbitrary axis + return new double[] { 0, 1, 0, 0 }; // zero angle, arbitrary + // axis } // otherwise this singularity is angle = 180 angle = Math.PI; - double xx = (rotationMatrix[0][0]+1)/2; - double yy = (rotationMatrix[1][1]+1)/2; - double zz = (rotationMatrix[2][2]+1)/2; - double xy = (rotationMatrix[0][1]+rotationMatrix[1][0])/4; - double xz = (rotationMatrix[0][2]+rotationMatrix[2][0])/4; - double yz = (rotationMatrix[1][2]+rotationMatrix[2][1])/4; - if ((xx > yy) && (xx > zz)) { // m[0][0] is the largest diagonal term - if (xx< epsilon) { + double xx = (rotationMatrix[0][0] + 1) / 2; + double yy = (rotationMatrix[1][1] + 1) / 2; + double zz = (rotationMatrix[2][2] + 1) / 2; + double xy = (rotationMatrix[0][1] + rotationMatrix[1][0]) / 4; + double xz = (rotationMatrix[0][2] + rotationMatrix[2][0]) / 4; + double yz = (rotationMatrix[1][2] + rotationMatrix[2][1]) / 4; + if ((xx > yy) && (xx > zz)) { // m[0][0] is the largest diagonal + // term + if (xx < epsilon) { x = 0; y = 0.7071; z = 0.7071; } else { x = Math.sqrt(xx); - y = xy/x; - z = xz/x; + y = xy / x; + z = xz / x; } } else if (yy > zz) { // m[1][1] is the largest diagonal term - if (yy< epsilon) { + if (yy < epsilon) { x = 0.7071; y = 0; z = 0.7071; } else { y = Math.sqrt(yy); - x = xy/y; - z = yz/y; - } - } else { // m[2][2] is the largest diagonal term so base result on this - if (zz< epsilon) { + x = xy / y; + z = yz / y; + } + } else { // m[2][2] is the largest diagonal term so base result on + // this + if (zz < epsilon) { x = 0.7071; y = 0.7071; z = 0; } else { z = Math.sqrt(zz); - x = xz/z; - y = yz/z; + x = xz / z; + y = yz / z; } } - return new double[]{angle,x,y,z}; // return 180 deg rotation + return new double[] { angle, x, y, z }; // return 180 deg rotation } - // as we have reached here there are no singularities so we can handle normally - double s = Math.sqrt((rotationMatrix[2][1] - rotationMatrix[1][2])*(rotationMatrix[2][1] - rotationMatrix[1][2]) - +(rotationMatrix[0][2] - rotationMatrix[2][0])*(rotationMatrix[0][2] - rotationMatrix[2][0]) - +(rotationMatrix[1][0] - rotationMatrix[0][1])*(rotationMatrix[1][0] - rotationMatrix[0][1])); // used to normalise - if (Math.abs(s) < 0.001) s=1; - // prevent divide by zero, should not happen if matrix is orthogonal and should be - // caught by singularity test above, but I've left it in just in case - angle = Math.acos(( rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2] - 1)/2); - x = (rotationMatrix[2][1] - rotationMatrix[1][2])/s; - y = (rotationMatrix[0][2] - rotationMatrix[2][0])/s; - z = (rotationMatrix[1][0] - rotationMatrix[0][1])/s; - return new double[]{angle,x,y,z}; + // as we have reached here there are no singularities so we can handle + // normally + double s = Math + .sqrt((rotationMatrix[2][1] - rotationMatrix[1][2]) * (rotationMatrix[2][1] - rotationMatrix[1][2]) + + (rotationMatrix[0][2] - rotationMatrix[2][0]) * (rotationMatrix[0][2] - rotationMatrix[2][0]) + + (rotationMatrix[1][0] - rotationMatrix[0][1]) + * (rotationMatrix[1][0] - rotationMatrix[0][1])); // used + // to + // normalise + if (Math.abs(s) < 0.001) + s = 1; + // prevent divide by zero, should not happen if matrix is orthogonal and + // should be + // caught by singularity test above, but I've left it in just in case + angle = Math.acos((rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2] - 1) / 2); + x = (rotationMatrix[2][1] - rotationMatrix[1][2]) / s; + y = (rotationMatrix[0][2] - rotationMatrix[2][0]) / s; + z = (rotationMatrix[1][0] - rotationMatrix[0][1]) / s; + return new double[] { angle, x, y, z }; } - - /** - * Calculate axis angle. - * - * @param quaturnian the quaturnian - * @return the double - */ - private double calculateAxisAngle(double quaturnian){ - double w =getRotationMatrix2QuaturnionW(); - double neg = quaturnian<0?-1:1; - quaturnian=Math.abs(quaturnian); - double s = Math.sqrt(1-w*w); - double currentAxis; - if(Math.abs(s)<.001||Double.isNaN(s)) - currentAxis= 0; - else - currentAxis = (quaturnian/s); - double angle = 2*Math.acos(w); - if(Double.isNaN(angle)) - angle=0; - double degAng=Math.toDegrees(angle); - double ret=(angle*currentAxis)*neg; - double deg=Math.toDegrees(ret); - - return ret; - } - /** * Bound. * - * @param low the low - * @param high the high - * @param n the n + * @param low + * the low + * @param high + * the high + * @param n + * the n * @return true, if successful */ - public static boolean bound(double low, double high, double n) { - return n >= low && n <= high; + public static boolean bound(double low, double high, double n) { + return n >= low && n <= high; } /** * Gets the rot angle. * - * @param index the index + * @param index + * the index * @return the rot angle */ - private double getRotAngle(int index){ - double w,x,y,z,tilt,azumiuth,elevation; - w=getRotationMatrix2QuaturnionW(); - x=getRotationMatrix2QuaturnionX(); - y=getRotationMatrix2QuaturnionY(); - z=getRotationMatrix2QuaturnionZ(); + private double getRotAngle(int index) { + double w, x, y, z, tilt, azumiuth, elevation; + w = getRotationMatrix2QuaturnionW(); + x = getRotationMatrix2QuaturnionX(); + y = getRotationMatrix2QuaturnionY(); + z = getRotationMatrix2QuaturnionZ(); double sqw = w * w; double sqx = x * x; double sqy = y * y; @@ -479,13 +480,13 @@ private double getRotAngle(int index){ // is correction factor double test = x * y + z * w; if (test > 0.499 * unit) { // singularity at north pole - //System.err.println("North pole singularity"); + // System.err.println("North pole singularity"); azumiuth = 2 * Math.atan2(x, w); elevation = Math.PI / 2; tilt = 0; } else if (test < -0.499 * unit) { // singularity at south pole - //System.err.println("South pole singularity"); + // System.err.println("South pole singularity"); azumiuth = -2 * Math.atan2(x, w); elevation = -Math.PI / 2; tilt = 0; @@ -495,60 +496,59 @@ private double getRotAngle(int index){ elevation = Math.asin(2 * test / unit); tilt = Math.atan2(2 * x * w - 2 * y * z, -sqx + sqy - sqz + sqw); } - if( bound(-180.01, -179.99, Math.toDegrees(tilt)) - ){ + if (bound(-180.01, -179.99, Math.toDegrees(tilt))) { System.err.println("180 tilt pole singularity"); - elevation = -Math.PI +elevation; - tilt = Math.PI +tilt; - azumiuth = -(Math.PI +azumiuth); + elevation = -Math.PI + elevation; + tilt = Math.PI + tilt; + azumiuth = -(Math.PI + azumiuth); } - if(bound(359.99,360.01,Math.abs(Math.toDegrees(tilt)))){ - tilt=0; + if (bound(359.99, 360.01, Math.abs(Math.toDegrees(tilt)))) { + tilt = 0; } - if(bound(359.99,360.01,Math.abs(Math.toDegrees(azumiuth)))){ - azumiuth=0; + if (bound(359.99, 360.01, Math.abs(Math.toDegrees(azumiuth)))) { + azumiuth = 0; } - if(bound(359.99,360.01,Math.abs(Math.toDegrees(elevation)))){ - elevation=0; + if (bound(359.99, 360.01, Math.abs(Math.toDegrees(elevation)))) { + elevation = 0; } - - switch(index){ + + switch (index) { case 0: return tilt; case 1: - return elevation ; + return elevation; case 2: return azumiuth; - default: + default: return 0; } - + } - -// public double getRotationBank() { -// -// return getRotAngle(0) ; -// -// } - -// public double getRotationAttitude() { -// -// return getRotAngle(2); -// } -// -// public double getRotationHeading() { -// -// return getRotAngle(1) ; -// } - + + // public double getRotationBank() { + // + // return getRotAngle(0) ; + // + // } + + // public double getRotationAttitude() { + // + // return getRotAngle(2); + // } + // + // public double getRotationHeading() { + // + // return getRotAngle(1) ; + // } + /** - * Gets the rotation tilt. - * - * @return the rotation tilt - */ -public double getRotationTilt() { + * Gets the rotation tilt. + * + * @return the rotation tilt + */ + public double getRotationTilt() { - return getRotAngle(0) ; + return getRotAngle(0); } @@ -558,8 +558,8 @@ public double getRotationTilt() { * @return the rotation elevation */ public double getRotationElevation() { - - return getRotAngle(1); + + return getRotAngle(1); } /** @@ -568,42 +568,42 @@ public double getRotationElevation() { * @return the rotation azimuth */ public double getRotationAzimuth() { - + return getRotAngle(2); } - + /** * Gets the rotation x. * * @return the rotation x */ - @Deprecated //use getRotationBank() + @Deprecated // use getRotationBank() public double getRotationX() { - return getRotAngle(0) ; + return getRotAngle(0); } - + /** * Gets the rotation y. * * @return the rotation y */ - @Deprecated //use getRotationAttitude() + @Deprecated // use getRotationAttitude() public double getRotationY() { - + return getRotAngle(2); } - + /** * Gets the rotation z. * * @return the rotation z */ - @Deprecated //use getRotationHeading() + @Deprecated // use getRotationHeading() public double getRotationZ() { - - return getRotAngle(1) ; + + return getRotAngle(1); } /** @@ -612,8 +612,8 @@ public double getRotationZ() { * @return the rotation matrix2 quaturnion w */ public double getRotationMatrix2QuaturnionW() { - double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0]+ rotationMatrix[1][1] + rotationMatrix[2][2]); - if(temp>1) + double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); + if (temp > 1) throw new RuntimeException("Matrix needs normalization"); return temp; } @@ -624,9 +624,9 @@ public double getRotationMatrix2QuaturnionW() { * @return the rotation matrix2 quaturnion x */ public double getRotationMatrix2QuaturnionX() { - double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0]+ rotationMatrix[1][1] + rotationMatrix[2][2]); + double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); return (rotationMatrix[2][1] - rotationMatrix[1][2]) * 0.25 / temp; - } + } /** * Gets the rotation matrix2 quaturnion y. @@ -634,7 +634,7 @@ public double getRotationMatrix2QuaturnionX() { * @return the rotation matrix2 quaturnion y */ public double getRotationMatrix2QuaturnionY() { - double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0]+ rotationMatrix[1][1] + rotationMatrix[2][2]); + double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); return (rotationMatrix[0][2] - rotationMatrix[2][0]) * 0.25 / temp; } @@ -644,7 +644,7 @@ public double getRotationMatrix2QuaturnionY() { * @return the rotation matrix2 quaturnion z */ public double getRotationMatrix2QuaturnionZ() { - double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0]+ rotationMatrix[1][1] + rotationMatrix[2][2]); + double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); return (rotationMatrix[1][0] - rotationMatrix[0][1]) * 0.25 / temp; } From ef15eedad34c4701611d810984d6f4bfc5c161ce Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 19 Dec 2016 12:17:48 -0500 Subject: [PATCH 110/482] More explicate tests with print outs to show diviation #29 --- .../addons/kinematics/math/RotationNR.java | 15 ---------- .../utilities/RotationNRTest.java | 29 +++++++++++-------- 2 files changed, 17 insertions(+), 27 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 627f43d7..cbc4ea2f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -496,21 +496,6 @@ private double getRotAngle(int index) { elevation = Math.asin(2 * test / unit); tilt = Math.atan2(2 * x * w - 2 * y * z, -sqx + sqy - sqz + sqw); } - if (bound(-180.01, -179.99, Math.toDegrees(tilt))) { - System.err.println("180 tilt pole singularity"); - elevation = -Math.PI + elevation; - tilt = Math.PI + tilt; - azumiuth = -(Math.PI + azumiuth); - } - if (bound(359.99, 360.01, Math.abs(Math.toDegrees(tilt)))) { - tilt = 0; - } - if (bound(359.99, 360.01, Math.abs(Math.toDegrees(azumiuth)))) { - azumiuth = 0; - } - if (bound(359.99, 360.01, Math.abs(Math.toDegrees(elevation)))) { - elevation = 0; - } switch (index) { case 0: diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index b33d41f9..c5b538e9 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -21,9 +21,9 @@ public void test() { int failCount = 0; int iterations = 100; for (int i = 0; i < iterations; i++) { - double tilt = Math.toRadians((Math.random() *360.0) - 180); - double elevation = Math.toRadians((Math.random() * 360.0) - 180); - double azumus = Math.toRadians((Math.random() * 360.0) - 180); + double tilt = Math.toRadians((Math.random() *360.0) -180); + double elevation = Math.toRadians((Math.random() * 360.0) -180 ); + double azumus = Math.toRadians((Math.random() * 360.0) -180 ); RotationNR rotTest = new RotationNR(Math.toDegrees(tilt), Math.toDegrees(azumus), Math.toDegrees(elevation)); System.out.println("\n\nTest #" + i); @@ -32,25 +32,30 @@ public void test() { System.out.println("Got Az=" + Math.toDegrees(rotTest.getRotationAzimuth()) + " El=" + Math.toDegrees(rotTest.getRotationElevation()) + " Tl=" + Math.toDegrees(rotTest.getRotationTilt())); - if (!RotationNR.bound(tilt - .001, tilt + .001, rotTest.getRotationTilt())) { + + if (!RotationNR.bound(tilt - .01, tilt + .01, rotTest.getRotationTilt())) { failCount++; System.err.println("Rotation Tilt is not consistant. expected " + Math.toDegrees(tilt) + " got " - + Math.toDegrees(rotTest.getRotationTilt())); + + Math.toDegrees(rotTest.getRotationTilt())+ + " \t\tOff By "+(Math.toDegrees(tilt) - Math.toDegrees(rotTest.getRotationTilt()) ) + ); } - if (!RotationNR.bound(elevation - .001, elevation + .001, rotTest.getRotationElevation())) { + if (!RotationNR.bound(elevation - .01, elevation + .01, rotTest.getRotationElevation())) { failCount++; System.err.println("Rotation Elevation is not consistant. expected " + Math.toDegrees(elevation) - + " got " + Math.toDegrees(rotTest.getRotationElevation())); + + " got " + Math.toDegrees(rotTest.getRotationElevation())+ + " \t\tOff By "+(Math.toDegrees(elevation) + Math.toDegrees(rotTest.getRotationElevation()) ) + + ); } - if (!RotationNR.bound(azumus - .001, azumus + .001, rotTest.getRotationAzimuth())) { + if (!RotationNR.bound(azumus - .01, azumus + .01, rotTest.getRotationAzimuth())) { failCount++; System.err.println("Rotation Tilt is not consistant. expected " + Math.toDegrees(azumus) + " got " - + Math.toDegrees(rotTest.getRotationAzimuth())); + + Math.toDegrees(rotTest.getRotationAzimuth())+ + " \t\tOff By "+(Math.toDegrees(azumus) - Math.toDegrees(rotTest.getRotationAzimuth()) ) + ); } ThreadUtil.wait(20); - - - } if (failCount > 1) { From f6924a8e44b5ff3cadefcee563e9e7303ac3ae90 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 20 Dec 2016 12:56:49 -0500 Subject: [PATCH 111/482] Adding classes from LibGDX to deal with the rotation conversions --- build.gradle | 4 +- .../addons/kinematics/math/Interpolation.java | 434 +++++ .../sdk/addons/kinematics/math/MathUtils.java | 354 ++++ .../sdk/addons/kinematics/math/Matrix3.java | 585 +++++++ .../sdk/addons/kinematics/math/Matrix4.java | 1519 +++++++++++++++++ .../addons/kinematics/math/NumberUtils.java | 49 + .../addons/kinematics/math/QuaternionGDX.java | 870 ++++++++++ .../addons/kinematics/math/RandomXS128.java | 197 +++ .../sdk/addons/kinematics/math/Vector.java | 193 +++ .../sdk/addons/kinematics/math/Vector2.java | 523 ++++++ .../sdk/addons/kinematics/math/Vextor3.java | 698 ++++++++ 11 files changed, 5425 insertions(+), 1 deletion(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Interpolation.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/MathUtils.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix3.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix4.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/NumberUtils.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/QuaternionGDX.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RandomXS128.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector2.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vextor3.java diff --git a/build.gradle b/build.gradle index 3a86c90c..c77377c9 100644 --- a/build.gradle +++ b/build.gradle @@ -71,7 +71,9 @@ dependencies { //compile fileTree (dir: '../doychinNRJAVASERISL/nrjavaserial/build/libs', includes: ['*.jar']) compile "com.neuronrobotics:nrjavaserial:3.12.1" compile 'org.bitbucket.shemnon.javafxplugin:gradle-javafx-plugin:8.1.1' - compile group: 'com.neuronrobotics', name: 'LewisOmniscientDebugger', version: '1.6' + // https://mvnrepository.com/artifact/org.jscience/jscience + compile group: 'org.jscience', name: 'jscience', version: '4.3.1' + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Interpolation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Interpolation.java new file mode 100644 index 00000000..33314cc0 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Interpolation.java @@ -0,0 +1,434 @@ +/******************************************************************************* + * Copyright 2011 See AUTHORS file. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + ******************************************************************************/ + +package com.neuronrobotics.sdk.addons.kinematics.math; + +/** Takes a linear value in the range of 0-1 and outputs a (usually) non-linear, interpolated value. + * @author Nathan Sweet */ +abstract class Interpolation { + /** @param a Alpha value between 0 and 1. */ + abstract public float apply (float a); + + /** @param a Alpha value between 0 and 1. */ + public float apply (float start, float end, float a) { + return start + (end - start) * apply(a); + } + + // + + static public final Interpolation linear = new Interpolation() { + public float apply (float a) { + return a; + } + }; + + // + + /** Aka "smoothstep". */ + static public final Interpolation smooth = new Interpolation() { + public float apply (float a) { + return a * a * (3 - 2 * a); + } + }; + static public final Interpolation smooth2 = new Interpolation() { + public float apply (float a) { + a = a * a * (3 - 2 * a); + return a * a * (3 - 2 * a); + } + }; + + /** By Ken Perlin. */ + static public final Interpolation smoother = new Interpolation() { + public float apply (float a) { + return MathUtils.clamp(a * a * a * (a * (a * 6 - 15) + 10), 0, 1); + } + }; + static public final Interpolation fade = smoother; + + // + + static public final Pow pow2 = new Pow(2); + /** Slow, then fast. */ + static public final PowIn pow2In = new PowIn(2); + /** Fast, then slow. */ + static public final PowOut pow2Out = new PowOut(2); + static public final Interpolation pow2InInverse = new Interpolation() { + public float apply (float a) { + return (float)Math.sqrt(a); + } + }; + static public final Interpolation pow2OutInverse = new Interpolation() { + public float apply (float a) { + return 1 - (float)Math.sqrt(-(a - 1)); + } + }; + + static public final Pow pow3 = new Pow(3); + static public final PowIn pow3In = new PowIn(3); + static public final PowOut pow3Out = new PowOut(3); + static public final Interpolation pow3InInverse = new Interpolation() { + public float apply (float a) { + return (float)Math.cbrt(a); + } + }; + static public final Interpolation pow3OutInverse = new Interpolation() { + public float apply (float a) { + return 1 - (float)Math.cbrt(-(a - 1)); + } + }; + + static public final Pow pow4 = new Pow(4); + static public final PowIn pow4In = new PowIn(4); + static public final PowOut pow4Out = new PowOut(4); + + static public final Pow pow5 = new Pow(5); + static public final PowIn pow5In = new PowIn(5); + static public final PowOut pow5Out = new PowOut(5); + + static public final Interpolation sine = new Interpolation() { + public float apply (float a) { + return (1 - MathUtils.cos(a * MathUtils.PI)) / 2; + } + }; + + static public final Interpolation sineIn = new Interpolation() { + public float apply (float a) { + return 1 - MathUtils.cos(a * MathUtils.PI / 2); + } + }; + + static public final Interpolation sineOut = new Interpolation() { + public float apply (float a) { + return MathUtils.sin(a * MathUtils.PI / 2); + } + }; + + static public final Exp exp10 = new Exp(2, 10); + static public final ExpIn exp10In = new ExpIn(2, 10); + static public final ExpOut exp10Out = new ExpOut(2, 10); + + static public final Exp exp5 = new Exp(2, 5); + static public final ExpIn exp5In = new ExpIn(2, 5); + static public final ExpOut exp5Out = new ExpOut(2, 5); + + static public final Interpolation circle = new Interpolation() { + public float apply (float a) { + if (a <= 0.5f) { + a *= 2; + return (1 - (float)Math.sqrt(1 - a * a)) / 2; + } + a--; + a *= 2; + return ((float)Math.sqrt(1 - a * a) + 1) / 2; + } + }; + + static public final Interpolation circleIn = new Interpolation() { + public float apply (float a) { + return 1 - (float)Math.sqrt(1 - a * a); + } + }; + + static public final Interpolation circleOut = new Interpolation() { + public float apply (float a) { + a--; + return (float)Math.sqrt(1 - a * a); + } + }; + + static public final Elastic elastic = new Elastic(2, 10, 7, 1); + static public final ElasticIn elasticIn = new ElasticIn(2, 10, 6, 1); + static public final ElasticOut elasticOut = new ElasticOut(2, 10, 7, 1); + + static public final Swing swing = new Swing(1.5f); + static public final SwingIn swingIn = new SwingIn(2f); + static public final SwingOut swingOut = new SwingOut(2f); + + static public final Bounce bounce = new Bounce(4); + static public final BounceIn bounceIn = new BounceIn(4); + static public final BounceOut bounceOut = new BounceOut(4); + + // + + static public class Pow extends Interpolation { + final int power; + + public Pow (int power) { + this.power = power; + } + + public float apply (float a) { + if (a <= 0.5f) return (float)Math.pow(a * 2, power) / 2; + return (float)Math.pow((a - 1) * 2, power) / (power % 2 == 0 ? -2 : 2) + 1; + } + } + + static public class PowIn extends Pow { + public PowIn (int power) { + super(power); + } + + public float apply (float a) { + return (float)Math.pow(a, power); + } + } + + static public class PowOut extends Pow { + public PowOut (int power) { + super(power); + } + + public float apply (float a) { + return (float)Math.pow(a - 1, power) * (power % 2 == 0 ? -1 : 1) + 1; + } + } + + // + + static public class Exp extends Interpolation { + final float value, power, min, scale; + + public Exp (float value, float power) { + this.value = value; + this.power = power; + min = (float)Math.pow(value, -power); + scale = 1 / (1 - min); + } + + public float apply (float a) { + if (a <= 0.5f) return ((float)Math.pow(value, power * (a * 2 - 1)) - min) * scale / 2; + return (2 - ((float)Math.pow(value, -power * (a * 2 - 1)) - min) * scale) / 2; + } + }; + + static public class ExpIn extends Exp { + public ExpIn (float value, float power) { + super(value, power); + } + + public float apply (float a) { + return ((float)Math.pow(value, power * (a - 1)) - min) * scale; + } + } + + static public class ExpOut extends Exp { + public ExpOut (float value, float power) { + super(value, power); + } + + public float apply (float a) { + return 1 - ((float)Math.pow(value, -power * a) - min) * scale; + } + } + + // + + static public class Elastic extends Interpolation { + final float value, power, scale, bounces; + + public Elastic (float value, float power, int bounces, float scale) { + this.value = value; + this.power = power; + this.scale = scale; + this.bounces = bounces * MathUtils.PI * (bounces % 2 == 0 ? 1 : -1); + } + + public float apply (float a) { + if (a <= 0.5f) { + a *= 2; + return (float)Math.pow(value, power * (a - 1)) * MathUtils.sin(a * bounces) * scale / 2; + } + a = 1 - a; + a *= 2; + return 1 - (float)Math.pow(value, power * (a - 1)) * MathUtils.sin((a) * bounces) * scale / 2; + } + } + + static public class ElasticIn extends Elastic { + public ElasticIn (float value, float power, int bounces, float scale) { + super(value, power, bounces, scale); + } + + public float apply (float a) { + if (a >= 0.99) return 1; + return (float)Math.pow(value, power * (a - 1)) * MathUtils.sin(a * bounces) * scale; + } + } + + static public class ElasticOut extends Elastic { + public ElasticOut (float value, float power, int bounces, float scale) { + super(value, power, bounces, scale); + } + + public float apply (float a) { + if (a == 0) return 0; + a = 1 - a; + return (1 - (float)Math.pow(value, power * (a - 1)) * MathUtils.sin(a * bounces) * scale); + } + } + + // + + static public class Bounce extends BounceOut { + public Bounce (float[] widths, float[] heights) { + super(widths, heights); + } + + public Bounce (int bounces) { + super(bounces); + } + + private float out (float a) { + float test = a + widths[0] / 2; + if (test < widths[0]) return test / (widths[0] / 2) - 1; + return super.apply(a); + } + + public float apply (float a) { + if (a <= 0.5f) return (1 - out(1 - a * 2)) / 2; + return out(a * 2 - 1) / 2 + 0.5f; + } + } + + static public class BounceOut extends Interpolation { + final float[] widths, heights; + + public BounceOut (float[] widths, float[] heights) { + if (widths.length != heights.length) + throw new IllegalArgumentException("Must be the same number of widths and heights."); + this.widths = widths; + this.heights = heights; + } + + public BounceOut (int bounces) { + if (bounces < 2 || bounces > 5) throw new IllegalArgumentException("bounces cannot be < 2 or > 5: " + bounces); + widths = new float[bounces]; + heights = new float[bounces]; + heights[0] = 1; + switch (bounces) { + case 2: + widths[0] = 0.6f; + widths[1] = 0.4f; + heights[1] = 0.33f; + break; + case 3: + widths[0] = 0.4f; + widths[1] = 0.4f; + widths[2] = 0.2f; + heights[1] = 0.33f; + heights[2] = 0.1f; + break; + case 4: + widths[0] = 0.34f; + widths[1] = 0.34f; + widths[2] = 0.2f; + widths[3] = 0.15f; + heights[1] = 0.26f; + heights[2] = 0.11f; + heights[3] = 0.03f; + break; + case 5: + widths[0] = 0.3f; + widths[1] = 0.3f; + widths[2] = 0.2f; + widths[3] = 0.1f; + widths[4] = 0.1f; + heights[1] = 0.45f; + heights[2] = 0.3f; + heights[3] = 0.15f; + heights[4] = 0.06f; + break; + } + widths[0] *= 2; + } + + public float apply (float a) { + if (a == 1) return 1; + a += widths[0] / 2; + float width = 0, height = 0; + for (int i = 0, n = widths.length; i < n; i++) { + width = widths[i]; + if (a <= width) { + height = heights[i]; + break; + } + a -= width; + } + a /= width; + float z = 4 / width * height * a; + return 1 - (z - z * a) * width; + } + } + + static public class BounceIn extends BounceOut { + public BounceIn (float[] widths, float[] heights) { + super(widths, heights); + } + + public BounceIn (int bounces) { + super(bounces); + } + + public float apply (float a) { + return 1 - super.apply(1 - a); + } + } + + // + + static public class Swing extends Interpolation { + private final float scale; + + public Swing (float scale) { + this.scale = scale * 2; + } + + public float apply (float a) { + if (a <= 0.5f) { + a *= 2; + return a * a * ((scale + 1) * a - scale) / 2; + } + a--; + a *= 2; + return a * a * ((scale + 1) * a + scale) / 2 + 1; + } + } + + static public class SwingOut extends Interpolation { + private final float scale; + + public SwingOut (float scale) { + this.scale = scale; + } + + public float apply (float a) { + a--; + return a * a * ((scale + 1) * a + scale) + 1; + } + } + + static public class SwingIn extends Interpolation { + private final float scale; + + public SwingIn (float scale) { + this.scale = scale; + } + + public float apply (float a) { + return a * a * ((scale + 1) * a - scale); + } + } +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/MathUtils.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/MathUtils.java new file mode 100644 index 00000000..1462d2ed --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/MathUtils.java @@ -0,0 +1,354 @@ +/******************************************************************************* + * Copyright 2011 See AUTHORS file. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + ******************************************************************************/ + +package com.neuronrobotics.sdk.addons.kinematics.math; + +import java.util.Random; + +/** Utility and fast math functions. + *

+ * Thanks to Riven on JavaGaming.org for the basis of sin/cos/floor/ceil. + * @author Nathan Sweet */ +final class MathUtils { + static public final float nanoToSec = 1 / 1000000000f; + + // --- + static public final float FLOAT_ROUNDING_ERROR = 0.000001f; // 32 bits + static public final float PI = 3.1415927f; + static public final float PI2 = PI * 2; + + static public final float E = 2.7182818f; + + static private final int SIN_BITS = 14; // 16KB. Adjust for accuracy. + static private final int SIN_MASK = ~(-1 << SIN_BITS); + static private final int SIN_COUNT = SIN_MASK + 1; + + static private final float radFull = PI * 2; + static private final float degFull = 360; + static private final float radToIndex = SIN_COUNT / radFull; + static private final float degToIndex = SIN_COUNT / degFull; + + /** multiply by this to convert from radians to degrees */ + static public final float radiansToDegrees = 180f / PI; + static public final float radDeg = radiansToDegrees; + /** multiply by this to convert from degrees to radians */ + static public final float degreesToRadians = PI / 180; + static public final float degRad = degreesToRadians; + + static private class Sin { + static final float[] table = new float[SIN_COUNT]; + + static { + for (int i = 0; i < SIN_COUNT; i++) + table[i] = (float)Math.sin((i + 0.5f) / SIN_COUNT * radFull); + for (int i = 0; i < 360; i += 90) + table[(int)(i * degToIndex) & SIN_MASK] = (float)Math.sin(i * degreesToRadians); + } + } + + /** Returns the sine in radians from a lookup table. */ + static public float sin (float radians) { + return Sin.table[(int)(radians * radToIndex) & SIN_MASK]; + } + + /** Returns the cosine in radians from a lookup table. */ + static public float cos (float radians) { + return Sin.table[(int)((radians + PI / 2) * radToIndex) & SIN_MASK]; + } + + /** Returns the sine in radians from a lookup table. */ + static public float sinDeg (float degrees) { + return Sin.table[(int)(degrees * degToIndex) & SIN_MASK]; + } + + /** Returns the cosine in radians from a lookup table. */ + static public float cosDeg (float degrees) { + return Sin.table[(int)((degrees + 90) * degToIndex) & SIN_MASK]; + } + + // --- + + /** Returns atan2 in radians, faster but less accurate than Math.atan2. Average error of 0.00231 radians (0.1323 degrees), + * largest error of 0.00488 radians (0.2796 degrees). */ + static public float atan2 (float y, float x) { + if (x == 0f) { + if (y > 0f) return PI / 2; + if (y == 0f) return 0f; + return -PI / 2; + } + final float atan, z = y / x; + if (Math.abs(z) < 1f) { + atan = z / (1f + 0.28f * z * z); + if (x < 0f) return atan + (y < 0f ? -PI : PI); + return atan; + } + atan = PI / 2 - z / (z * z + 0.28f); + return y < 0f ? atan - PI : atan; + } + + // --- + + static public Random random = new RandomXS128(); + + /** Returns a random number between 0 (inclusive) and the specified value (inclusive). */ + static public int random (int range) { + return random.nextInt(range + 1); + } + + /** Returns a random number between start (inclusive) and end (inclusive). */ + static public int random (int start, int end) { + return start + random.nextInt(end - start + 1); + } + + /** Returns a random number between 0 (inclusive) and the specified value (inclusive). */ + static public long random (long range) { + return (long)(random.nextDouble() * range); + } + + /** Returns a random number between start (inclusive) and end (inclusive). */ + static public long random (long start, long end) { + return start + (long)(random.nextDouble() * (end - start)); + } + + /** Returns a random boolean value. */ + static public boolean randomBoolean () { + return random.nextBoolean(); + } + + /** Returns true if a random value between 0 and 1 is less than the specified value. */ + static public boolean randomBoolean (float chance) { + return MathUtils.random() < chance; + } + + /** Returns random number between 0.0 (inclusive) and 1.0 (exclusive). */ + static public float random () { + return random.nextFloat(); + } + + /** Returns a random number between 0 (inclusive) and the specified value (exclusive). */ + static public float random (float range) { + return random.nextFloat() * range; + } + + /** Returns a random number between start (inclusive) and end (exclusive). */ + static public float random (float start, float end) { + return start + random.nextFloat() * (end - start); + } + + /** Returns -1 or 1, randomly. */ + static public int randomSign () { + return 1 | (random.nextInt() >> 31); + } + + /** Returns a triangularly distributed random number between -1.0 (exclusive) and 1.0 (exclusive), where values around zero are + * more likely. + *

+ * This is an optimized version of {@link #randomTriangular(float, float, float) randomTriangular(-1, 1, 0)} */ + public static float randomTriangular () { + return random.nextFloat() - random.nextFloat(); + } + + /** Returns a triangularly distributed random number between {@code -max} (exclusive) and {@code max} (exclusive), where values + * around zero are more likely. + *

+ * This is an optimized version of {@link #randomTriangular(float, float, float) randomTriangular(-max, max, 0)} + * @param max the upper limit */ + public static float randomTriangular (float max) { + return (random.nextFloat() - random.nextFloat()) * max; + } + + /** Returns a triangularly distributed random number between {@code min} (inclusive) and {@code max} (exclusive), where the + * {@code mode} argument defaults to the midpoint between the bounds, giving a symmetric distribution. + *

+ * This method is equivalent of {@link #randomTriangular(float, float, float) randomTriangular(min, max, (min + max) * .5f)} + * @param min the lower limit + * @param max the upper limit */ + public static float randomTriangular (float min, float max) { + return randomTriangular(min, max, (min + max) * 0.5f); + } + + /** Returns a triangularly distributed random number between {@code min} (inclusive) and {@code max} (exclusive), where values + * around {@code mode} are more likely. + * @param min the lower limit + * @param max the upper limit + * @param mode the point around which the values are more likely */ + public static float randomTriangular (float min, float max, float mode) { + float u = random.nextFloat(); + float d = max - min; + if (u <= (mode - min) / d) return min + (float)Math.sqrt(u * d * (mode - min)); + return max - (float)Math.sqrt((1 - u) * d * (max - mode)); + } + + // --- + + /** Returns the next power of two. Returns the specified value if the value is already a power of two. */ + static public int nextPowerOfTwo (int value) { + if (value == 0) return 1; + value--; + value |= value >> 1; + value |= value >> 2; + value |= value >> 4; + value |= value >> 8; + value |= value >> 16; + return value + 1; + } + + static public boolean isPowerOfTwo (int value) { + return value != 0 && (value & value - 1) == 0; + } + + // --- + + static public short clamp (short value, short min, short max) { + if (value < min) return min; + if (value > max) return max; + return value; + } + + static public int clamp (int value, int min, int max) { + if (value < min) return min; + if (value > max) return max; + return value; + } + + static public long clamp (long value, long min, long max) { + if (value < min) return min; + if (value > max) return max; + return value; + } + + static public float clamp (float value, float min, float max) { + if (value < min) return min; + if (value > max) return max; + return value; + } + + static public double clamp (double value, double min, double max) { + if (value < min) return min; + if (value > max) return max; + return value; + } + + // --- + + /** Linearly interpolates between fromValue to toValue on progress position. */ + static public float lerp (float fromValue, float toValue, float progress) { + return fromValue + (toValue - fromValue) * progress; + } + + /** Linearly interpolates between two angles in radians. Takes into account that angles wrap at two pi and always takes the + * direction with the smallest delta angle. + * + * @param fromRadians start angle in radians + * @param toRadians target angle in radians + * @param progress interpolation value in the range [0, 1] + * @return the interpolated angle in the range [0, PI2[ */ + public static float lerpAngle (float fromRadians, float toRadians, float progress) { + float delta = ((toRadians - fromRadians + PI2 + PI) % PI2) - PI; + return (fromRadians + delta * progress + PI2) % PI2; + } + + /** Linearly interpolates between two angles in degrees. Takes into account that angles wrap at 360 degrees and always takes + * the direction with the smallest delta angle. + * + * @param fromDegrees start angle in degrees + * @param toDegrees target angle in degrees + * @param progress interpolation value in the range [0, 1] + * @return the interpolated angle in the range [0, 360[ */ + public static float lerpAngleDeg (float fromDegrees, float toDegrees, float progress) { + float delta = ((toDegrees - fromDegrees + 360 + 180) % 360) - 180; + return (fromDegrees + delta * progress + 360) % 360; + } + + // --- + + static private final int BIG_ENOUGH_INT = 16 * 1024; + static private final double BIG_ENOUGH_FLOOR = BIG_ENOUGH_INT; + static private final double CEIL = 0.9999999; + static private final double BIG_ENOUGH_CEIL = 16384.999999999996; + static private final double BIG_ENOUGH_ROUND = BIG_ENOUGH_INT + 0.5f; + + /** Returns the largest integer less than or equal to the specified float. This method will only properly floor floats from + * -(2^14) to (Float.MAX_VALUE - 2^14). */ + static public int floor (float value) { + return (int)(value + BIG_ENOUGH_FLOOR) - BIG_ENOUGH_INT; + } + + /** Returns the largest integer less than or equal to the specified float. This method will only properly floor floats that are + * positive. Note this method simply casts the float to int. */ + static public int floorPositive (float value) { + return (int)value; + } + + /** Returns the smallest integer greater than or equal to the specified float. This method will only properly ceil floats from + * -(2^14) to (Float.MAX_VALUE - 2^14). */ + static public int ceil (float value) { + return BIG_ENOUGH_INT - (int)(BIG_ENOUGH_FLOOR - value); + } + + /** Returns the smallest integer greater than or equal to the specified float. This method will only properly ceil floats that + * are positive. */ + static public int ceilPositive (float value) { + return (int)(value + CEIL); + } + + /** Returns the closest integer to the specified float. This method will only properly round floats from -(2^14) to + * (Float.MAX_VALUE - 2^14). */ + static public int round (float value) { + return (int)(value + BIG_ENOUGH_ROUND) - BIG_ENOUGH_INT; + } + + /** Returns the closest integer to the specified float. This method will only properly round floats that are positive. */ + static public int roundPositive (float value) { + return (int)(value + 0.5f); + } + + /** Returns true if the value is zero (using the default tolerance as upper bound) */ + static public boolean isZero (float value) { + return Math.abs(value) <= FLOAT_ROUNDING_ERROR; + } + + /** Returns true if the value is zero. + * @param tolerance represent an upper bound below which the value is considered zero. */ + static public boolean isZero (float value, float tolerance) { + return Math.abs(value) <= tolerance; + } + + /** Returns true if a is nearly equal to b. The function uses the default floating error tolerance. + * @param a the first value. + * @param b the second value. */ + static public boolean isEqual (float a, float b) { + return Math.abs(a - b) <= FLOAT_ROUNDING_ERROR; + } + + /** Returns true if a is nearly equal to b. + * @param a the first value. + * @param b the second value. + * @param tolerance represent an upper bound below which the two values are considered equal. */ + static public boolean isEqual (float a, float b, float tolerance) { + return Math.abs(a - b) <= tolerance; + } + + /** @return the logarithm of value with base a */ + static public float log (float a, float value) { + return (float)(Math.log(value) / Math.log(a)); + } + + /** @return the logarithm of value with base 2 */ + static public float log2 (float value) { + return log(2, value); + } +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix3.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix3.java new file mode 100644 index 00000000..38262884 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix3.java @@ -0,0 +1,585 @@ +/******************************************************************************* + * Copyright 2011 See AUTHORS file. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + ******************************************************************************/ + +package com.neuronrobotics.sdk.addons.kinematics.math; + +import java.io.Serializable; + + +/** A 3x3 column major matrix; useful for 2D + * transforms. + * + * @author mzechner */ +class Matrix3 implements Serializable { + private static final long serialVersionUID = 7907569533774959788L; + public static final int M00 = 0; + public static final int M01 = 3; + public static final int M02 = 6; + public static final int M10 = 1; + public static final int M11 = 4; + public static final int M12 = 7; + public static final int M20 = 2; + public static final int M21 = 5; + public static final int M22 = 8; + public float[] val = new float[9]; + private float[] tmp = new float[9]; + + public Matrix3 () { + idt(); + } + + public Matrix3 (Matrix3 matrix) { + set(matrix); + } + + /** Constructs a matrix from the given float array. The array must have at least 9 elements; the first 9 will be copied. + * @param values The float array to copy. Remember that this matrix is in column major order. (The float array is + * not modified.) */ + public Matrix3 (float[] values) { + this.set(values); + } + + /** Sets this matrix to the identity matrix + * @return This matrix for the purpose of chaining operations. */ + public Matrix3 idt () { + float[] val = this.val; + val[M00] = 1; + val[M10] = 0; + val[M20] = 0; + val[M01] = 0; + val[M11] = 1; + val[M21] = 0; + val[M02] = 0; + val[M12] = 0; + val[M22] = 1; + return this; + } + + /** Postmultiplies this matrix with the provided matrix and stores the result in this matrix. For example: + * + * 

+	 * A.mul(B) results in A := AB
+	 *
+ * @param m Matrix to multiply by. + * @return This matrix for the purpose of chaining operations together. */ + public Matrix3 mul (Matrix3 m) { + float[] val = this.val; + + float v00 = val[M00] * m.val[M00] + val[M01] * m.val[M10] + val[M02] * m.val[M20]; + float v01 = val[M00] * m.val[M01] + val[M01] * m.val[M11] + val[M02] * m.val[M21]; + float v02 = val[M00] * m.val[M02] + val[M01] * m.val[M12] + val[M02] * m.val[M22]; + + float v10 = val[M10] * m.val[M00] + val[M11] * m.val[M10] + val[M12] * m.val[M20]; + float v11 = val[M10] * m.val[M01] + val[M11] * m.val[M11] + val[M12] * m.val[M21]; + float v12 = val[M10] * m.val[M02] + val[M11] * m.val[M12] + val[M12] * m.val[M22]; + + float v20 = val[M20] * m.val[M00] + val[M21] * m.val[M10] + val[M22] * m.val[M20]; + float v21 = val[M20] * m.val[M01] + val[M21] * m.val[M11] + val[M22] * m.val[M21]; + float v22 = val[M20] * m.val[M02] + val[M21] * m.val[M12] + val[M22] * m.val[M22]; + + val[M00] = v00; + val[M10] = v10; + val[M20] = v20; + val[M01] = v01; + val[M11] = v11; + val[M21] = v21; + val[M02] = v02; + val[M12] = v12; + val[M22] = v22; + + return this; + } + + /** Premultiplies this matrix with the provided matrix and stores the result in this matrix. For example: + * + * 
+	 * A.mulLeft(B) results in A := BA
+	 *
+ * @param m The other Matrix to multiply by + * @return This matrix for the purpose of chaining operations. */ + public Matrix3 mulLeft (Matrix3 m) { + float[] val = this.val; + + float v00 = m.val[M00] * val[M00] + m.val[M01] * val[M10] + m.val[M02] * val[M20]; + float v01 = m.val[M00] * val[M01] + m.val[M01] * val[M11] + m.val[M02] * val[M21]; + float v02 = m.val[M00] * val[M02] + m.val[M01] * val[M12] + m.val[M02] * val[M22]; + + float v10 = m.val[M10] * val[M00] + m.val[M11] * val[M10] + m.val[M12] * val[M20]; + float v11 = m.val[M10] * val[M01] + m.val[M11] * val[M11] + m.val[M12] * val[M21]; + float v12 = m.val[M10] * val[M02] + m.val[M11] * val[M12] + m.val[M12] * val[M22]; + + float v20 = m.val[M20] * val[M00] + m.val[M21] * val[M10] + m.val[M22] * val[M20]; + float v21 = m.val[M20] * val[M01] + m.val[M21] * val[M11] + m.val[M22] * val[M21]; + float v22 = m.val[M20] * val[M02] + m.val[M21] * val[M12] + m.val[M22] * val[M22]; + + val[M00] = v00; + val[M10] = v10; + val[M20] = v20; + val[M01] = v01; + val[M11] = v11; + val[M21] = v21; + val[M02] = v02; + val[M12] = v12; + val[M22] = v22; + + return this; + } + + /** Sets this matrix to a rotation matrix that will rotate any vector in counter-clockwise direction around the z-axis. + * @param degrees the angle in degrees. + * @return This matrix for the purpose of chaining operations. */ + public Matrix3 setToRotation (float degrees) { + return setToRotationRad(MathUtils.degreesToRadians * degrees); + } + + /** Sets this matrix to a rotation matrix that will rotate any vector in counter-clockwise direction around the z-axis. + * @param radians the angle in radians. + * @return This matrix for the purpose of chaining operations. */ + public Matrix3 setToRotationRad (float radians) { + float cos = (float)Math.cos(radians); + float sin = (float)Math.sin(radians); + float[] val = this.val; + + val[M00] = cos; + val[M10] = sin; + val[M20] = 0; + + val[M01] = -sin; + val[M11] = cos; + val[M21] = 0; + + val[M02] = 0; + val[M12] = 0; + val[M22] = 1; + + return this; + } + + public Matrix3 setToRotation (Vector3 axis, float degrees) { + return setToRotation(axis, MathUtils.cosDeg(degrees), MathUtils.sinDeg(degrees)); + } + + public Matrix3 setToRotation (Vector3 axis, float cos, float sin) { + float[] val = this.val; + float oc = 1.0f - cos; + val[M00] = oc * axis.x * axis.x + cos; + val[M10] = oc * axis.x * axis.y - axis.z * sin; + val[M20] = oc * axis.z * axis.x + axis.y * sin; + val[M01] = oc * axis.x * axis.y + axis.z * sin; + val[M11] = oc * axis.y * axis.y + cos; + val[M21] = oc * axis.y * axis.z - axis.x * sin; + val[M02] = oc * axis.z * axis.x - axis.y * sin; + val[M12] = oc * axis.y * axis.z + axis.x * sin; + val[M22] = oc * axis.z * axis.z + cos; + return this; + } + + /** Sets this matrix to a translation matrix. + * @param x the translation in x + * @param y the translation in y + * @return This matrix for the purpose of chaining operations. */ + public Matrix3 setToTranslation (float x, float y) { + float[] val = this.val; + + val[M00] = 1; + val[M10] = 0; + val[M20] = 0; + + val[M01] = 0; + val[M11] = 1; + val[M21] = 0; + + val[M02] = x; + val[M12] = y; + val[M22] = 1; + + return this; + } + + /** Sets this matrix to a translation matrix. + * @param translation The translation vector. + * @return This matrix for the purpose of chaining operations. */ + public Matrix3 setToTranslation (Vector2 translation) { + float[] val = this.val; + + val[M00] = 1; + val[M10] = 0; + val[M20] = 0; + + val[M01] = 0; + val[M11] = 1; + val[M21] = 0; + + val[M02] = translation.x; + val[M12] = translation.y; + val[M22] = 1; + + return this; + } + + /** Sets this matrix to a scaling matrix. + * + * @param scaleX the scale in x + * @param scaleY the scale in y + * @return This matrix for the purpose of chaining operations. */ + public Matrix3 setToScaling (float scaleX, float scaleY) { + float[] val = this.val; + val[M00] = scaleX; + val[M10] = 0; + val[M20] = 0; + val[M01] = 0; + val[M11] = scaleY; + val[M21] = 0; + val[M02] = 0; + val[M12] = 0; + val[M22] = 1; + return this; + } + + /** Sets this matrix to a scaling matrix. + * @param scale The scale vector. + * @return This matrix for the purpose of chaining operations. */ + public Matrix3 setToScaling (Vector2 scale) { + float[] val = this.val; + val[M00] = scale.x; + val[M10] = 0; + val[M20] = 0; + val[M01] = 0; + val[M11] = scale.y; + val[M21] = 0; + val[M02] = 0; + val[M12] = 0; + val[M22] = 1; + return this; + } + + public String toString () { + float[] val = this.val; + return "[" + val[M00] + "|" + val[M01] + "|" + val[M02] + "]\n" // + + "[" + val[M10] + "|" + val[M11] + "|" + val[M12] + "]\n" // + + "[" + val[M20] + "|" + val[M21] + "|" + val[M22] + "]"; + } + + /** @return The determinant of this matrix */ + public float det () { + float[] val = this.val; + return val[M00] * val[M11] * val[M22] + val[M01] * val[M12] * val[M20] + val[M02] * val[M10] * val[M21] - val[M00] + * val[M12] * val[M21] - val[M01] * val[M10] * val[M22] - val[M02] * val[M11] * val[M20]; + } + + /** Inverts this matrix given that the determinant is != 0. + * @return This matrix for the purpose of chaining operations. + * @throws GdxRuntimeException if the matrix is singular (not invertible) */ + public Matrix3 inv () { + float det = det(); + if (det == 0) throw new RuntimeException("Can't invert a singular matrix"); + + float inv_det = 1.0f / det; + float[] tmp = this.tmp, val = this.val; + + tmp[M00] = val[M11] * val[M22] - val[M21] * val[M12]; + tmp[M10] = val[M20] * val[M12] - val[M10] * val[M22]; + tmp[M20] = val[M10] * val[M21] - val[M20] * val[M11]; + tmp[M01] = val[M21] * val[M02] - val[M01] * val[M22]; + tmp[M11] = val[M00] * val[M22] - val[M20] * val[M02]; + tmp[M21] = val[M20] * val[M01] - val[M00] * val[M21]; + tmp[M02] = val[M01] * val[M12] - val[M11] * val[M02]; + tmp[M12] = val[M10] * val[M02] - val[M00] * val[M12]; + tmp[M22] = val[M00] * val[M11] - val[M10] * val[M01]; + + val[M00] = inv_det * tmp[M00]; + val[M10] = inv_det * tmp[M10]; + val[M20] = inv_det * tmp[M20]; + val[M01] = inv_det * tmp[M01]; + val[M11] = inv_det * tmp[M11]; + val[M21] = inv_det * tmp[M21]; + val[M02] = inv_det * tmp[M02]; + val[M12] = inv_det * tmp[M12]; + val[M22] = inv_det * tmp[M22]; + + return this; + } + + /** Copies the values from the provided matrix to this matrix. + * @param mat The matrix to copy. + * @return This matrix for the purposes of chaining. */ + public Matrix3 set (Matrix3 mat) { + System.arraycopy(mat.val, 0, val, 0, val.length); + return this; + } + + + + /** Sets the matrix to the given matrix as a float array. The float array must have at least 9 elements; the first 9 will be + * copied. + * + * @param values The matrix, in float form, that is to be copied. Remember that this matrix is in column major order. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix3 set (float[] values) { + System.arraycopy(values, 0, val, 0, val.length); + return this; + } + + /** Adds a translational component to the matrix in the 3rd column. The other columns are untouched. + * @param vector The translation vector. + * @return This matrix for the purpose of chaining. */ + public Matrix3 trn (Vector2 vector) { + val[M02] += vector.x; + val[M12] += vector.y; + return this; + } + + /** Adds a translational component to the matrix in the 3rd column. The other columns are untouched. + * @param x The x-component of the translation vector. + * @param y The y-component of the translation vector. + * @return This matrix for the purpose of chaining. */ + public Matrix3 trn (float x, float y) { + val[M02] += x; + val[M12] += y; + return this; + } + + /** Adds a translational component to the matrix in the 3rd column. The other columns are untouched. + * @param vector The translation vector. (The z-component of the vector is ignored because this is a 3x3 matrix) + * @return This matrix for the purpose of chaining. */ + public Matrix3 trn (Vector3 vector) { + val[M02] += vector.x; + val[M12] += vector.y; + return this; + } + + /** Postmultiplies this matrix by a translation matrix. Postmultiplication is also used by OpenGL ES' 1.x + * glTranslate/glRotate/glScale. + * @param x The x-component of the translation vector. + * @param y The y-component of the translation vector. + * @return This matrix for the purpose of chaining. */ + public Matrix3 translate (float x, float y) { + float[] val = this.val; + tmp[M00] = 1; + tmp[M10] = 0; + tmp[M20] = 0; + + tmp[M01] = 0; + tmp[M11] = 1; + tmp[M21] = 0; + + tmp[M02] = x; + tmp[M12] = y; + tmp[M22] = 1; + mul(val, tmp); + return this; + } + + /** Postmultiplies this matrix by a translation matrix. Postmultiplication is also used by OpenGL ES' 1.x + * glTranslate/glRotate/glScale. + * @param translation The translation vector. + * @return This matrix for the purpose of chaining. */ + public Matrix3 translate (Vector2 translation) { + float[] val = this.val; + tmp[M00] = 1; + tmp[M10] = 0; + tmp[M20] = 0; + + tmp[M01] = 0; + tmp[M11] = 1; + tmp[M21] = 0; + + tmp[M02] = translation.x; + tmp[M12] = translation.y; + tmp[M22] = 1; + mul(val, tmp); + return this; + } + + /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x + * glTranslate/glRotate/glScale. + * @param degrees The angle in degrees + * @return This matrix for the purpose of chaining. */ + public Matrix3 rotate (float degrees) { + return rotateRad(MathUtils.degreesToRadians * degrees); + } + + /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x + * glTranslate/glRotate/glScale. + * @param radians The angle in radians + * @return This matrix for the purpose of chaining. */ + public Matrix3 rotateRad (float radians) { + if (radians == 0) return this; + float cos = (float)Math.cos(radians); + float sin = (float)Math.sin(radians); + float[] tmp = this.tmp; + + tmp[M00] = cos; + tmp[M10] = sin; + tmp[M20] = 0; + + tmp[M01] = -sin; + tmp[M11] = cos; + tmp[M21] = 0; + + tmp[M02] = 0; + tmp[M12] = 0; + tmp[M22] = 1; + mul(val, tmp); + return this; + } + + /** Postmultiplies this matrix with a scale matrix. Postmultiplication is also used by OpenGL ES' 1.x + * glTranslate/glRotate/glScale. + * @param scaleX The scale in the x-axis. + * @param scaleY The scale in the y-axis. + * @return This matrix for the purpose of chaining. */ + public Matrix3 scale (float scaleX, float scaleY) { + float[] tmp = this.tmp; + tmp[M00] = scaleX; + tmp[M10] = 0; + tmp[M20] = 0; + tmp[M01] = 0; + tmp[M11] = scaleY; + tmp[M21] = 0; + tmp[M02] = 0; + tmp[M12] = 0; + tmp[M22] = 1; + mul(val, tmp); + return this; + } + + /** Postmultiplies this matrix with a scale matrix. Postmultiplication is also used by OpenGL ES' 1.x + * glTranslate/glRotate/glScale. + * @param scale The vector to scale the matrix by. + * @return This matrix for the purpose of chaining. */ + public Matrix3 scale (Vector2 scale) { + float[] tmp = this.tmp; + tmp[M00] = scale.x; + tmp[M10] = 0; + tmp[M20] = 0; + tmp[M01] = 0; + tmp[M11] = scale.y; + tmp[M21] = 0; + tmp[M02] = 0; + tmp[M12] = 0; + tmp[M22] = 1; + mul(val, tmp); + return this; + } + + /** Get the values in this matrix. + * @return The float values that make up this matrix in column-major order. */ + public float[] getValues () { + return val; + } + + public Vector2 getTranslation (Vector2 position) { + position.x = val[M02]; + position.y = val[M12]; + return position; + } + + public Vector2 getScale (Vector2 scale) { + float[] val = this.val; + scale.x = (float)Math.sqrt(val[M00] * val[M00] + val[M01] * val[M01]); + scale.y = (float)Math.sqrt(val[M10] * val[M10] + val[M11] * val[M11]); + return scale; + } + + public float getRotation () { + return MathUtils.radiansToDegrees * (float)Math.atan2(val[M10], val[M00]); + } + + public float getRotationRad () { + return (float)Math.atan2(val[M10], val[M00]); + } + + /** Scale the matrix in the both the x and y components by the scalar value. + * @param scale The single value that will be used to scale both the x and y components. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix3 scl (float scale) { + val[M00] *= scale; + val[M11] *= scale; + return this; + } + + /** Scale this matrix using the x and y components of the vector but leave the rest of the matrix alone. + * @param scale The {@link Vector3} to use to scale this matrix. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix3 scl (Vector2 scale) { + val[M00] *= scale.x; + val[M11] *= scale.y; + return this; + } + + /** Scale this matrix using the x and y components of the vector but leave the rest of the matrix alone. + * @param scale The {@link Vector3} to use to scale this matrix. The z component will be ignored. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix3 scl (Vector3 scale) { + val[M00] *= scale.x; + val[M11] *= scale.y; + return this; + } + + /** Transposes the current matrix. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix3 transpose () { + // Where MXY you do not have to change MXX + float[] val = this.val; + float v01 = val[M10]; + float v02 = val[M20]; + float v10 = val[M01]; + float v12 = val[M21]; + float v20 = val[M02]; + float v21 = val[M12]; + val[M01] = v01; + val[M02] = v02; + val[M10] = v10; + val[M12] = v12; + val[M20] = v20; + val[M21] = v21; + return this; + } + + /** Multiplies matrix a with matrix b in the following manner: + * + * 
+	 * mul(A, B) => A := AB
+	 *
+ * @param mata The float array representing the first matrix. Must have at least 9 elements. + * @param matb The float array representing the second matrix. Must have at least 9 elements. */ + private static void mul (float[] mata, float[] matb) { + float v00 = mata[M00] * matb[M00] + mata[M01] * matb[M10] + mata[M02] * matb[M20]; + float v01 = mata[M00] * matb[M01] + mata[M01] * matb[M11] + mata[M02] * matb[M21]; + float v02 = mata[M00] * matb[M02] + mata[M01] * matb[M12] + mata[M02] * matb[M22]; + + float v10 = mata[M10] * matb[M00] + mata[M11] * matb[M10] + mata[M12] * matb[M20]; + float v11 = mata[M10] * matb[M01] + mata[M11] * matb[M11] + mata[M12] * matb[M21]; + float v12 = mata[M10] * matb[M02] + mata[M11] * matb[M12] + mata[M12] * matb[M22]; + + float v20 = mata[M20] * matb[M00] + mata[M21] * matb[M10] + mata[M22] * matb[M20]; + float v21 = mata[M20] * matb[M01] + mata[M21] * matb[M11] + mata[M22] * matb[M21]; + float v22 = mata[M20] * matb[M02] + mata[M21] * matb[M12] + mata[M22] * matb[M22]; + + mata[M00] = v00; + mata[M10] = v10; + mata[M20] = v20; + mata[M01] = v01; + mata[M11] = v11; + mata[M21] = v21; + mata[M02] = v02; + mata[M12] = v12; + mata[M22] = v22; + } +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix4.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix4.java new file mode 100644 index 00000000..909792f1 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix4.java @@ -0,0 +1,1519 @@ +/******************************************************************************* + * Copyright 2011 See AUTHORS file. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + ******************************************************************************/ + +package com.neuronrobotics.sdk.addons.kinematics.math; + +import java.io.Serializable; + +/** Encapsulates a column major 4 by 4 matrix. Like + * the {@link Vector3} class it allows the chaining of methods by returning a reference to itself. For example: + * + * 
+ * Matrix4 mat = new Matrix4().trn(position).mul(camera.combined);
+ *
+ * + * @author badlogicgames@gmail.com */ +class Matrix4 implements Serializable { + private static final long serialVersionUID = -2717655254359579617L; + /** XX: Typically the unrotated X component for scaling, also the cosine of the angle when rotated on the Y and/or Z axis. On + * Vector3 multiplication this value is multiplied with the source X component and added to the target X component. */ + public static final int M00 = 0; + /** XY: Typically the negative sine of the angle when rotated on the Z axis. On Vector3 multiplication this value is multiplied + * with the source Y component and added to the target X component. */ + public static final int M01 = 4; + /** XZ: Typically the sine of the angle when rotated on the Y axis. On Vector3 multiplication this value is multiplied with the + * source Z component and added to the target X component. */ + public static final int M02 = 8; + /** XW: Typically the translation of the X component. On Vector3 multiplication this value is added to the target X component. */ + public static final int M03 = 12; + /** YX: Typically the sine of the angle when rotated on the Z axis. On Vector3 multiplication this value is multiplied with the + * source X component and added to the target Y component. */ + public static final int M10 = 1; + /** YY: Typically the unrotated Y component for scaling, also the cosine of the angle when rotated on the X and/or Z axis. On + * Vector3 multiplication this value is multiplied with the source Y component and added to the target Y component. */ + public static final int M11 = 5; + /** YZ: Typically the negative sine of the angle when rotated on the X axis. On Vector3 multiplication this value is multiplied + * with the source Z component and added to the target Y component. */ + public static final int M12 = 9; + /** YW: Typically the translation of the Y component. On Vector3 multiplication this value is added to the target Y component. */ + public static final int M13 = 13; + /** ZX: Typically the negative sine of the angle when rotated on the Y axis. On Vector3 multiplication this value is multiplied + * with the source X component and added to the target Z component. */ + public static final int M20 = 2; + /** ZY: Typical the sine of the angle when rotated on the X axis. On Vector3 multiplication this value is multiplied with the + * source Y component and added to the target Z component. */ + public static final int M21 = 6; + /** ZZ: Typically the unrotated Z component for scaling, also the cosine of the angle when rotated on the X and/or Y axis. On + * Vector3 multiplication this value is multiplied with the source Z component and added to the target Z component. */ + public static final int M22 = 10; + /** ZW: Typically the translation of the Z component. On Vector3 multiplication this value is added to the target Z component. */ + public static final int M23 = 14; + /** WX: Typically the value zero. On Vector3 multiplication this value is ignored. */ + public static final int M30 = 3; + /** WY: Typically the value zero. On Vector3 multiplication this value is ignored. */ + public static final int M31 = 7; + /** WZ: Typically the value zero. On Vector3 multiplication this value is ignored. */ + public static final int M32 = 11; + /** WW: Typically the value one. On Vector3 multiplication this value is ignored. */ + public static final int M33 = 15; + + private static final float tmp[] = new float[16]; + public final float val[] = new float[16]; + + /** Constructs an identity matrix */ + public Matrix4 () { + val[M00] = 1f; + val[M11] = 1f; + val[M22] = 1f; + val[M33] = 1f; + } + + /** Constructs a matrix from the given matrix. + * + * @param matrix The matrix to copy. (This matrix is not modified) */ + public Matrix4 (Matrix4 matrix) { + this.set(matrix); + } + + /** Constructs a matrix from the given float array. The array must have at least 16 elements; the first 16 will be copied. + * @param values The float array to copy. Remember that this matrix is in column major order. (The float array is not modified) */ + public Matrix4 (float[] values) { + this.set(values); + } + + /** Constructs a rotation matrix from the given {@link Quaternion}. + * @param QuaternionGDX The QuaternionGDX to be copied. (The QuaternionGDX is not modified) */ + public Matrix4 (QuaternionGDX quaternion) { + this.set(quaternion); + } + + /** Construct a matrix from the given translation, rotation and scale. + * @param position The translation + * @param rotation The rotation, must be normalized + * @param scale The scale */ + public Matrix4 (Vector3 position, QuaternionGDX rotation, Vector3 scale) { + set(position, rotation, scale); + } + + /** Sets the matrix to the given matrix. + * + * @param matrix The matrix that is to be copied. (The given matrix is not modified) + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 set (Matrix4 matrix) { + return this.set(matrix.val); + } + + /** Sets the matrix to the given matrix as a float array. The float array must have at least 16 elements; the first 16 will be + * copied. + * + * @param values The matrix, in float form, that is to be copied. Remember that this matrix is in column major order. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 set (float[] values) { + System.arraycopy(values, 0, val, 0, val.length); + return this; + } + + /** Sets the matrix to a rotation matrix representing the quaternion. + * + * @param QuaternionGDX The QuaternionGDX that is to be used to set this matrix. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 set (QuaternionGDX quaternion) { + return set(quaternion.x, quaternion.y, quaternion.z, quaternion.w); + } + + /** Sets the matrix to a rotation matrix representing the quaternion. + * + * @param quaternionX The X component of the QuaternionGDX that is to be used to set this matrix. + * @param quaternionY The Y component of the QuaternionGDX that is to be used to set this matrix. + * @param quaternionZ The Z component of the QuaternionGDX that is to be used to set this matrix. + * @param quaternionW The W component of the QuaternionGDX that is to be used to set this matrix. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 set (float quaternionX, float quaternionY, float quaternionZ, float quaternionW) { + return set(0f, 0f, 0f, quaternionX, quaternionY, quaternionZ, quaternionW); + } + + /** Set this matrix to the specified translation and rotation. + * @param position The translation + * @param orientation The rotation, must be normalized + * @return This matrix for chaining */ + public Matrix4 set (Vector3 position, QuaternionGDX orientation) { + return set(position.x, position.y, position.z, orientation.x, orientation.y, orientation.z, orientation.w); + } + + /** Sets the matrix to a rotation matrix representing the translation and quaternion. + * + * @param translationX The X component of the translation that is to be used to set this matrix. + * @param translationY The Y component of the translation that is to be used to set this matrix. + * @param translationZ The Z component of the translation that is to be used to set this matrix. + * @param quaternionX The X component of the QuaternionGDX that is to be used to set this matrix. + * @param quaternionY The Y component of the QuaternionGDX that is to be used to set this matrix. + * @param quaternionZ The Z component of the QuaternionGDX that is to be used to set this matrix. + * @param quaternionW The W component of the QuaternionGDX that is to be used to set this matrix. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 set (float translationX, float translationY, float translationZ, float quaternionX, float quaternionY, + float quaternionZ, float quaternionW) { + final float xs = quaternionX * 2f, ys = quaternionY * 2f, zs = quaternionZ * 2f; + final float wx = quaternionW * xs, wy = quaternionW * ys, wz = quaternionW * zs; + final float xx = quaternionX * xs, xy = quaternionX * ys, xz = quaternionX * zs; + final float yy = quaternionY * ys, yz = quaternionY * zs, zz = quaternionZ * zs; + + val[M00] = (1.0f - (yy + zz)); + val[M01] = (xy - wz); + val[M02] = (xz + wy); + val[M03] = translationX; + + val[M10] = (xy + wz); + val[M11] = (1.0f - (xx + zz)); + val[M12] = (yz - wx); + val[M13] = translationY; + + val[M20] = (xz - wy); + val[M21] = (yz + wx); + val[M22] = (1.0f - (xx + yy)); + val[M23] = translationZ; + + val[M30] = 0.f; + val[M31] = 0.f; + val[M32] = 0.f; + val[M33] = 1.0f; + return this; + } + + /** Set this matrix to the specified translation, rotation and scale. + * @param position The translation + * @param orientation The rotation, must be normalized + * @param scale The scale + * @return This matrix for chaining */ + public Matrix4 set (Vector3 position, QuaternionGDX orientation, Vector3 scale) { + return set(position.x, position.y, position.z, orientation.x, orientation.y, orientation.z, orientation.w, scale.x, + scale.y, scale.z); + } + + /** Sets the matrix to a rotation matrix representing the translation and quaternion. + * + * @param translationX The X component of the translation that is to be used to set this matrix. + * @param translationY The Y component of the translation that is to be used to set this matrix. + * @param translationZ The Z component of the translation that is to be used to set this matrix. + * @param quaternionX The X component of the QuaternionGDX that is to be used to set this matrix. + * @param quaternionY The Y component of the QuaternionGDX that is to be used to set this matrix. + * @param quaternionZ The Z component of the QuaternionGDX that is to be used to set this matrix. + * @param quaternionW The W component of the QuaternionGDX that is to be used to set this matrix. + * @param scaleX The X component of the scaling that is to be used to set this matrix. + * @param scaleY The Y component of the scaling that is to be used to set this matrix. + * @param scaleZ The Z component of the scaling that is to be used to set this matrix. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 set (float translationX, float translationY, float translationZ, float quaternionX, float quaternionY, + float quaternionZ, float quaternionW, float scaleX, float scaleY, float scaleZ) { + final float xs = quaternionX * 2f, ys = quaternionY * 2f, zs = quaternionZ * 2f; + final float wx = quaternionW * xs, wy = quaternionW * ys, wz = quaternionW * zs; + final float xx = quaternionX * xs, xy = quaternionX * ys, xz = quaternionX * zs; + final float yy = quaternionY * ys, yz = quaternionY * zs, zz = quaternionZ * zs; + + val[M00] = scaleX * (1.0f - (yy + zz)); + val[M01] = scaleY * (xy - wz); + val[M02] = scaleZ * (xz + wy); + val[M03] = translationX; + + val[M10] = scaleX * (xy + wz); + val[M11] = scaleY * (1.0f - (xx + zz)); + val[M12] = scaleZ * (yz - wx); + val[M13] = translationY; + + val[M20] = scaleX * (xz - wy); + val[M21] = scaleY * (yz + wx); + val[M22] = scaleZ * (1.0f - (xx + yy)); + val[M23] = translationZ; + + val[M30] = 0.f; + val[M31] = 0.f; + val[M32] = 0.f; + val[M33] = 1.0f; + return this; + } + + /** Sets the four columns of the matrix which correspond to the x-, y- and z-axis of the vector space this matrix creates as + * well as the 4th column representing the translation of any point that is multiplied by this matrix. + * + * @param xAxis The x-axis. + * @param yAxis The y-axis. + * @param zAxis The z-axis. + * @param pos The translation vector. */ + public Matrix4 set (Vector3 xAxis, Vector3 yAxis, Vector3 zAxis, Vector3 pos) { + val[M00] = xAxis.x; + val[M01] = xAxis.y; + val[M02] = xAxis.z; + val[M10] = yAxis.x; + val[M11] = yAxis.y; + val[M12] = yAxis.z; + val[M20] = zAxis.x; + val[M21] = zAxis.y; + val[M22] = zAxis.z; + val[M03] = pos.x; + val[M13] = pos.y; + val[M23] = pos.z; + val[M30] = 0; + val[M31] = 0; + val[M32] = 0; + val[M33] = 1; + return this; + } + + /** @return a copy of this matrix */ + public Matrix4 cpy () { + return new Matrix4(this); + } + + /** Adds a translational component to the matrix in the 4th column. The other columns are untouched. + * + * @param vector The translation vector to add to the current matrix. (This vector is not modified) + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 trn (Vector3 vector) { + val[M03] += vector.x; + val[M13] += vector.y; + val[M23] += vector.z; + return this; + } + + /** Adds a translational component to the matrix in the 4th column. The other columns are untouched. + * + * @param x The x-component of the translation vector. + * @param y The y-component of the translation vector. + * @param z The z-component of the translation vector. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 trn (float x, float y, float z) { + val[M03] += x; + val[M13] += y; + val[M23] += z; + return this; + } + + /** @return the backing float array */ + public float[] getValues () { + return val; + } + + /** Postmultiplies this matrix with the given matrix, storing the result in this matrix. For example: + * + * 
+	 * A.mul(B) results in A := AB.
+	 *
+ * + * @param matrix The other matrix to multiply by. + * @return This matrix for the purpose of chaining operations together. */ + public Matrix4 mul (Matrix4 matrix) { + mul(val, matrix.val); + return this; + } + + /** Premultiplies this matrix with the given matrix, storing the result in this matrix. For example: + * + * 
+	 * A.mulLeft(B) results in A := BA.
+	 *
+ * + * @param matrix The other matrix to multiply by. + * @return This matrix for the purpose of chaining operations together. */ + public Matrix4 mulLeft (Matrix4 matrix) { + tmpMat.set(matrix); + mul(tmpMat.val, this.val); + return set(tmpMat); + } + + /** Transposes the matrix. + * + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 tra () { + tmp[M00] = val[M00]; + tmp[M01] = val[M10]; + tmp[M02] = val[M20]; + tmp[M03] = val[M30]; + tmp[M10] = val[M01]; + tmp[M11] = val[M11]; + tmp[M12] = val[M21]; + tmp[M13] = val[M31]; + tmp[M20] = val[M02]; + tmp[M21] = val[M12]; + tmp[M22] = val[M22]; + tmp[M23] = val[M32]; + tmp[M30] = val[M03]; + tmp[M31] = val[M13]; + tmp[M32] = val[M23]; + tmp[M33] = val[M33]; + return set(tmp); + } + + /** Sets the matrix to an identity matrix. + * + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 idt () { + val[M00] = 1; + val[M01] = 0; + val[M02] = 0; + val[M03] = 0; + val[M10] = 0; + val[M11] = 1; + val[M12] = 0; + val[M13] = 0; + val[M20] = 0; + val[M21] = 0; + val[M22] = 1; + val[M23] = 0; + val[M30] = 0; + val[M31] = 0; + val[M32] = 0; + val[M33] = 1; + return this; + } + + /** Inverts the matrix. Stores the result in this matrix. + * + * @return This matrix for the purpose of chaining methods together. + * @throws RuntimeException if the matrix is singular (not invertible) */ + public Matrix4 inv () { + float l_det = val[M30] * val[M21] * val[M12] * val[M03] - val[M20] * val[M31] * val[M12] * val[M03] - val[M30] * val[M11] + * val[M22] * val[M03] + val[M10] * val[M31] * val[M22] * val[M03] + val[M20] * val[M11] * val[M32] * val[M03] - val[M10] + * val[M21] * val[M32] * val[M03] - val[M30] * val[M21] * val[M02] * val[M13] + val[M20] * val[M31] * val[M02] * val[M13] + + val[M30] * val[M01] * val[M22] * val[M13] - val[M00] * val[M31] * val[M22] * val[M13] - val[M20] * val[M01] * val[M32] + * val[M13] + val[M00] * val[M21] * val[M32] * val[M13] + val[M30] * val[M11] * val[M02] * val[M23] - val[M10] * val[M31] + * val[M02] * val[M23] - val[M30] * val[M01] * val[M12] * val[M23] + val[M00] * val[M31] * val[M12] * val[M23] + val[M10] + * val[M01] * val[M32] * val[M23] - val[M00] * val[M11] * val[M32] * val[M23] - val[M20] * val[M11] * val[M02] * val[M33] + + val[M10] * val[M21] * val[M02] * val[M33] + val[M20] * val[M01] * val[M12] * val[M33] - val[M00] * val[M21] * val[M12] + * val[M33] - val[M10] * val[M01] * val[M22] * val[M33] + val[M00] * val[M11] * val[M22] * val[M33]; + if (l_det == 0f) throw new RuntimeException("non-invertible matrix"); + float inv_det = 1.0f / l_det; + tmp[M00] = val[M12] * val[M23] * val[M31] - val[M13] * val[M22] * val[M31] + val[M13] * val[M21] * val[M32] - val[M11] + * val[M23] * val[M32] - val[M12] * val[M21] * val[M33] + val[M11] * val[M22] * val[M33]; + tmp[M01] = val[M03] * val[M22] * val[M31] - val[M02] * val[M23] * val[M31] - val[M03] * val[M21] * val[M32] + val[M01] + * val[M23] * val[M32] + val[M02] * val[M21] * val[M33] - val[M01] * val[M22] * val[M33]; + tmp[M02] = val[M02] * val[M13] * val[M31] - val[M03] * val[M12] * val[M31] + val[M03] * val[M11] * val[M32] - val[M01] + * val[M13] * val[M32] - val[M02] * val[M11] * val[M33] + val[M01] * val[M12] * val[M33]; + tmp[M03] = val[M03] * val[M12] * val[M21] - val[M02] * val[M13] * val[M21] - val[M03] * val[M11] * val[M22] + val[M01] + * val[M13] * val[M22] + val[M02] * val[M11] * val[M23] - val[M01] * val[M12] * val[M23]; + tmp[M10] = val[M13] * val[M22] * val[M30] - val[M12] * val[M23] * val[M30] - val[M13] * val[M20] * val[M32] + val[M10] + * val[M23] * val[M32] + val[M12] * val[M20] * val[M33] - val[M10] * val[M22] * val[M33]; + tmp[M11] = val[M02] * val[M23] * val[M30] - val[M03] * val[M22] * val[M30] + val[M03] * val[M20] * val[M32] - val[M00] + * val[M23] * val[M32] - val[M02] * val[M20] * val[M33] + val[M00] * val[M22] * val[M33]; + tmp[M12] = val[M03] * val[M12] * val[M30] - val[M02] * val[M13] * val[M30] - val[M03] * val[M10] * val[M32] + val[M00] + * val[M13] * val[M32] + val[M02] * val[M10] * val[M33] - val[M00] * val[M12] * val[M33]; + tmp[M13] = val[M02] * val[M13] * val[M20] - val[M03] * val[M12] * val[M20] + val[M03] * val[M10] * val[M22] - val[M00] + * val[M13] * val[M22] - val[M02] * val[M10] * val[M23] + val[M00] * val[M12] * val[M23]; + tmp[M20] = val[M11] * val[M23] * val[M30] - val[M13] * val[M21] * val[M30] + val[M13] * val[M20] * val[M31] - val[M10] + * val[M23] * val[M31] - val[M11] * val[M20] * val[M33] + val[M10] * val[M21] * val[M33]; + tmp[M21] = val[M03] * val[M21] * val[M30] - val[M01] * val[M23] * val[M30] - val[M03] * val[M20] * val[M31] + val[M00] + * val[M23] * val[M31] + val[M01] * val[M20] * val[M33] - val[M00] * val[M21] * val[M33]; + tmp[M22] = val[M01] * val[M13] * val[M30] - val[M03] * val[M11] * val[M30] + val[M03] * val[M10] * val[M31] - val[M00] + * val[M13] * val[M31] - val[M01] * val[M10] * val[M33] + val[M00] * val[M11] * val[M33]; + tmp[M23] = val[M03] * val[M11] * val[M20] - val[M01] * val[M13] * val[M20] - val[M03] * val[M10] * val[M21] + val[M00] + * val[M13] * val[M21] + val[M01] * val[M10] * val[M23] - val[M00] * val[M11] * val[M23]; + tmp[M30] = val[M12] * val[M21] * val[M30] - val[M11] * val[M22] * val[M30] - val[M12] * val[M20] * val[M31] + val[M10] + * val[M22] * val[M31] + val[M11] * val[M20] * val[M32] - val[M10] * val[M21] * val[M32]; + tmp[M31] = val[M01] * val[M22] * val[M30] - val[M02] * val[M21] * val[M30] + val[M02] * val[M20] * val[M31] - val[M00] + * val[M22] * val[M31] - val[M01] * val[M20] * val[M32] + val[M00] * val[M21] * val[M32]; + tmp[M32] = val[M02] * val[M11] * val[M30] - val[M01] * val[M12] * val[M30] - val[M02] * val[M10] * val[M31] + val[M00] + * val[M12] * val[M31] + val[M01] * val[M10] * val[M32] - val[M00] * val[M11] * val[M32]; + tmp[M33] = val[M01] * val[M12] * val[M20] - val[M02] * val[M11] * val[M20] + val[M02] * val[M10] * val[M21] - val[M00] + * val[M12] * val[M21] - val[M01] * val[M10] * val[M22] + val[M00] * val[M11] * val[M22]; + val[M00] = tmp[M00] * inv_det; + val[M01] = tmp[M01] * inv_det; + val[M02] = tmp[M02] * inv_det; + val[M03] = tmp[M03] * inv_det; + val[M10] = tmp[M10] * inv_det; + val[M11] = tmp[M11] * inv_det; + val[M12] = tmp[M12] * inv_det; + val[M13] = tmp[M13] * inv_det; + val[M20] = tmp[M20] * inv_det; + val[M21] = tmp[M21] * inv_det; + val[M22] = tmp[M22] * inv_det; + val[M23] = tmp[M23] * inv_det; + val[M30] = tmp[M30] * inv_det; + val[M31] = tmp[M31] * inv_det; + val[M32] = tmp[M32] * inv_det; + val[M33] = tmp[M33] * inv_det; + return this; + } + + /** @return The determinant of this matrix */ + public float det () { + return val[M30] * val[M21] * val[M12] * val[M03] - val[M20] * val[M31] * val[M12] * val[M03] - val[M30] * val[M11] + * val[M22] * val[M03] + val[M10] * val[M31] * val[M22] * val[M03] + val[M20] * val[M11] * val[M32] * val[M03] - val[M10] + * val[M21] * val[M32] * val[M03] - val[M30] * val[M21] * val[M02] * val[M13] + val[M20] * val[M31] * val[M02] * val[M13] + + val[M30] * val[M01] * val[M22] * val[M13] - val[M00] * val[M31] * val[M22] * val[M13] - val[M20] * val[M01] * val[M32] + * val[M13] + val[M00] * val[M21] * val[M32] * val[M13] + val[M30] * val[M11] * val[M02] * val[M23] - val[M10] * val[M31] + * val[M02] * val[M23] - val[M30] * val[M01] * val[M12] * val[M23] + val[M00] * val[M31] * val[M12] * val[M23] + val[M10] + * val[M01] * val[M32] * val[M23] - val[M00] * val[M11] * val[M32] * val[M23] - val[M20] * val[M11] * val[M02] * val[M33] + + val[M10] * val[M21] * val[M02] * val[M33] + val[M20] * val[M01] * val[M12] * val[M33] - val[M00] * val[M21] * val[M12] + * val[M33] - val[M10] * val[M01] * val[M22] * val[M33] + val[M00] * val[M11] * val[M22] * val[M33]; + } + + /** @return The determinant of the 3x3 upper left matrix */ + public float det3x3 () { + return val[M00] * val[M11] * val[M22] + val[M01] * val[M12] * val[M20] + val[M02] * val[M10] * val[M21] - val[M00] + * val[M12] * val[M21] - val[M01] * val[M10] * val[M22] - val[M02] * val[M11] * val[M20]; + } + + /** Sets the matrix to a projection matrix with a near- and far plane, a field of view in degrees and an aspect ratio. Note that + * the field of view specified is the angle in degrees for the height, the field of view for the width will be calculated + * according to the aspect ratio. + * + * @param near The near plane + * @param far The far plane + * @param fovy The field of view of the height in degrees + * @param aspectRatio The "width over height" aspect ratio + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToProjection (float near, float far, float fovy, float aspectRatio) { + idt(); + float l_fd = (float)(1.0 / Math.tan((fovy * (Math.PI / 180)) / 2.0)); + float l_a1 = (far + near) / (near - far); + float l_a2 = (2 * far * near) / (near - far); + val[M00] = l_fd / aspectRatio; + val[M10] = 0; + val[M20] = 0; + val[M30] = 0; + val[M01] = 0; + val[M11] = l_fd; + val[M21] = 0; + val[M31] = 0; + val[M02] = 0; + val[M12] = 0; + val[M22] = l_a1; + val[M32] = -1; + val[M03] = 0; + val[M13] = 0; + val[M23] = l_a2; + val[M33] = 0; + + return this; + } + + /** Sets the matrix to a projection matrix with a near/far plane, and left, bottom, right and top specifying the points on the + * near plane that are mapped to the lower left and upper right corners of the viewport. This allows to create projection + * matrix with off-center vanishing point. + * + * @param left + * @param right + * @param bottom + * @param top + * @param near The near plane + * @param far The far plane + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToProjection (float left, float right, float bottom, float top, float near, float far) { + float x = 2.0f * near / (right - left); + float y = 2.0f * near / (top - bottom); + float a = (right + left) / (right - left); + float b = (top + bottom) / (top - bottom); + float l_a1 = (far + near) / (near - far); + float l_a2 = (2 * far * near) / (near - far); + val[M00] = x; + val[M10] = 0; + val[M20] = 0; + val[M30] = 0; + val[M01] = 0; + val[M11] = y; + val[M21] = 0; + val[M31] = 0; + val[M02] = a; + val[M12] = b; + val[M22] = l_a1; + val[M32] = -1; + val[M03] = 0; + val[M13] = 0; + val[M23] = l_a2; + val[M33] = 0; + + return this; + } + + /** Sets this matrix to an orthographic projection matrix with the origin at (x,y) extending by width and height. The near plane + * is set to 0, the far plane is set to 1. + * + * @param x The x-coordinate of the origin + * @param y The y-coordinate of the origin + * @param width The width + * @param height The height + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToOrtho2D (float x, float y, float width, float height) { + setToOrtho(x, x + width, y, y + height, 0, 1); + return this; + } + + /** Sets this matrix to an orthographic projection matrix with the origin at (x,y) extending by width and height, having a near + * and far plane. + * + * @param x The x-coordinate of the origin + * @param y The y-coordinate of the origin + * @param width The width + * @param height The height + * @param near The near plane + * @param far The far plane + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToOrtho2D (float x, float y, float width, float height, float near, float far) { + setToOrtho(x, x + width, y, y + height, near, far); + return this; + } + + /** Sets the matrix to an orthographic projection like glOrtho (http://www.opengl.org/sdk/docs/man/xhtml/glOrtho.xml) following + * the OpenGL equivalent + * + * @param left The left clipping plane + * @param right The right clipping plane + * @param bottom The bottom clipping plane + * @param top The top clipping plane + * @param near The near clipping plane + * @param far The far clipping plane + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToOrtho (float left, float right, float bottom, float top, float near, float far) { + + this.idt(); + float x_orth = 2 / (right - left); + float y_orth = 2 / (top - bottom); + float z_orth = -2 / (far - near); + + float tx = -(right + left) / (right - left); + float ty = -(top + bottom) / (top - bottom); + float tz = -(far + near) / (far - near); + + val[M00] = x_orth; + val[M10] = 0; + val[M20] = 0; + val[M30] = 0; + val[M01] = 0; + val[M11] = y_orth; + val[M21] = 0; + val[M31] = 0; + val[M02] = 0; + val[M12] = 0; + val[M22] = z_orth; + val[M32] = 0; + val[M03] = tx; + val[M13] = ty; + val[M23] = tz; + val[M33] = 1; + + return this; + } + + /** Sets the 4th column to the translation vector. + * + * @param vector The translation vector + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setTranslation (Vector3 vector) { + val[M03] = vector.x; + val[M13] = vector.y; + val[M23] = vector.z; + return this; + } + + /** Sets the 4th column to the translation vector. + * + * @param x The X coordinate of the translation vector + * @param y The Y coordinate of the translation vector + * @param z The Z coordinate of the translation vector + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setTranslation (float x, float y, float z) { + val[M03] = x; + val[M13] = y; + val[M23] = z; + return this; + } + + /** Sets this matrix to a translation matrix, overwriting it first by an identity matrix and then setting the 4th column to the + * translation vector. + * + * @param vector The translation vector + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToTranslation (Vector3 vector) { + idt(); + val[M03] = vector.x; + val[M13] = vector.y; + val[M23] = vector.z; + return this; + } + + /** Sets this matrix to a translation matrix, overwriting it first by an identity matrix and then setting the 4th column to the + * translation vector. + * + * @param x The x-component of the translation vector. + * @param y The y-component of the translation vector. + * @param z The z-component of the translation vector. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToTranslation (float x, float y, float z) { + idt(); + val[M03] = x; + val[M13] = y; + val[M23] = z; + return this; + } + + /** Sets this matrix to a translation and scaling matrix by first overwriting it with an identity and then setting the + * translation vector in the 4th column and the scaling vector in the diagonal. + * + * @param translation The translation vector + * @param scaling The scaling vector + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToTranslationAndScaling (Vector3 translation, Vector3 scaling) { + idt(); + val[M03] = translation.x; + val[M13] = translation.y; + val[M23] = translation.z; + val[M00] = scaling.x; + val[M11] = scaling.y; + val[M22] = scaling.z; + return this; + } + + /** Sets this matrix to a translation and scaling matrix by first overwriting it with an identity and then setting the + * translation vector in the 4th column and the scaling vector in the diagonal. + * + * @param translationX The x-component of the translation vector + * @param translationY The y-component of the translation vector + * @param translationZ The z-component of the translation vector + * @param scalingX The x-component of the scaling vector + * @param scalingY The x-component of the scaling vector + * @param scalingZ The x-component of the scaling vector + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToTranslationAndScaling (float translationX, float translationY, float translationZ, float scalingX, + float scalingY, float scalingZ) { + idt(); + val[M03] = translationX; + val[M13] = translationY; + val[M23] = translationZ; + val[M00] = scalingX; + val[M11] = scalingY; + val[M22] = scalingZ; + return this; + } + + static QuaternionGDX quat = new QuaternionGDX(); + static QuaternionGDX quat2 = new QuaternionGDX(); + + /** Sets the matrix to a rotation matrix around the given axis. + * + * @param axis The axis + * @param degrees The angle in degrees + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToRotation (Vector3 axis, float degrees) { + if (degrees == 0) { + idt(); + return this; + } + return set(quat.set(axis, degrees)); + } + + /** Sets the matrix to a rotation matrix around the given axis. + * + * @param axis The axis + * @param radians The angle in radians + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToRotationRad (Vector3 axis, float radians) { + if (radians == 0) { + idt(); + return this; + } + return set(quat.setFromAxisRad(axis, radians)); + } + + /** Sets the matrix to a rotation matrix around the given axis. + * + * @param axisX The x-component of the axis + * @param axisY The y-component of the axis + * @param axisZ The z-component of the axis + * @param degrees The angle in degrees + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToRotation (float axisX, float axisY, float axisZ, float degrees) { + if (degrees == 0) { + idt(); + return this; + } + return set(quat.setFromAxis(axisX, axisY, axisZ, degrees)); + } + + /** Sets the matrix to a rotation matrix around the given axis. + * + * @param axisX The x-component of the axis + * @param axisY The y-component of the axis + * @param axisZ The z-component of the axis + * @param radians The angle in radians + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToRotationRad (float axisX, float axisY, float axisZ, float radians) { + if (radians == 0) { + idt(); + return this; + } + return set(quat.setFromAxisRad(axisX, axisY, axisZ, radians)); + } + + /** Set the matrix to a rotation matrix between two vectors. + * @param v1 The base vector + * @param v2 The target vector + * @return This matrix for the purpose of chaining methods together */ + public Matrix4 setToRotation (final Vector3 v1, final Vector3 v2) { + return set(quat.setFromCross(v1, v2)); + } + + /** Set the matrix to a rotation matrix between two vectors. + * @param x1 The base vectors x value + * @param y1 The base vectors y value + * @param z1 The base vectors z value + * @param x2 The target vector x value + * @param y2 The target vector y value + * @param z2 The target vector z value + * @return This matrix for the purpose of chaining methods together */ + public Matrix4 setToRotation (final float x1, final float y1, final float z1, final float x2, final float y2, final float z2) { + return set(quat.setFromCross(x1, y1, z1, x2, y2, z2)); + } + + /** Sets this matrix to a rotation matrix from the given euler angles. + * @param yaw the yaw in degrees + * @param pitch the pitch in degrees + * @param roll the roll in degrees + * @return This matrix */ + public Matrix4 setFromEulerAngles (float yaw, float pitch, float roll) { + quat.setEulerAngles(yaw, pitch, roll); + return set(quat); + } + + /** Sets this matrix to a rotation matrix from the given euler angles. + * @param yaw the yaw in radians + * @param pitch the pitch in radians + * @param roll the roll in radians + * @return This matrix */ + public Matrix4 setFromEulerAnglesRad (float yaw, float pitch, float roll) { + quat.setEulerAnglesRad(yaw, pitch, roll); + return set(quat); + } + + /** Sets this matrix to a scaling matrix + * + * @param vector The scaling vector + * @return This matrix for chaining. */ + public Matrix4 setToScaling (Vector3 vector) { + idt(); + val[M00] = vector.x; + val[M11] = vector.y; + val[M22] = vector.z; + return this; + } + + /** Sets this matrix to a scaling matrix + * + * @param x The x-component of the scaling vector + * @param y The y-component of the scaling vector + * @param z The z-component of the scaling vector + * @return This matrix for chaining. */ + public Matrix4 setToScaling (float x, float y, float z) { + idt(); + val[M00] = x; + val[M11] = y; + val[M22] = z; + return this; + } + + static final Vector3 l_vez = new Vector3(); + static final Vector3 l_vex = new Vector3(); + static final Vector3 l_vey = new Vector3(); + + /** Sets the matrix to a look at matrix with a direction and an up vector. Multiply with a translation matrix to get a camera + * model view matrix. + * + * @param direction The direction vector + * @param up The up vector + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 setToLookAt (Vector3 direction, Vector3 up) { + l_vez.set(direction).nor(); + l_vex.set(direction).nor(); + l_vex.crs(up).nor(); + l_vey.set(l_vex).crs(l_vez).nor(); + idt(); + val[M00] = l_vex.x; + val[M01] = l_vex.y; + val[M02] = l_vex.z; + val[M10] = l_vey.x; + val[M11] = l_vey.y; + val[M12] = l_vey.z; + val[M20] = -l_vez.x; + val[M21] = -l_vez.y; + val[M22] = -l_vez.z; + + return this; + } + + static final Vector3 tmpVec = new Vector3(); + static final Matrix4 tmpMat = new Matrix4(); + + /** Sets this matrix to a look at matrix with the given position, target and up vector. + * + * @param position the position + * @param target the target + * @param up the up vector + * @return This matrix */ + public Matrix4 setToLookAt (Vector3 position, Vector3 target, Vector3 up) { + tmpVec.set(target).sub(position); + setToLookAt(tmpVec, up); + this.mul(tmpMat.setToTranslation(-position.x, -position.y, -position.z)); + + return this; + } + + static final Vector3 right = new Vector3(); + static final Vector3 tmpForward = new Vector3(); + static final Vector3 tmpUp = new Vector3(); + + public Matrix4 setToWorld (Vector3 position, Vector3 forward, Vector3 up) { + tmpForward.set(forward).nor(); + right.set(tmpForward).crs(up).nor(); + tmpUp.set(right).crs(tmpForward).nor(); + + this.set(right, tmpUp, tmpForward.scl(-1), position); + return this; + } + + public String toString () { + return "[" + val[M00] + "|" + val[M01] + "|" + val[M02] + "|" + val[M03] + "]\n" + "[" + val[M10] + "|" + val[M11] + "|" + + val[M12] + "|" + val[M13] + "]\n" + "[" + val[M20] + "|" + val[M21] + "|" + val[M22] + "|" + val[M23] + "]\n" + "[" + + val[M30] + "|" + val[M31] + "|" + val[M32] + "|" + val[M33] + "]\n"; + } + + /** Linearly interpolates between this matrix and the given matrix mixing by alpha + * @param matrix the matrix + * @param alpha the alpha value in the range [0,1] + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 lerp (Matrix4 matrix, float alpha) { + for (int i = 0; i < 16; i++) + this.val[i] = this.val[i] * (1 - alpha) + matrix.val[i] * alpha; + return this; + } + + /** Averages the given transform with this one and stores the result in this matrix. Translations and scales are lerped while + * rotations are slerped. + * @param other The other transform + * @param w Weight of this transform; weight of the other transform is (1 - w) + * @return This matrix for chaining */ + public Matrix4 avg (Matrix4 other, float w) { + getScale(tmpVec); + other.getScale(tmpForward); + + getRotation(quat); + other.getRotation(quat2); + + getTranslation(tmpUp); + other.getTranslation(right); + + setToScaling(tmpVec.scl(w).add(tmpForward.scl(1 - w))); + rotate(quat.slerp(quat2, 1 - w)); + setTranslation(tmpUp.scl(w).add(right.scl(1 - w))); + + return this; + } + + /** Averages the given transforms and stores the result in this matrix. Translations and scales are lerped while rotations are + * slerped. Does not destroy the data contained in t. + * @param t List of transforms + * @return This matrix for chaining */ + public Matrix4 avg (Matrix4[] t) { + final float w = 1.0f / t.length; + + tmpVec.set(t[0].getScale(tmpUp).scl(w)); + quat.set(t[0].getRotation(quat2).exp(w)); + tmpForward.set(t[0].getTranslation(tmpUp).scl(w)); + + for (int i = 1; i < t.length; i++) { + tmpVec.add(t[i].getScale(tmpUp).scl(w)); + quat.mul(t[i].getRotation(quat2).exp(w)); + tmpForward.add(t[i].getTranslation(tmpUp).scl(w)); + } + quat.nor(); + + setToScaling(tmpVec); + rotate(quat); + setTranslation(tmpForward); + + return this; + } + + /** Averages the given transforms with the given weights and stores the result in this matrix. Translations and scales are + * lerped while rotations are slerped. Does not destroy the data contained in t or w; Sum of w_i must be equal to 1, or + * unexpected results will occur. + * @param t List of transforms + * @param w List of weights + * @return This matrix for chaining */ + public Matrix4 avg (Matrix4[] t, float[] w) { + tmpVec.set(t[0].getScale(tmpUp).scl(w[0])); + quat.set(t[0].getRotation(quat2).exp(w[0])); + tmpForward.set(t[0].getTranslation(tmpUp).scl(w[0])); + + for (int i = 1; i < t.length; i++) { + tmpVec.add(t[i].getScale(tmpUp).scl(w[i])); + quat.mul(t[i].getRotation(quat2).exp(w[i])); + tmpForward.add(t[i].getTranslation(tmpUp).scl(w[i])); + } + quat.nor(); + + setToScaling(tmpVec); + rotate(quat); + setTranslation(tmpForward); + + return this; + } + + /** Sets this matrix to the given 3x3 matrix. The third column of this matrix is set to (0,0,1,0). + * @param mat the matrix */ + public Matrix4 set (Matrix3 mat) { + val[0] = mat.val[0]; + val[1] = mat.val[1]; + val[2] = mat.val[2]; + val[3] = 0; + val[4] = mat.val[3]; + val[5] = mat.val[4]; + val[6] = mat.val[5]; + val[7] = 0; + val[8] = 0; + val[9] = 0; + val[10] = 1; + val[11] = 0; + val[12] = mat.val[6]; + val[13] = mat.val[7]; + val[14] = 0; + val[15] = mat.val[8]; + return this; + } + + + + + /** Assumes that both matrices are 2D affine transformations, copying only the relevant components. The copied values are: + * + * 
+	 *      [  M00  M01   _   M03  ]
+	 *      [  M10  M11   _   M13  ]
+	 *      [   _    _    _    _   ]
+	 *      [   _    _    _    _   ]
+	 *
+ * @param mat the source matrix + * @return This matrix for chaining */ + public Matrix4 setAsAffine (Matrix4 mat) { + val[M00] = mat.val[M00]; + val[M10] = mat.val[M10]; + val[M01] = mat.val[M01]; + val[M11] = mat.val[M11]; + val[M03] = mat.val[M03]; + val[M13] = mat.val[M13]; + return this; + } + + public Matrix4 scl (Vector3 scale) { + val[M00] *= scale.x; + val[M11] *= scale.y; + val[M22] *= scale.z; + return this; + } + + public Matrix4 scl (float x, float y, float z) { + val[M00] *= x; + val[M11] *= y; + val[M22] *= z; + return this; + } + + public Matrix4 scl (float scale) { + val[M00] *= scale; + val[M11] *= scale; + val[M22] *= scale; + return this; + } + + public Vector3 getTranslation (Vector3 position) { + position.x = val[M03]; + position.y = val[M13]; + position.z = val[M23]; + return position; + } + + /** Gets the rotation of this matrix. + * @param rotation The {@link Quaternion} to receive the rotation + * @param normalizeAxes True to normalize the axes, necessary when the matrix might also include scaling. + * @return The provided {@link Quaternion} for chaining. */ + public QuaternionGDX getRotation (QuaternionGDX rotation, boolean normalizeAxes) { + return rotation.setFromMatrix(normalizeAxes, this); + } + + /** Gets the rotation of this matrix. + * @param rotation The {@link Quaternion} to receive the rotation + * @return The provided {@link Quaternion} for chaining. */ + public QuaternionGDX getRotation (QuaternionGDX rotation) { + return rotation.setFromMatrix(this); + } + + /** @return the squared scale factor on the X axis */ + public float getScaleXSquared () { + return val[Matrix4.M00] * val[Matrix4.M00] + val[Matrix4.M01] * val[Matrix4.M01] + val[Matrix4.M02] * val[Matrix4.M02]; + } + + /** @return the squared scale factor on the Y axis */ + public float getScaleYSquared () { + return val[Matrix4.M10] * val[Matrix4.M10] + val[Matrix4.M11] * val[Matrix4.M11] + val[Matrix4.M12] * val[Matrix4.M12]; + } + + /** @return the squared scale factor on the Z axis */ + public float getScaleZSquared () { + return val[Matrix4.M20] * val[Matrix4.M20] + val[Matrix4.M21] * val[Matrix4.M21] + val[Matrix4.M22] * val[Matrix4.M22]; + } + + /** @return the scale factor on the X axis (non-negative) */ + public float getScaleX () { + return (MathUtils.isZero(val[Matrix4.M01]) && MathUtils.isZero(val[Matrix4.M02])) ? Math.abs(val[Matrix4.M00]) + : (float)Math.sqrt(getScaleXSquared()); + } + + /** @return the scale factor on the Y axis (non-negative) */ + public float getScaleY () { + return (MathUtils.isZero(val[Matrix4.M10]) && MathUtils.isZero(val[Matrix4.M12])) ? Math.abs(val[Matrix4.M11]) + : (float)Math.sqrt(getScaleYSquared()); + } + + /** @return the scale factor on the X axis (non-negative) */ + public float getScaleZ () { + return (MathUtils.isZero(val[Matrix4.M20]) && MathUtils.isZero(val[Matrix4.M21])) ? Math.abs(val[Matrix4.M22]) + : (float)Math.sqrt(getScaleZSquared()); + } + + /** @param scale The vector which will receive the (non-negative) scale components on each axis. + * @return The provided vector for chaining. */ + public Vector3 getScale (Vector3 scale) { + return scale.set(getScaleX(), getScaleY(), getScaleZ()); + } + + /** removes the translational part and transposes the matrix. */ + public Matrix4 toNormalMatrix () { + val[M03] = 0; + val[M13] = 0; + val[M23] = 0; + return inv().tra(); + } + + // @off + /*JNI + #include + #include + #include + + #define M00 0 + #define M01 4 + #define M02 8 + #define M03 12 + #define M10 1 + #define M11 5 + #define M12 9 + #define M13 13 + #define M20 2 + #define M21 6 + #define M22 10 + #define M23 14 + #define M30 3 + #define M31 7 + #define M32 11 + #define M33 15 + + static inline void matrix4_mul(float* mata, float* matb) { + float tmp[16]; + tmp[M00] = mata[M00] * matb[M00] + mata[M01] * matb[M10] + mata[M02] * matb[M20] + mata[M03] * matb[M30]; + tmp[M01] = mata[M00] * matb[M01] + mata[M01] * matb[M11] + mata[M02] * matb[M21] + mata[M03] * matb[M31]; + tmp[M02] = mata[M00] * matb[M02] + mata[M01] * matb[M12] + mata[M02] * matb[M22] + mata[M03] * matb[M32]; + tmp[M03] = mata[M00] * matb[M03] + mata[M01] * matb[M13] + mata[M02] * matb[M23] + mata[M03] * matb[M33]; + tmp[M10] = mata[M10] * matb[M00] + mata[M11] * matb[M10] + mata[M12] * matb[M20] + mata[M13] * matb[M30]; + tmp[M11] = mata[M10] * matb[M01] + mata[M11] * matb[M11] + mata[M12] * matb[M21] + mata[M13] * matb[M31]; + tmp[M12] = mata[M10] * matb[M02] + mata[M11] * matb[M12] + mata[M12] * matb[M22] + mata[M13] * matb[M32]; + tmp[M13] = mata[M10] * matb[M03] + mata[M11] * matb[M13] + mata[M12] * matb[M23] + mata[M13] * matb[M33]; + tmp[M20] = mata[M20] * matb[M00] + mata[M21] * matb[M10] + mata[M22] * matb[M20] + mata[M23] * matb[M30]; + tmp[M21] = mata[M20] * matb[M01] + mata[M21] * matb[M11] + mata[M22] * matb[M21] + mata[M23] * matb[M31]; + tmp[M22] = mata[M20] * matb[M02] + mata[M21] * matb[M12] + mata[M22] * matb[M22] + mata[M23] * matb[M32]; + tmp[M23] = mata[M20] * matb[M03] + mata[M21] * matb[M13] + mata[M22] * matb[M23] + mata[M23] * matb[M33]; + tmp[M30] = mata[M30] * matb[M00] + mata[M31] * matb[M10] + mata[M32] * matb[M20] + mata[M33] * matb[M30]; + tmp[M31] = mata[M30] * matb[M01] + mata[M31] * matb[M11] + mata[M32] * matb[M21] + mata[M33] * matb[M31]; + tmp[M32] = mata[M30] * matb[M02] + mata[M31] * matb[M12] + mata[M32] * matb[M22] + mata[M33] * matb[M32]; + tmp[M33] = mata[M30] * matb[M03] + mata[M31] * matb[M13] + mata[M32] * matb[M23] + mata[M33] * matb[M33]; + memcpy(mata, tmp, sizeof(float) * 16); + } + + static inline float matrix4_det(float* val) { + return val[M30] * val[M21] * val[M12] * val[M03] - val[M20] * val[M31] * val[M12] * val[M03] - val[M30] * val[M11] + * val[M22] * val[M03] + val[M10] * val[M31] * val[M22] * val[M03] + val[M20] * val[M11] * val[M32] * val[M03] - val[M10] + * val[M21] * val[M32] * val[M03] - val[M30] * val[M21] * val[M02] * val[M13] + val[M20] * val[M31] * val[M02] * val[M13] + + val[M30] * val[M01] * val[M22] * val[M13] - val[M00] * val[M31] * val[M22] * val[M13] - val[M20] * val[M01] * val[M32] + * val[M13] + val[M00] * val[M21] * val[M32] * val[M13] + val[M30] * val[M11] * val[M02] * val[M23] - val[M10] * val[M31] + * val[M02] * val[M23] - val[M30] * val[M01] * val[M12] * val[M23] + val[M00] * val[M31] * val[M12] * val[M23] + val[M10] + * val[M01] * val[M32] * val[M23] - val[M00] * val[M11] * val[M32] * val[M23] - val[M20] * val[M11] * val[M02] * val[M33] + + val[M10] * val[M21] * val[M02] * val[M33] + val[M20] * val[M01] * val[M12] * val[M33] - val[M00] * val[M21] * val[M12] + * val[M33] - val[M10] * val[M01] * val[M22] * val[M33] + val[M00] * val[M11] * val[M22] * val[M33]; + } + + static inline bool matrix4_inv(float* val) { + float tmp[16]; + float l_det = matrix4_det(val); + if (l_det == 0) return false; + tmp[M00] = val[M12] * val[M23] * val[M31] - val[M13] * val[M22] * val[M31] + val[M13] * val[M21] * val[M32] - val[M11] + * val[M23] * val[M32] - val[M12] * val[M21] * val[M33] + val[M11] * val[M22] * val[M33]; + tmp[M01] = val[M03] * val[M22] * val[M31] - val[M02] * val[M23] * val[M31] - val[M03] * val[M21] * val[M32] + val[M01] + * val[M23] * val[M32] + val[M02] * val[M21] * val[M33] - val[M01] * val[M22] * val[M33]; + tmp[M02] = val[M02] * val[M13] * val[M31] - val[M03] * val[M12] * val[M31] + val[M03] * val[M11] * val[M32] - val[M01] + * val[M13] * val[M32] - val[M02] * val[M11] * val[M33] + val[M01] * val[M12] * val[M33]; + tmp[M03] = val[M03] * val[M12] * val[M21] - val[M02] * val[M13] * val[M21] - val[M03] * val[M11] * val[M22] + val[M01] + * val[M13] * val[M22] + val[M02] * val[M11] * val[M23] - val[M01] * val[M12] * val[M23]; + tmp[M10] = val[M13] * val[M22] * val[M30] - val[M12] * val[M23] * val[M30] - val[M13] * val[M20] * val[M32] + val[M10] + * val[M23] * val[M32] + val[M12] * val[M20] * val[M33] - val[M10] * val[M22] * val[M33]; + tmp[M11] = val[M02] * val[M23] * val[M30] - val[M03] * val[M22] * val[M30] + val[M03] * val[M20] * val[M32] - val[M00] + * val[M23] * val[M32] - val[M02] * val[M20] * val[M33] + val[M00] * val[M22] * val[M33]; + tmp[M12] = val[M03] * val[M12] * val[M30] - val[M02] * val[M13] * val[M30] - val[M03] * val[M10] * val[M32] + val[M00] + * val[M13] * val[M32] + val[M02] * val[M10] * val[M33] - val[M00] * val[M12] * val[M33]; + tmp[M13] = val[M02] * val[M13] * val[M20] - val[M03] * val[M12] * val[M20] + val[M03] * val[M10] * val[M22] - val[M00] + * val[M13] * val[M22] - val[M02] * val[M10] * val[M23] + val[M00] * val[M12] * val[M23]; + tmp[M20] = val[M11] * val[M23] * val[M30] - val[M13] * val[M21] * val[M30] + val[M13] * val[M20] * val[M31] - val[M10] + * val[M23] * val[M31] - val[M11] * val[M20] * val[M33] + val[M10] * val[M21] * val[M33]; + tmp[M21] = val[M03] * val[M21] * val[M30] - val[M01] * val[M23] * val[M30] - val[M03] * val[M20] * val[M31] + val[M00] + * val[M23] * val[M31] + val[M01] * val[M20] * val[M33] - val[M00] * val[M21] * val[M33]; + tmp[M22] = val[M01] * val[M13] * val[M30] - val[M03] * val[M11] * val[M30] + val[M03] * val[M10] * val[M31] - val[M00] + * val[M13] * val[M31] - val[M01] * val[M10] * val[M33] + val[M00] * val[M11] * val[M33]; + tmp[M23] = val[M03] * val[M11] * val[M20] - val[M01] * val[M13] * val[M20] - val[M03] * val[M10] * val[M21] + val[M00] + * val[M13] * val[M21] + val[M01] * val[M10] * val[M23] - val[M00] * val[M11] * val[M23]; + tmp[M30] = val[M12] * val[M21] * val[M30] - val[M11] * val[M22] * val[M30] - val[M12] * val[M20] * val[M31] + val[M10] + * val[M22] * val[M31] + val[M11] * val[M20] * val[M32] - val[M10] * val[M21] * val[M32]; + tmp[M31] = val[M01] * val[M22] * val[M30] - val[M02] * val[M21] * val[M30] + val[M02] * val[M20] * val[M31] - val[M00] + * val[M22] * val[M31] - val[M01] * val[M20] * val[M32] + val[M00] * val[M21] * val[M32]; + tmp[M32] = val[M02] * val[M11] * val[M30] - val[M01] * val[M12] * val[M30] - val[M02] * val[M10] * val[M31] + val[M00] + * val[M12] * val[M31] + val[M01] * val[M10] * val[M32] - val[M00] * val[M11] * val[M32]; + tmp[M33] = val[M01] * val[M12] * val[M20] - val[M02] * val[M11] * val[M20] + val[M02] * val[M10] * val[M21] - val[M00] + * val[M12] * val[M21] - val[M01] * val[M10] * val[M22] + val[M00] * val[M11] * val[M22]; + + float inv_det = 1.0f / l_det; + val[M00] = tmp[M00] * inv_det; + val[M01] = tmp[M01] * inv_det; + val[M02] = tmp[M02] * inv_det; + val[M03] = tmp[M03] * inv_det; + val[M10] = tmp[M10] * inv_det; + val[M11] = tmp[M11] * inv_det; + val[M12] = tmp[M12] * inv_det; + val[M13] = tmp[M13] * inv_det; + val[M20] = tmp[M20] * inv_det; + val[M21] = tmp[M21] * inv_det; + val[M22] = tmp[M22] * inv_det; + val[M23] = tmp[M23] * inv_det; + val[M30] = tmp[M30] * inv_det; + val[M31] = tmp[M31] * inv_det; + val[M32] = tmp[M32] * inv_det; + val[M33] = tmp[M33] * inv_det; + return true; + } + + static inline void matrix4_mulVec(float* mat, float* vec) { + float x = vec[0] * mat[M00] + vec[1] * mat[M01] + vec[2] * mat[M02] + mat[M03]; + float y = vec[0] * mat[M10] + vec[1] * mat[M11] + vec[2] * mat[M12] + mat[M13]; + float z = vec[0] * mat[M20] + vec[1] * mat[M21] + vec[2] * mat[M22] + mat[M23]; + vec[0] = x; + vec[1] = y; + vec[2] = z; + } + + static inline void matrix4_proj(float* mat, float* vec) { + float inv_w = 1.0f / (vec[0] * mat[M30] + vec[1] * mat[M31] + vec[2] * mat[M32] + mat[M33]); + float x = (vec[0] * mat[M00] + vec[1] * mat[M01] + vec[2] * mat[M02] + mat[M03]) * inv_w; + float y = (vec[0] * mat[M10] + vec[1] * mat[M11] + vec[2] * mat[M12] + mat[M13]) * inv_w; + float z = (vec[0] * mat[M20] + vec[1] * mat[M21] + vec[2] * mat[M22] + mat[M23]) * inv_w; + vec[0] = x; + vec[1] = y; + vec[2] = z; + } + + static inline void matrix4_rot(float* mat, float* vec) { + float x = vec[0] * mat[M00] + vec[1] * mat[M01] + vec[2] * mat[M02]; + float y = vec[0] * mat[M10] + vec[1] * mat[M11] + vec[2] * mat[M12]; + float z = vec[0] * mat[M20] + vec[1] * mat[M21] + vec[2] * mat[M22]; + vec[0] = x; + vec[1] = y; + vec[2] = z; + } + */ + + /** Multiplies the matrix mata with matrix matb, storing the result in mata. The arrays are assumed to hold 4x4 column major + * matrices as you can get from {@link Matrix4#val}. This is the same as {@link Matrix4#mul(Matrix4)}. + * + * @param mata the first matrix. + * @param matb the second matrix. */ + public static native void mul (float[] mata, float[] matb) /*-{ }-*/; /* + matrix4_mul(mata, matb); + */ + + /** Multiplies the vector with the given matrix. The matrix array is assumed to hold a 4x4 column major matrix as you can get + * from {@link Matrix4#val}. The vector array is assumed to hold a 3-component vector, with x being the first element, y being + * the second and z being the last component. The result is stored in the vector array. This is the same as + * {@link Vector3#mul(Matrix4)}. + * @param mat the matrix + * @param vec the vector. */ + public static native void mulVec (float[] mat, float[] vec) /*-{ }-*/; /* + matrix4_mulVec(mat, vec); + */ + + /** Multiplies the vectors with the given matrix. The matrix array is assumed to hold a 4x4 column major matrix as you can get + * from {@link Matrix4#val}. The vectors array is assumed to hold 3-component vectors. Offset specifies the offset into the + * array where the x-component of the first vector is located. The numVecs parameter specifies the number of vectors stored in + * the vectors array. The stride parameter specifies the number of floats between subsequent vectors and must be >= 3. This is + * the same as {@link Vector3#mul(Matrix4)} applied to multiple vectors. + * + * @param mat the matrix + * @param vecs the vectors + * @param offset the offset into the vectors array + * @param numVecs the number of vectors + * @param stride the stride between vectors in floats */ + public static native void mulVec (float[] mat, float[] vecs, int offset, int numVecs, int stride) /*-{ }-*/; /* + float* vecPtr = vecs + offset; + for(int i = 0; i < numVecs; i++) { + matrix4_mulVec(mat, vecPtr); + vecPtr += stride; + } + */ + + /** Multiplies the vector with the given matrix, performing a division by w. The matrix array is assumed to hold a 4x4 column + * major matrix as you can get from {@link Matrix4#val}. The vector array is assumed to hold a 3-component vector, with x being + * the first element, y being the second and z being the last component. The result is stored in the vector array. This is the + * same as {@link Vector3#prj(Matrix4)}. + * @param mat the matrix + * @param vec the vector. */ + public static native void prj (float[] mat, float[] vec) /*-{ }-*/; /* + matrix4_proj(mat, vec); + */ + + /** Multiplies the vectors with the given matrix, , performing a division by w. The matrix array is assumed to hold a 4x4 column + * major matrix as you can get from {@link Matrix4#val}. The vectors array is assumed to hold 3-component vectors. Offset + * specifies the offset into the array where the x-component of the first vector is located. The numVecs parameter specifies + * the number of vectors stored in the vectors array. The stride parameter specifies the number of floats between subsequent + * vectors and must be >= 3. This is the same as {@link Vector3#prj(Matrix4)} applied to multiple vectors. + * + * @param mat the matrix + * @param vecs the vectors + * @param offset the offset into the vectors array + * @param numVecs the number of vectors + * @param stride the stride between vectors in floats */ + public static native void prj (float[] mat, float[] vecs, int offset, int numVecs, int stride) /*-{ }-*/; /* + float* vecPtr = vecs + offset; + for(int i = 0; i < numVecs; i++) { + matrix4_proj(mat, vecPtr); + vecPtr += stride; + } + */ + + /** Multiplies the vector with the top most 3x3 sub-matrix of the given matrix. The matrix array is assumed to hold a 4x4 column + * major matrix as you can get from {@link Matrix4#val}. The vector array is assumed to hold a 3-component vector, with x being + * the first element, y being the second and z being the last component. The result is stored in the vector array. This is the + * same as {@link Vector3#rot(Matrix4)}. + * @param mat the matrix + * @param vec the vector. */ + public static native void rot (float[] mat, float[] vec) /*-{ }-*/; /* + matrix4_rot(mat, vec); + */ + + /** Multiplies the vectors with the top most 3x3 sub-matrix of the given matrix. The matrix array is assumed to hold a 4x4 + * column major matrix as you can get from {@link Matrix4#val}. The vectors array is assumed to hold 3-component vectors. + * Offset specifies the offset into the array where the x-component of the first vector is located. The numVecs parameter + * specifies the number of vectors stored in the vectors array. The stride parameter specifies the number of floats between + * subsequent vectors and must be >= 3. This is the same as {@link Vector3#rot(Matrix4)} applied to multiple vectors. + * + * @param mat the matrix + * @param vecs the vectors + * @param offset the offset into the vectors array + * @param numVecs the number of vectors + * @param stride the stride between vectors in floats */ + public static native void rot (float[] mat, float[] vecs, int offset, int numVecs, int stride) /*-{ }-*/; /* + float* vecPtr = vecs + offset; + for(int i = 0; i < numVecs; i++) { + matrix4_rot(mat, vecPtr); + vecPtr += stride; + } + */ + + /** Computes the inverse of the given matrix. The matrix array is assumed to hold a 4x4 column major matrix as you can get from + * {@link Matrix4#val}. + * @param values the matrix values. + * @return false in case the inverse could not be calculated, true otherwise. */ + public static native boolean inv (float[] values) /*-{ }-*/; /* + return matrix4_inv(values); + */ + + /** Computes the determinante of the given matrix. The matrix array is assumed to hold a 4x4 column major matrix as you can get + * from {@link Matrix4#val}. + * @param values the matrix values. + * @return the determinante. */ + public static native float det (float[] values) /*-{ }-*/; /* + return matrix4_det(values); + */ + + // @on + /** Postmultiplies this matrix by a translation matrix. Postmultiplication is also used by OpenGL ES' + * glTranslate/glRotate/glScale + * @param translation + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 translate (Vector3 translation) { + return translate(translation.x, translation.y, translation.z); + } + + /** Postmultiplies this matrix by a translation matrix. Postmultiplication is also used by OpenGL ES' 1.x + * glTranslate/glRotate/glScale. + * @param x Translation in the x-axis. + * @param y Translation in the y-axis. + * @param z Translation in the z-axis. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 translate (float x, float y, float z) { + tmp[M00] = 1; + tmp[M01] = 0; + tmp[M02] = 0; + tmp[M03] = x; + tmp[M10] = 0; + tmp[M11] = 1; + tmp[M12] = 0; + tmp[M13] = y; + tmp[M20] = 0; + tmp[M21] = 0; + tmp[M22] = 1; + tmp[M23] = z; + tmp[M30] = 0; + tmp[M31] = 0; + tmp[M32] = 0; + tmp[M33] = 1; + + mul(val, tmp); + return this; + } + + /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x + * glTranslate/glRotate/glScale. + * + * @param axis The vector axis to rotate around. + * @param degrees The angle in degrees. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 rotate (Vector3 axis, float degrees) { + if (degrees == 0) return this; + quat.set(axis, degrees); + return rotate(quat); + } + + /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x + * glTranslate/glRotate/glScale. + * + * @param axis The vector axis to rotate around. + * @param radians The angle in radians. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 rotateRad (Vector3 axis, float radians) { + if (radians == 0) return this; + quat.setFromAxisRad(axis, radians); + return rotate(quat); + } + + /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x + * glTranslate/glRotate/glScale + * @param axisX The x-axis component of the vector to rotate around. + * @param axisY The y-axis component of the vector to rotate around. + * @param axisZ The z-axis component of the vector to rotate around. + * @param degrees The angle in degrees + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 rotate (float axisX, float axisY, float axisZ, float degrees) { + if (degrees == 0) return this; + quat.setFromAxis(axisX, axisY, axisZ, degrees); + return rotate(quat); + } + + /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x + * glTranslate/glRotate/glScale + * @param axisX The x-axis component of the vector to rotate around. + * @param axisY The y-axis component of the vector to rotate around. + * @param axisZ The z-axis component of the vector to rotate around. + * @param radians The angle in radians + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 rotateRad (float axisX, float axisY, float axisZ, float radians) { + if (radians == 0) return this; + quat.setFromAxisRad(axisX, axisY, axisZ, radians); + return rotate(quat); + } + + /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x + * glTranslate/glRotate/glScale. + * + * @param rotation + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 rotate (QuaternionGDX rotation) { + rotation.toMatrix(tmp); + mul(val, tmp); + return this; + } + + /** Postmultiplies this matrix by the rotation between two vectors. + * @param v1 The base vector + * @param v2 The target vector + * @return This matrix for the purpose of chaining methods together */ + public Matrix4 rotate (final Vector3 v1, final Vector3 v2) { + return rotate(quat.setFromCross(v1, v2)); + } + + /** Postmultiplies this matrix with a scale matrix. Postmultiplication is also used by OpenGL ES' 1.x + * glTranslate/glRotate/glScale. + * @param scaleX The scale in the x-axis. + * @param scaleY The scale in the y-axis. + * @param scaleZ The scale in the z-axis. + * @return This matrix for the purpose of chaining methods together. */ + public Matrix4 scale (float scaleX, float scaleY, float scaleZ) { + tmp[M00] = scaleX; + tmp[M01] = 0; + tmp[M02] = 0; + tmp[M03] = 0; + tmp[M10] = 0; + tmp[M11] = scaleY; + tmp[M12] = 0; + tmp[M13] = 0; + tmp[M20] = 0; + tmp[M21] = 0; + tmp[M22] = scaleZ; + tmp[M23] = 0; + tmp[M30] = 0; + tmp[M31] = 0; + tmp[M32] = 0; + tmp[M33] = 1; + + mul(val, tmp); + return this; + } + + /** Copies the 4x3 upper-left sub-matrix into float array. The destination array is supposed to be a column major matrix. + * @param dst the destination matrix */ + public void extract4x3Matrix (float[] dst) { + dst[0] = val[M00]; + dst[1] = val[M10]; + dst[2] = val[M20]; + dst[3] = val[M01]; + dst[4] = val[M11]; + dst[5] = val[M21]; + dst[6] = val[M02]; + dst[7] = val[M12]; + dst[8] = val[M22]; + dst[9] = val[M03]; + dst[10] = val[M13]; + dst[11] = val[M23]; + } + + /** @return True if this matrix has any rotation or scaling, false otherwise */ + public boolean hasRotationOrScaling () { + return !(MathUtils.isEqual(val[M00], 1) && MathUtils.isEqual(val[M11], 1) && MathUtils.isEqual(val[M22], 1) + && MathUtils.isZero(val[M01]) && MathUtils.isZero(val[M02]) && MathUtils.isZero(val[M10]) && MathUtils.isZero(val[M12]) + && MathUtils.isZero(val[M20]) && MathUtils.isZero(val[M21])); + } +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/NumberUtils.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/NumberUtils.java new file mode 100644 index 00000000..848c11fe --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/NumberUtils.java @@ -0,0 +1,49 @@ +package com.neuronrobotics.sdk.addons.kinematics.math; +/******************************************************************************* + * Copyright 2011 See AUTHORS file. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + ******************************************************************************/ + + +final class NumberUtils { + public static int floatToIntBits (float value) { + return Float.floatToIntBits(value); + } + + public static int floatToRawIntBits (float value) { + return Float.floatToRawIntBits(value); + } + + public static int floatToIntColor (float value) { + return Float.floatToRawIntBits(value); + } + + /** Encodes the ABGR int color as a float. The high bits are masked to avoid using floats in the NaN range, which unfortunately + * means the full range of alpha cannot be used. See {@link Float#intBitsToFloat(int)} javadocs. */ + public static float intToFloatColor (int value) { + return Float.intBitsToFloat(value & 0xfeffffff); + } + + public static float intBitsToFloat (int value) { + return Float.intBitsToFloat(value); + } + + public static long doubleToLongBits (double value) { + return Double.doubleToLongBits(value); + } + + public static double longBitsToDouble (long value) { + return Double.longBitsToDouble(value); + } +} \ No newline at end of file diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/QuaternionGDX.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/QuaternionGDX.java new file mode 100644 index 00000000..549af1bb --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/QuaternionGDX.java @@ -0,0 +1,870 @@ +package com.neuronrobotics.sdk.addons.kinematics.math; + +/******************************************************************************* + * Copyright 2011 See AUTHORS file. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + ******************************************************************************/ +import java.io.Serializable; + + +/** A simple QuaternionGDX class. + * @see http://en.wikipedia.org/wiki/Quaternion + * @author badlogicgames@gmail.com + * @author vesuvio + * @author xoppa */ + class QuaternionGDX implements Serializable { + private static final long serialVersionUID = -7661875440774897168L; + private static QuaternionGDX tmp1 = new QuaternionGDX(0, 0, 0, 0); + private static QuaternionGDX tmp2 = new QuaternionGDX(0, 0, 0, 0); + + public float x; + public float y; + public float z; + public float w; + + /** Constructor, sets the four components of the quaternion. + * @param x The x-component + * @param y The y-component + * @param z The z-component + * @param w The w-component */ + public QuaternionGDX (float x, float y, float z, float w) { + this.set(x, y, z, w); + } + + public QuaternionGDX () { + idt(); + } + + /** Constructor, sets the QuaternionGDX components from the given quaternion. + * + * @param QuaternionGDX The QuaternionGDX to copy. */ + public QuaternionGDX (QuaternionGDX quaternion) { + this.set(quaternion); + } + + /** Constructor, sets the QuaternionGDX from the given axis vector and the angle around that axis in degrees. + * + * @param axis The axis + * @param angle The angle in degrees. */ + public QuaternionGDX (Vector3 axis, float angle) { + this.set(axis, angle); + } + + /** Sets the components of the quaternion + * @param x The x-component + * @param y The y-component + * @param z The z-component + * @param w The w-component + * @return This QuaternionGDX for chaining */ + public QuaternionGDX set (float x, float y, float z, float w) { + this.x = x; + this.y = y; + this.z = z; + this.w = w; + return this; + } + + /** Sets the QuaternionGDX components from the given quaternion. + * @param QuaternionGDX The quaternion. + * @return This QuaternionGDX for chaining. */ + public QuaternionGDX set (QuaternionGDX quaternion) { + return this.set(quaternion.x, quaternion.y, quaternion.z, quaternion.w); + } + + /** Sets the QuaternionGDX components from the given axis and angle around that axis. + * + * @param axis The axis + * @param angle The angle in degrees + * @return This QuaternionGDX for chaining. */ + public QuaternionGDX set (Vector3 axis, float angle) { + return setFromAxis(axis.x, axis.y, axis.z, angle); + } + + /** @return a copy of this QuaternionGDX */ + public QuaternionGDX cpy () { + return new QuaternionGDX(this); + } + + /** @return the euclidean length of the specified QuaternionGDX */ + public final static float len (final float x, final float y, final float z, final float w) { + return (float)Math.sqrt(x * x + y * y + z * z + w * w); + } + + /** @return the euclidean length of this QuaternionGDX */ + public float len () { + return (float)Math.sqrt(x * x + y * y + z * z + w * w); + } + + @Override + public String toString () { + return "[" + x + "|" + y + "|" + z + "|" + w + "]"; + } + + /** Sets the QuaternionGDX to the given euler angles in degrees. + * @param yaw the rotation around the y axis in degrees + * @param pitch the rotation around the x axis in degrees + * @param roll the rotation around the z axis degrees + * @return this QuaternionGDX */ + public QuaternionGDX setEulerAngles (float yaw, float pitch, float roll) { + return setEulerAnglesRad(yaw * MathUtils.degreesToRadians, pitch * MathUtils.degreesToRadians, roll + * MathUtils.degreesToRadians); + } + + /** Sets the QuaternionGDX to the given euler angles in radians. + * @param yaw the rotation around the y axis in radians + * @param pitch the rotation around the x axis in radians + * @param roll the rotation around the z axis in radians + * @return this QuaternionGDX */ + public QuaternionGDX setEulerAnglesRad (float yaw, float pitch, float roll) { + final float hr = roll * 0.5f; + final float shr = (float)Math.sin(hr); + final float chr = (float)Math.cos(hr); + final float hp = pitch * 0.5f; + final float shp = (float)Math.sin(hp); + final float chp = (float)Math.cos(hp); + final float hy = yaw * 0.5f; + final float shy = (float)Math.sin(hy); + final float chy = (float)Math.cos(hy); + final float chy_shp = chy * shp; + final float shy_chp = shy * chp; + final float chy_chp = chy * chp; + final float shy_shp = shy * shp; + + x = (chy_shp * chr) + (shy_chp * shr); // cos(yaw/2) * sin(pitch/2) * cos(roll/2) + sin(yaw/2) * cos(pitch/2) * sin(roll/2) + y = (shy_chp * chr) - (chy_shp * shr); // sin(yaw/2) * cos(pitch/2) * cos(roll/2) - cos(yaw/2) * sin(pitch/2) * sin(roll/2) + z = (chy_chp * shr) - (shy_shp * chr); // cos(yaw/2) * cos(pitch/2) * sin(roll/2) - sin(yaw/2) * sin(pitch/2) * cos(roll/2) + w = (chy_chp * chr) + (shy_shp * shr); // cos(yaw/2) * cos(pitch/2) * cos(roll/2) + sin(yaw/2) * sin(pitch/2) * sin(roll/2) + return this; + } + + /** Get the pole of the gimbal lock, if any. + * @return positive (+1) for north pole, negative (-1) for south pole, zero (0) when no gimbal lock */ + public int getGimbalPole () { + final float t = y * x + z * w; + return t > 0.499f ? 1 : (t < -0.499f ? -1 : 0); + } + + /** Get the roll euler angle in radians, which is the rotation around the z axis. Requires that this QuaternionGDX is normalized. + * @return the rotation around the z axis in radians (between -PI and +PI) */ + public float getRollRad () { + final int pole = getGimbalPole(); + return pole == 0 ? MathUtils.atan2(2f * (w * z + y * x), 1f - 2f * (x * x + z * z)) : (float)pole * 2f + * MathUtils.atan2(y, w); + } + + /** Get the roll euler angle in degrees, which is the rotation around the z axis. Requires that this QuaternionGDX is normalized. + * @return the rotation around the z axis in degrees (between -180 and +180) */ + public float getRoll () { + return getRollRad() * MathUtils.radiansToDegrees; + } + + /** Get the pitch euler angle in radians, which is the rotation around the x axis. Requires that this QuaternionGDX is normalized. + * @return the rotation around the x axis in radians (between -(PI/2) and +(PI/2)) */ + public float getPitchRad () { + final int pole = getGimbalPole(); + return pole == 0 ? (float)Math.asin(MathUtils.clamp(2f * (w * x - z * y), -1f, 1f)) : (float)pole * MathUtils.PI * 0.5f; + } + + /** Get the pitch euler angle in degrees, which is the rotation around the x axis. Requires that this QuaternionGDX is normalized. + * @return the rotation around the x axis in degrees (between -90 and +90) */ + public float getPitch () { + return getPitchRad() * MathUtils.radiansToDegrees; + } + + /** Get the yaw euler angle in radians, which is the rotation around the y axis. Requires that this QuaternionGDX is normalized. + * @return the rotation around the y axis in radians (between -PI and +PI) */ + public float getYawRad () { + return getGimbalPole() == 0 ? MathUtils.atan2(2f * (y * w + x * z), 1f - 2f * (y * y + x * x)) : 0f; + } + + /** Get the yaw euler angle in degrees, which is the rotation around the y axis. Requires that this QuaternionGDX is normalized. + * @return the rotation around the y axis in degrees (between -180 and +180) */ + public float getYaw () { + return getYawRad() * MathUtils.radiansToDegrees; + } + + public final static float len2 (final float x, final float y, final float z, final float w) { + return x * x + y * y + z * z + w * w; + } + + /** @return the length of this QuaternionGDX without square root */ + public float len2 () { + return x * x + y * y + z * z + w * w; + } + + /** Normalizes this QuaternionGDX to unit length + * @return the QuaternionGDX for chaining */ + public QuaternionGDX nor () { + float len = len2(); + if (len != 0.f && !MathUtils.isEqual(len, 1f)) { + len = (float)Math.sqrt(len); + w /= len; + x /= len; + y /= len; + z /= len; + } + return this; + } + + /** Conjugate the quaternion. + * + * @return This QuaternionGDX for chaining */ + public QuaternionGDX conjugate () { + x = -x; + y = -y; + z = -z; + return this; + } + + // TODO : this would better fit into the vector3 class + /** Transforms the given vector using this quaternion + * + * @param v Vector to transform */ + public Vector3 transform (Vector3 v) { + tmp2.set(this); + tmp2.conjugate(); + tmp2.mulLeft(tmp1.set(v.x, v.y, v.z, 0)).mulLeft(this); + + v.x = tmp2.x; + v.y = tmp2.y; + v.z = tmp2.z; + return v; + } + + /** Multiplies this QuaternionGDX with another one in the form of this = this * other + * + * @param other QuaternionGDX to multiply with + * @return This QuaternionGDX for chaining */ + public QuaternionGDX mul (final QuaternionGDX other) { + final float newX = this.w * other.x + this.x * other.w + this.y * other.z - this.z * other.y; + final float newY = this.w * other.y + this.y * other.w + this.z * other.x - this.x * other.z; + final float newZ = this.w * other.z + this.z * other.w + this.x * other.y - this.y * other.x; + final float newW = this.w * other.w - this.x * other.x - this.y * other.y - this.z * other.z; + this.x = newX; + this.y = newY; + this.z = newZ; + this.w = newW; + return this; + } + + /** Multiplies this QuaternionGDX with another one in the form of this = this * other + * + * @param x the x component of the other QuaternionGDX to multiply with + * @param y the y component of the other QuaternionGDX to multiply with + * @param z the z component of the other QuaternionGDX to multiply with + * @param w the w component of the other QuaternionGDX to multiply with + * @return This QuaternionGDX for chaining */ + public QuaternionGDX mul (final float x, final float y, final float z, final float w) { + final float newX = this.w * x + this.x * w + this.y * z - this.z * y; + final float newY = this.w * y + this.y * w + this.z * x - this.x * z; + final float newZ = this.w * z + this.z * w + this.x * y - this.y * x; + final float newW = this.w * w - this.x * x - this.y * y - this.z * z; + this.x = newX; + this.y = newY; + this.z = newZ; + this.w = newW; + return this; + } + + /** Multiplies this QuaternionGDX with another one in the form of this = other * this + * + * @param other QuaternionGDX to multiply with + * @return This QuaternionGDX for chaining */ + public QuaternionGDX mulLeft (QuaternionGDX other) { + final float newX = other.w * this.x + other.x * this.w + other.y * this.z - other.z * y; + final float newY = other.w * this.y + other.y * this.w + other.z * this.x - other.x * z; + final float newZ = other.w * this.z + other.z * this.w + other.x * this.y - other.y * x; + final float newW = other.w * this.w - other.x * this.x - other.y * this.y - other.z * z; + this.x = newX; + this.y = newY; + this.z = newZ; + this.w = newW; + return this; + } + + /** Multiplies this QuaternionGDX with another one in the form of this = other * this + * + * @param x the x component of the other QuaternionGDX to multiply with + * @param y the y component of the other QuaternionGDX to multiply with + * @param z the z component of the other QuaternionGDX to multiply with + * @param w the w component of the other QuaternionGDX to multiply with + * @return This QuaternionGDX for chaining */ + public QuaternionGDX mulLeft (final float x, final float y, final float z, final float w) { + final float newX = w * this.x + x * this.w + y * this.z - z * this.y; + final float newY = w * this.y + y * this.w + z * this.x - x * this.z; + final float newZ = w * this.z + z * this.w + x * this.y - y * this.x; + final float newW = w * this.w - x * this.x - y * this.y - z * this.z; + this.x = newX; + this.y = newY; + this.z = newZ; + this.w = newW; + return this; + } + + /** Add the x,y,z,w components of the passed in QuaternionGDX to the ones of this QuaternionGDX */ + public QuaternionGDX add (QuaternionGDX quaternion) { + this.x += quaternion.x; + this.y += quaternion.y; + this.z += quaternion.z; + this.w += quaternion.w; + return this; + } + + /** Add the x,y,z,w components of the passed in QuaternionGDX to the ones of this QuaternionGDX */ + public QuaternionGDX add (float qx, float qy, float qz, float qw) { + this.x += qx; + this.y += qy; + this.z += qz; + this.w += qw; + return this; + } + + // TODO : the matrix4 set(quaternion) doesnt set the last row+col of the matrix to 0,0,0,1 so... that's why there is this +// method + /** Fills a 4x4 matrix with the rotation matrix represented by this quaternion. + * + * @param matrix Matrix to fill */ + public void toMatrix (final float[] matrix) { + final float xx = x * x; + final float xy = x * y; + final float xz = x * z; + final float xw = x * w; + final float yy = y * y; + final float yz = y * z; + final float yw = y * w; + final float zz = z * z; + final float zw = z * w; + // Set matrix from quaternion + matrix[Matrix4.M00] = 1 - 2 * (yy + zz); + matrix[Matrix4.M01] = 2 * (xy - zw); + matrix[Matrix4.M02] = 2 * (xz + yw); + matrix[Matrix4.M03] = 0; + matrix[Matrix4.M10] = 2 * (xy + zw); + matrix[Matrix4.M11] = 1 - 2 * (xx + zz); + matrix[Matrix4.M12] = 2 * (yz - xw); + matrix[Matrix4.M13] = 0; + matrix[Matrix4.M20] = 2 * (xz - yw); + matrix[Matrix4.M21] = 2 * (yz + xw); + matrix[Matrix4.M22] = 1 - 2 * (xx + yy); + matrix[Matrix4.M23] = 0; + matrix[Matrix4.M30] = 0; + matrix[Matrix4.M31] = 0; + matrix[Matrix4.M32] = 0; + matrix[Matrix4.M33] = 1; + } + + /** Sets the QuaternionGDX to an identity Quaternion + * @return this QuaternionGDX for chaining */ + public QuaternionGDX idt () { + return this.set(0, 0, 0, 1); + } + + /** @return If this QuaternionGDX is an identity QuaternionGDX */ + public boolean isIdentity () { + return MathUtils.isZero(x) && MathUtils.isZero(y) && MathUtils.isZero(z) && MathUtils.isEqual(w, 1f); + } + + /** @return If this QuaternionGDX is an identity QuaternionGDX */ + public boolean isIdentity (final float tolerance) { + return MathUtils.isZero(x, tolerance) && MathUtils.isZero(y, tolerance) && MathUtils.isZero(z, tolerance) + && MathUtils.isEqual(w, 1f, tolerance); + } + + // todo : the setFromAxis(v3,float) method should replace the set(v3,float) method + /** Sets the QuaternionGDX components from the given axis and angle around that axis. + * + * @param axis The axis + * @param degrees The angle in degrees + * @return This QuaternionGDX for chaining. */ + public QuaternionGDX setFromAxis (final Vector3 axis, final float degrees) { + return setFromAxis(axis.x, axis.y, axis.z, degrees); + } + + /** Sets the QuaternionGDX components from the given axis and angle around that axis. + * + * @param axis The axis + * @param radians The angle in radians + * @return This QuaternionGDX for chaining. */ + public QuaternionGDX setFromAxisRad (final Vector3 axis, final float radians) { + return setFromAxisRad(axis.x, axis.y, axis.z, radians); + } + + /** Sets the QuaternionGDX components from the given axis and angle around that axis. + * @param x X direction of the axis + * @param y Y direction of the axis + * @param z Z direction of the axis + * @param degrees The angle in degrees + * @return This QuaternionGDX for chaining. */ + public QuaternionGDX setFromAxis (final float x, final float y, final float z, final float degrees) { + return setFromAxisRad(x, y, z, degrees * MathUtils.degreesToRadians); + } + + /** Sets the QuaternionGDX components from the given axis and angle around that axis. + * @param x X direction of the axis + * @param y Y direction of the axis + * @param z Z direction of the axis + * @param radians The angle in radians + * @return This QuaternionGDX for chaining. */ + public QuaternionGDX setFromAxisRad (final float x, final float y, final float z, final float radians) { + float d = Vector3.len(x, y, z); + if (d == 0f) return idt(); + d = 1f / d; + float l_ang = radians < 0 ? MathUtils.PI2 - (-radians % MathUtils.PI2) : radians % MathUtils.PI2; + float l_sin = (float)Math.sin(l_ang / 2); + float l_cos = (float)Math.cos(l_ang / 2); + return this.set(d * x * l_sin, d * y * l_sin, d * z * l_sin, l_cos).nor(); + } + + /** Sets the QuaternionGDX from the given matrix, optionally removing any scaling. */ + public QuaternionGDX setFromMatrix (boolean normalizeAxes, Matrix4 matrix) { + return setFromAxes(normalizeAxes, matrix.val[Matrix4.M00], matrix.val[Matrix4.M01], matrix.val[Matrix4.M02], + matrix.val[Matrix4.M10], matrix.val[Matrix4.M11], matrix.val[Matrix4.M12], matrix.val[Matrix4.M20], + matrix.val[Matrix4.M21], matrix.val[Matrix4.M22]); + } + + /** Sets the QuaternionGDX from the given rotation matrix, which must not contain scaling. */ + public QuaternionGDX setFromMatrix (Matrix4 matrix) { + return setFromMatrix(false, matrix); + } + + /** Sets the QuaternionGDX from the given matrix, optionally removing any scaling. */ + public QuaternionGDX setFromMatrix (boolean normalizeAxes, Matrix3 matrix) { + return setFromAxes(normalizeAxes, matrix.val[Matrix3.M00], matrix.val[Matrix3.M01], matrix.val[Matrix3.M02], + matrix.val[Matrix3.M10], matrix.val[Matrix3.M11], matrix.val[Matrix3.M12], matrix.val[Matrix3.M20], + matrix.val[Matrix3.M21], matrix.val[Matrix3.M22]); + } + + /** Sets the QuaternionGDX from the given rotation matrix, which must not contain scaling. */ + public QuaternionGDX setFromMatrix (Matrix3 matrix) { + return setFromMatrix(false, matrix); + } + + /**

+ * Sets the QuaternionGDX from the given x-, y- and z-axis which have to be orthonormal. + *

+ * + *

+ * Taken from Bones framework for JPCT, see http://www.aptalkarga.com/bones/ which in turn took it from Graphics Gem code at + * ftp://ftp.cis.upenn.edu/pub/graphics/shoemake/quatut.ps.Z. + *

+ * + * @param xx x-axis x-coordinate + * @param xy x-axis y-coordinate + * @param xz x-axis z-coordinate + * @param yx y-axis x-coordinate + * @param yy y-axis y-coordinate + * @param yz y-axis z-coordinate + * @param zx z-axis x-coordinate + * @param zy z-axis y-coordinate + * @param zz z-axis z-coordinate */ + public QuaternionGDX setFromAxes (float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz) { + return setFromAxes(false, xx, xy, xz, yx, yy, yz, zx, zy, zz); + } + + /**

+ * Sets the QuaternionGDX from the given x-, y- and z-axis. + *

+ * + *

+ * Taken from Bones framework for JPCT, see http://www.aptalkarga.com/bones/ which in turn took it from Graphics Gem code at + * ftp://ftp.cis.upenn.edu/pub/graphics/shoemake/quatut.ps.Z. + *

+ * + * @param normalizeAxes whether to normalize the axes (necessary when they contain scaling) + * @param xx x-axis x-coordinate + * @param xy x-axis y-coordinate + * @param xz x-axis z-coordinate + * @param yx y-axis x-coordinate + * @param yy y-axis y-coordinate + * @param yz y-axis z-coordinate + * @param zx z-axis x-coordinate + * @param zy z-axis y-coordinate + * @param zz z-axis z-coordinate */ + public QuaternionGDX setFromAxes (boolean normalizeAxes, float xx, float xy, float xz, float yx, float yy, float yz, float zx, + float zy, float zz) { + if (normalizeAxes) { + final float lx = 1f / Vector3.len(xx, xy, xz); + final float ly = 1f / Vector3.len(yx, yy, yz); + final float lz = 1f / Vector3.len(zx, zy, zz); + xx *= lx; + xy *= lx; + xz *= lx; + yx *= ly; + yy *= ly; + yz *= ly; + zx *= lz; + zy *= lz; + zz *= lz; + } + // the trace is the sum of the diagonal elements; see + // http://mathworld.wolfram.com/MatrixTrace.html + final float t = xx + yy + zz; + + // we protect the division by s by ensuring that s>=1 + if (t >= 0) { // |w| >= .5 + float s = (float)Math.sqrt(t + 1); // |s|>=1 ... + w = 0.5f * s; + s = 0.5f / s; // so this division isn't bad + x = (zy - yz) * s; + y = (xz - zx) * s; + z = (yx - xy) * s; + } else if ((xx > yy) && (xx > zz)) { + float s = (float)Math.sqrt(1.0 + xx - yy - zz); // |s|>=1 + x = s * 0.5f; // |x| >= .5 + s = 0.5f / s; + y = (yx + xy) * s; + z = (xz + zx) * s; + w = (zy - yz) * s; + } else if (yy > zz) { + float s = (float)Math.sqrt(1.0 + yy - xx - zz); // |s|>=1 + y = s * 0.5f; // |y| >= .5 + s = 0.5f / s; + x = (yx + xy) * s; + z = (zy + yz) * s; + w = (xz - zx) * s; + } else { + float s = (float)Math.sqrt(1.0 + zz - xx - yy); // |s|>=1 + z = s * 0.5f; // |z| >= .5 + s = 0.5f / s; + x = (xz + zx) * s; + y = (zy + yz) * s; + w = (yx - xy) * s; + } + + return this; + } + + /** Set this QuaternionGDX to the rotation between two vectors. + * @param v1 The base vector, which should be normalized. + * @param v2 The target vector, which should be normalized. + * @return This QuaternionGDX for chaining */ + public QuaternionGDX setFromCross (final Vector3 v1, final Vector3 v2) { + final float dot = MathUtils.clamp(v1.dot(v2), -1f, 1f); + final float angle = (float)Math.acos(dot); + return setFromAxisRad(v1.y * v2.z - v1.z * v2.y, v1.z * v2.x - v1.x * v2.z, v1.x * v2.y - v1.y * v2.x, angle); + } + + /** Set this QuaternionGDX to the rotation between two vectors. + * @param x1 The base vectors x value, which should be normalized. + * @param y1 The base vectors y value, which should be normalized. + * @param z1 The base vectors z value, which should be normalized. + * @param x2 The target vector x value, which should be normalized. + * @param y2 The target vector y value, which should be normalized. + * @param z2 The target vector z value, which should be normalized. + * @return This QuaternionGDX for chaining */ + public QuaternionGDX setFromCross (final float x1, final float y1, final float z1, final float x2, final float y2, final float z2) { + final float dot = MathUtils.clamp(Vector3.dot(x1, y1, z1, x2, y2, z2), -1f, 1f); + final float angle = (float)Math.acos(dot); + return setFromAxisRad(y1 * z2 - z1 * y2, z1 * x2 - x1 * z2, x1 * y2 - y1 * x2, angle); + } + + /** Spherical linear interpolation between this QuaternionGDX and the other quaternion, based on the alpha value in the range + * [0,1]. Taken from Bones framework for JPCT, see http://www.aptalkarga.com/bones/ + * @param end the end quaternion + * @param alpha alpha in the range [0,1] + * @return this QuaternionGDX for chaining */ + public QuaternionGDX slerp (QuaternionGDX end, float alpha) { + final float d = this.x * end.x + this.y * end.y + this.z * end.z + this.w * end.w; + float absDot = d < 0.f ? -d : d; + + // Set the first and second scale for the interpolation + float scale0 = 1f - alpha; + float scale1 = alpha; + + // Check if the angle between the 2 quaternions was big enough to + // warrant such calculations + if ((1 - absDot) > 0.1) {// Get the angle between the 2 quaternions, + // and then store the sin() of that angle + final float angle = (float)Math.acos(absDot); + final float invSinTheta = 1f / (float)Math.sin(angle); + + // Calculate the scale for q1 and q2, according to the angle and + // it's sine value + scale0 = ((float)Math.sin((1f - alpha) * angle) * invSinTheta); + scale1 = ((float)Math.sin((alpha * angle)) * invSinTheta); + } + + if (d < 0.f) scale1 = -scale1; + + // Calculate the x, y, z and w values for the QuaternionGDX by using a + // special form of linear interpolation for quaternions. + x = (scale0 * x) + (scale1 * end.x); + y = (scale0 * y) + (scale1 * end.y); + z = (scale0 * z) + (scale1 * end.z); + w = (scale0 * w) + (scale1 * end.w); + + // Return the interpolated quaternion + return this; + } + + /** Spherical linearly interpolates multiple quaternions and stores the result in this Quaternion. Will not destroy the data + * previously inside the elements of q. result = (q_1^w_1)*(q_2^w_2)* ... *(q_n^w_n) where w_i=1/n. + * @param q List of quaternions + * @return This QuaternionGDX for chaining */ + public QuaternionGDX slerp (QuaternionGDX[] q) { + + // Calculate exponents and multiply everything from left to right + final float w = 1.0f / q.length; + set(q[0]).exp(w); + for (int i = 1; i < q.length; i++) + mul(tmp1.set(q[i]).exp(w)); + nor(); + return this; + } + + /** Spherical linearly interpolates multiple quaternions by the given weights and stores the result in this Quaternion. Will not + * destroy the data previously inside the elements of q or w. result = (q_1^w_1)*(q_2^w_2)* ... *(q_n^w_n) where the sum of w_i + * is 1. Lists must be equal in length. + * @param q List of quaternions + * @param w List of weights + * @return This QuaternionGDX for chaining */ + public QuaternionGDX slerp (QuaternionGDX[] q, float[] w) { + + // Calculate exponents and multiply everything from left to right + set(q[0]).exp(w[0]); + for (int i = 1; i < q.length; i++) + mul(tmp1.set(q[i]).exp(w[i])); + nor(); + return this; + } + + /** Calculates (this quaternion)^alpha where alpha is a real number and stores the result in this quaternion. See + * http://en.wikipedia.org/wiki/Quaternion#Exponential.2C_logarithm.2C_and_power + * @param alpha Exponent + * @return This QuaternionGDX for chaining */ + public QuaternionGDX exp (float alpha) { + + // Calculate |q|^alpha + float norm = len(); + float normExp = (float)Math.pow(norm, alpha); + + // Calculate theta + float theta = (float)Math.acos(w / norm); + + // Calculate coefficient of basis elements + float coeff = 0; + if (Math.abs(theta) < 0.001) // If theta is small enough, use the limit of sin(alpha*theta) / sin(theta) instead of actual +// value + coeff = normExp * alpha / norm; + else + coeff = (float)(normExp * Math.sin(alpha * theta) / (norm * Math.sin(theta))); + + // Write results + w = (float)(normExp * Math.cos(alpha * theta)); + x *= coeff; + y *= coeff; + z *= coeff; + + // Fix any possible discrepancies + nor(); + + return this; + } + + @Override + public int hashCode () { + final int prime = 31; + int result = 1; + result = prime * result + NumberUtils.floatToRawIntBits(w); + result = prime * result + NumberUtils.floatToRawIntBits(x); + result = prime * result + NumberUtils.floatToRawIntBits(y); + result = prime * result + NumberUtils.floatToRawIntBits(z); + return result; + } + + @Override + public boolean equals (Object obj) { + if (this == obj) { + return true; + } + if (obj == null) { + return false; + } + if (!(obj instanceof QuaternionGDX)) { + return false; + } + QuaternionGDX other = (QuaternionGDX)obj; + return (NumberUtils.floatToRawIntBits(w) == NumberUtils.floatToRawIntBits(other.w)) + && (NumberUtils.floatToRawIntBits(x) == NumberUtils.floatToRawIntBits(other.x)) + && (NumberUtils.floatToRawIntBits(y) == NumberUtils.floatToRawIntBits(other.y)) + && (NumberUtils.floatToRawIntBits(z) == NumberUtils.floatToRawIntBits(other.z)); + } + + /** Get the dot product between the two quaternions (commutative). + * @param x1 the x component of the first quaternion + * @param y1 the y component of the first quaternion + * @param z1 the z component of the first quaternion + * @param w1 the w component of the first quaternion + * @param x2 the x component of the second quaternion + * @param y2 the y component of the second quaternion + * @param z2 the z component of the second quaternion + * @param w2 the w component of the second quaternion + * @return the dot product between the first and second quaternion. */ + public final static float dot (final float x1, final float y1, final float z1, final float w1, final float x2, final float y2, + final float z2, final float w2) { + return x1 * x2 + y1 * y2 + z1 * z2 + w1 * w2; + } + + /** Get the dot product between this and the other QuaternionGDX (commutative). + * @param other the other quaternion. + * @return the dot product of this and the other quaternion. */ + public float dot (final QuaternionGDX other) { + return this.x * other.x + this.y * other.y + this.z * other.z + this.w * other.w; + } + + /** Get the dot product between this and the other QuaternionGDX (commutative). + * @param x the x component of the other quaternion + * @param y the y component of the other quaternion + * @param z the z component of the other quaternion + * @param w the w component of the other quaternion + * @return the dot product of this and the other quaternion. */ + public float dot (final float x, final float y, final float z, final float w) { + return this.x * x + this.y * y + this.z * z + this.w * w; + } + + /** Multiplies the components of this QuaternionGDX with the given scalar. + * @param scalar the scalar. + * @return this QuaternionGDX for chaining. */ + public QuaternionGDX mul (float scalar) { + this.x *= scalar; + this.y *= scalar; + this.z *= scalar; + this.w *= scalar; + return this; + } + + /** Get the axis angle representation of the rotation in degrees. The supplied vector will receive the axis (x, y and z values) + * of the rotation and the value returned is the angle in degrees around that axis. Note that this method will alter the + * supplied vector, the existing value of the vector is ignored.

This will normalize this QuaternionGDX if needed. The + * received axis is a unit vector. However, if this is an identity QuaternionGDX (no rotation), then the length of the axis may be + * zero. + * + * @param axis vector which will receive the axis + * @return the angle in degrees + * @see wikipedia + * @see calculation */ + public float getAxisAngle (Vector3 axis) { + return getAxisAngleRad(axis) * MathUtils.radiansToDegrees; + } + + /** Get the axis-angle representation of the rotation in radians. The supplied vector will receive the axis (x, y and z values) + * of the rotation and the value returned is the angle in radians around that axis. Note that this method will alter the + * supplied vector, the existing value of the vector is ignored.

This will normalize this QuaternionGDX if needed. The + * received axis is a unit vector. However, if this is an identity QuaternionGDX (no rotation), then the length of the axis may be + * zero. + * + * @param axis vector which will receive the axis + * @return the angle in radians + * @see wikipedia + * @see calculation */ + public float getAxisAngleRad (Vector3 axis) { + if (this.w > 1) this.nor(); // if w>1 acos and sqrt will produce errors, this cant happen if QuaternionGDX is normalised + float angle = (float)(2.0 * Math.acos(this.w)); + double s = Math.sqrt(1 - this.w * this.w); // assuming QuaternionGDX normalised then w is less than 1, so term always positive. + if (s < MathUtils.FLOAT_ROUNDING_ERROR) { // test to avoid divide by zero, s is always positive due to sqrt + // if s close to zero then direction of axis not important + axis.x = this.x; // if it is important that axis is normalised then replace with x=1; y=z=0; + axis.y = this.y; + axis.z = this.z; + } else { + axis.x = (float)(this.x / s); // normalise axis + axis.y = (float)(this.y / s); + axis.z = (float)(this.z / s); + } + + return angle; + } + + /** Get the angle in radians of the rotation this QuaternionGDX represents. Does not normalize the quaternion. Use + * {@link #getAxisAngleRad(Vector3)} to get both the axis and the angle of this rotation. Use + * {@link #getAngleAroundRad(Vector3)} to get the angle around a specific axis. + * @return the angle in radians of the rotation */ + public float getAngleRad () { + return (float)(2.0 * Math.acos((this.w > 1) ? (this.w / len()) : this.w)); + } + + /** Get the angle in degrees of the rotation this QuaternionGDX represents. Use {@link #getAxisAngle(Vector3)} to get both the axis + * and the angle of this rotation. Use {@link #getAngleAround(Vector3)} to get the angle around a specific axis. + * @return the angle in degrees of the rotation */ + public float getAngle () { + return getAngleRad() * MathUtils.radiansToDegrees; + } + + /** Get the swing rotation and twist rotation for the specified axis. The twist rotation represents the rotation around the + * specified axis. The swing rotation represents the rotation of the specified axis itself, which is the rotation around an + * axis perpendicular to the specified axis.

The swing and twist rotation can be used to reconstruct the original + * quaternion: this = swing * twist + * + * @param axisX the X component of the normalized axis for which to get the swing and twist rotation + * @param axisY the Y component of the normalized axis for which to get the swing and twist rotation + * @param axisZ the Z component of the normalized axis for which to get the swing and twist rotation + * @param swing will receive the swing rotation: the rotation around an axis perpendicular to the specified axis + * @param twist will receive the twist rotation: the rotation around the specified axis + * @see calculation */ + public void getSwingTwist (final float axisX, final float axisY, final float axisZ, final QuaternionGDX swing, + final QuaternionGDX twist) { + final float d = Vector3.dot(this.x, this.y, this.z, axisX, axisY, axisZ); + twist.set(axisX * d, axisY * d, axisZ * d, this.w).nor(); + if (d < 0) twist.mul(-1f); + swing.set(twist).conjugate().mulLeft(this); + } + + /** Get the swing rotation and twist rotation for the specified axis. The twist rotation represents the rotation around the + * specified axis. The swing rotation represents the rotation of the specified axis itself, which is the rotation around an + * axis perpendicular to the specified axis.

The swing and twist rotation can be used to reconstruct the original + * quaternion: this = swing * twist + * + * @param axis the normalized axis for which to get the swing and twist rotation + * @param swing will receive the swing rotation: the rotation around an axis perpendicular to the specified axis + * @param twist will receive the twist rotation: the rotation around the specified axis + * @see calculation */ + public void getSwingTwist (final Vector3 axis, final QuaternionGDX swing, final QuaternionGDX twist) { + getSwingTwist(axis.x, axis.y, axis.z, swing, twist); + } + + /** Get the angle in radians of the rotation around the specified axis. The axis must be normalized. + * @param axisX the x component of the normalized axis for which to get the angle + * @param axisY the y component of the normalized axis for which to get the angle + * @param axisZ the z component of the normalized axis for which to get the angle + * @return the angle in radians of the rotation around the specified axis */ + public float getAngleAroundRad (final float axisX, final float axisY, final float axisZ) { + final float d = Vector3.dot(this.x, this.y, this.z, axisX, axisY, axisZ); + final float l2 = QuaternionGDX.len2(axisX * d, axisY * d, axisZ * d, this.w); + return MathUtils.isZero(l2) ? 0f : (float)(2.0 * Math.acos(MathUtils.clamp( + (float)((d < 0 ? -this.w : this.w) / Math.sqrt(l2)), -1f, 1f))); + } + + /** Get the angle in radians of the rotation around the specified axis. The axis must be normalized. + * @param axis the normalized axis for which to get the angle + * @return the angle in radians of the rotation around the specified axis */ + public float getAngleAroundRad (final Vector3 axis) { + return getAngleAroundRad(axis.x, axis.y, axis.z); + } + + /** Get the angle in degrees of the rotation around the specified axis. The axis must be normalized. + * @param axisX the x component of the normalized axis for which to get the angle + * @param axisY the y component of the normalized axis for which to get the angle + * @param axisZ the z component of the normalized axis for which to get the angle + * @return the angle in degrees of the rotation around the specified axis */ + public float getAngleAround (final float axisX, final float axisY, final float axisZ) { + return getAngleAroundRad(axisX, axisY, axisZ) * MathUtils.radiansToDegrees; + } + + /** Get the angle in degrees of the rotation around the specified axis. The axis must be normalized. + * @param axis the normalized axis for which to get the angle + * @return the angle in degrees of the rotation around the specified axis */ + public float getAngleAround (final Vector3 axis) { + return getAngleAround(axis.x, axis.y, axis.z); + } +} \ No newline at end of file diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RandomXS128.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RandomXS128.java new file mode 100644 index 00000000..978df0e4 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RandomXS128.java @@ -0,0 +1,197 @@ +/******************************************************************************* + * Copyright 2011 See AUTHORS file. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + ******************************************************************************/ + +package com.neuronrobotics.sdk.addons.kinematics.math; + +import java.util.Random; + +/** This class implements the xorshift128+ algorithm that is a very fast, top-quality 64-bit pseudo-random number generator. The + * quality of this PRNG is much higher than {@link Random}'s, and its cycle length is 2128 − 1, which + * is more than enough for any single-thread application. More details and algorithms can be found here. + *

+ * Instances of RandomXS128 are not thread-safe. + * + * @author Inferno + * @author davebaol */ +class RandomXS128 extends Random { + + /** Normalization constant for double. */ + private static final double NORM_DOUBLE = 1.0 / (1L << 53); + + /** Normalization constant for float. */ + private static final double NORM_FLOAT = 1.0 / (1L << 24); + + /** The first half of the internal state of this pseudo-random number generator. */ + private long seed0; + + /** The second half of the internal state of this pseudo-random number generator. */ + private long seed1; + + /** Creates a new random number generator. This constructor sets the seed of the random number generator to a value very likely + * to be distinct from any other invocation of this constructor. + *

+ * This implementation creates a {@link Random} instance to generate the initial seed. */ + public RandomXS128 () { + setSeed(new Random().nextLong()); + } + + /** Creates a new random number generator using a single {@code long} seed. + * @param seed the initial seed */ + public RandomXS128 (long seed) { + setSeed(seed); + } + + /** Creates a new random number generator using two {@code long} seeds. + * @param seed0 the first part of the initial seed + * @param seed1 the second part of the initial seed */ + public RandomXS128 (long seed0, long seed1) { + setState(seed0, seed1); + } + + /** Returns the next pseudo-random, uniformly distributed {@code long} value from this random number generator's sequence. + *

+ * Subclasses should override this, as this is used by all other methods. */ + @Override + public long nextLong () { + long s1 = this.seed0; + final long s0 = this.seed1; + this.seed0 = s0; + s1 ^= s1 << 23; + return (this.seed1 = (s1 ^ s0 ^ (s1 >>> 17) ^ (s0 >>> 26))) + s0; + } + + /** This protected method is final because, contrary to the superclass, it's not used anymore by the other methods. */ + @Override + protected final int next (int bits) { + return (int)(nextLong() & ((1L << bits) - 1)); + } + + /** Returns the next pseudo-random, uniformly distributed {@code int} value from this random number generator's sequence. + *

+ * This implementation uses {@link #nextLong()} internally. */ + @Override + public int nextInt () { + return (int)nextLong(); + } + + /** Returns a pseudo-random, uniformly distributed {@code int} value between 0 (inclusive) and the specified value (exclusive), + * drawn from this random number generator's sequence. + *

+ * This implementation uses {@link #nextLong()} internally. + * @param n the positive bound on the random number to be returned. + * @return the next pseudo-random {@code int} value between {@code 0} (inclusive) and {@code n} (exclusive). */ + @Override + public int nextInt (final int n) { + return (int)nextLong(n); + } + + /** Returns a pseudo-random, uniformly distributed {@code long} value between 0 (inclusive) and the specified value (exclusive), + * drawn from this random number generator's sequence. The algorithm used to generate the value guarantees that the result is + * uniform, provided that the sequence of 64-bit values produced by this generator is. + *

+ * This implementation uses {@link #nextLong()} internally. + * @param n the positive bound on the random number to be returned. + * @return the next pseudo-random {@code long} value between {@code 0} (inclusive) and {@code n} (exclusive). */ + public long nextLong (final long n) { + if (n <= 0) throw new IllegalArgumentException("n must be positive"); + for (;;) { + final long bits = nextLong() >>> 1; + final long value = bits % n; + if (bits - value + (n - 1) >= 0) return value; + } + } + + /** Returns a pseudo-random, uniformly distributed {@code double} value between 0.0 and 1.0 from this random number generator's + * sequence. + *

+ * This implementation uses {@link #nextLong()} internally. */ + @Override + public double nextDouble () { + return (nextLong() >>> 11) * NORM_DOUBLE; + } + + /** Returns a pseudo-random, uniformly distributed {@code float} value between 0.0 and 1.0 from this random number generator's + * sequence. + *

+ * This implementation uses {@link #nextLong()} internally. */ + @Override + public float nextFloat () { + return (float)((nextLong() >>> 40) * NORM_FLOAT); + } + + /** Returns a pseudo-random, uniformly distributed {@code boolean } value from this random number generator's sequence. + *

+ * This implementation uses {@link #nextLong()} internally. */ + @Override + public boolean nextBoolean () { + return (nextLong() & 1) != 0; + } + + /** Generates random bytes and places them into a user-supplied byte array. The number of random bytes produced is equal to the + * length of the byte array. + *

+ * This implementation uses {@link #nextLong()} internally. */ + @Override + public void nextBytes (final byte[] bytes) { + int n = 0; + int i = bytes.length; + while (i != 0) { + n = i < 8 ? i : 8; // min(i, 8); + for (long bits = nextLong(); n-- != 0; bits >>= 8) + bytes[--i] = (byte)bits; + } + } + + /** Sets the internal seed of this generator based on the given {@code long} value. + *

+ * The given seed is passed twice through a hash function. This way, if the user passes a small value we avoid the short + * irregular transient associated with states having a very small number of bits set. + * @param seed a nonzero seed for this generator (if zero, the generator will be seeded with {@link Long#MIN_VALUE}). */ + @Override + public void setSeed (final long seed) { + long seed0 = murmurHash3(seed == 0 ? Long.MIN_VALUE : seed); + setState(seed0, murmurHash3(seed0)); + } + + /** Sets the internal state of this generator. + * @param seed0 the first part of the internal state + * @param seed1 the second part of the internal state */ + public void setState (final long seed0, final long seed1) { + this.seed0 = seed0; + this.seed1 = seed1; + } + + /** + * Returns the internal seeds to allow state saving. + * @param seed must be 0 or 1, designating which of the 2 long seeds to return + * @return the internal seed that can be used in setState + */ + public long getState(int seed) { + return seed == 0 ? seed0 : seed1; + } + + private final static long murmurHash3 (long x) { + x ^= x >>> 33; + x *= 0xff51afd7ed558ccdL; + x ^= x >>> 33; + x *= 0xc4ceb9fe1a85ec53L; + x ^= x >>> 33; + + return x; + } + +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector.java new file mode 100644 index 00000000..9245199a --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector.java @@ -0,0 +1,193 @@ +/******************************************************************************* + * Copyright 2011 See AUTHORS file. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + ******************************************************************************/ + +package com.neuronrobotics.sdk.addons.kinematics.math; + +/** Encapsulates a general vector. Allows chaining operations by returning a reference to itself in all modification methods. See + * {@link Vector2} and {@link Vector3} for specific implementations. + * @author Xoppa */ + interface Vector> { + /** @return a copy of this vector */ + T cpy (); + + /** @return The euclidean length */ + float len (); + + /** This method is faster than {@link Vector#len()} because it avoids calculating a square root. It is useful for comparisons, + * but not for getting exact lengths, as the return value is the square of the actual length. + * @return The squared euclidean length */ + float len2 (); + + /** Limits the length of this vector, based on the desired maximum length. + * @param limit desired maximum length for this vector + * @return this vector for chaining */ + T limit (float limit); + + /** Limits the length of this vector, based on the desired maximum length squared. + *

+ * This method is slightly faster than limit(). + * @param limit2 squared desired maximum length for this vector + * @return this vector for chaining + * @see #len2() */ + T limit2 (float limit2); + + /** Sets the length of this vector. Does nothing is this vector is zero. + * @param len desired length for this vector + * @return this vector for chaining */ + T setLength (float len); + + /** Sets the length of this vector, based on the square of the desired length. Does nothing is this vector is zero. + *

+ * This method is slightly faster than setLength(). + * @param len2 desired square of the length for this vector + * @return this vector for chaining + * @see #len2() */ + T setLength2 (float len2); + + /** Clamps this vector's length to given min and max values + * @param min Min length + * @param max Max length + * @return This vector for chaining */ + T clamp (float min, float max); + + /** Sets this vector from the given vector + * @param v The vector + * @return This vector for chaining */ + T set (T v); + + /** Subtracts the given vector from this vector. + * @param v The vector + * @return This vector for chaining */ + T sub (T v); + + /** Normalizes this vector. Does nothing if it is zero. + * @return This vector for chaining */ + T nor (); + + /** Adds the given vector to this vector + * @param v The vector + * @return This vector for chaining */ + T add (T v); + + /** @param v The other vector + * @return The dot product between this and the other vector */ + float dot (T v); + + /** Scales this vector by a scalar + * @param scalar The scalar + * @return This vector for chaining */ + T scl (float scalar); + + /** Scales this vector by another vector + * @return This vector for chaining */ + T scl (T v); + + /** @param v The other vector + * @return the distance between this and the other vector */ + float dst (T v); + + /** This method is faster than {@link Vector#dst(Vector)} because it avoids calculating a square root. It is useful for + * comparisons, but not for getting accurate distances, as the return value is the square of the actual distance. + * @param v The other vector + * @return the squared distance between this and the other vector */ + float dst2 (T v); + + /** Linearly interpolates between this vector and the target vector by alpha which is in the range [0,1]. The result is stored + * in this vector. + * @param target The target vector + * @param alpha The interpolation coefficient + * @return This vector for chaining. */ + T lerp (T target, float alpha); + + /** Interpolates between this vector and the given target vector by alpha (within range [0,1]) using the given Interpolation + * method. the result is stored in this vector. + * @param target The target vector + * @param alpha The interpolation coefficient + * @param interpolator An Interpolation object describing the used interpolation method + * @return This vector for chaining. */ + T interpolate (T target, float alpha, Interpolation interpolator); + + /** Sets this vector to the unit vector with a random direction + * @return This vector for chaining */ + T setToRandomDirection (); + + /** @return Whether this vector is a unit length vector */ + boolean isUnit (); + + /** @return Whether this vector is a unit length vector within the given margin. */ + boolean isUnit (final float margin); + + /** @return Whether this vector is a zero vector */ + boolean isZero (); + + /** @return Whether the length of this vector is smaller than the given margin */ + boolean isZero (final float margin); + + /** @return true if this vector is in line with the other vector (either in the same or the opposite direction) */ + boolean isOnLine (T other, float epsilon); + + /** @return true if this vector is in line with the other vector (either in the same or the opposite direction) */ + boolean isOnLine (T other); + + /** @return true if this vector is collinear with the other vector ({@link #isOnLine(Vector, float)} && + * {@link #hasSameDirection(Vector)}). */ + boolean isCollinear (T other, float epsilon); + + /** @return true if this vector is collinear with the other vector ({@link #isOnLine(Vector)} && + * {@link #hasSameDirection(Vector)}). */ + boolean isCollinear (T other); + + /** @return true if this vector is opposite collinear with the other vector ({@link #isOnLine(Vector, float)} && + * {@link #hasOppositeDirection(Vector)}). */ + boolean isCollinearOpposite (T other, float epsilon); + + /** @return true if this vector is opposite collinear with the other vector ({@link #isOnLine(Vector)} && + * {@link #hasOppositeDirection(Vector)}). */ + boolean isCollinearOpposite (T other); + + /** @return Whether this vector is perpendicular with the other vector. True if the dot product is 0. */ + boolean isPerpendicular (T other); + + /** @return Whether this vector is perpendicular with the other vector. True if the dot product is 0. + * @param epsilon a positive small number close to zero */ + boolean isPerpendicular (T other, float epsilon); + + /** @return Whether this vector has similar direction compared to the other vector. True if the normalized dot product is > 0. */ + boolean hasSameDirection (T other); + + /** @return Whether this vector has opposite direction compared to the other vector. True if the normalized dot product is < 0. */ + boolean hasOppositeDirection (T other); + + /** Compares this vector with the other vector, using the supplied epsilon for fuzzy equality testing. + * @param other + * @param epsilon + * @return whether the vectors have fuzzy equality. */ + boolean epsilonEquals (T other, float epsilon); + + /** First scale a supplied vector, then add it to this vector. + * @param v addition vector + * @param scalar for scaling the addition vector */ + T mulAdd (T v, float scalar); + + /** First scale a supplied vector, then add it to this vector. + * @param v addition vector + * @param mulVec vector by whose values the addition vector will be scaled */ + T mulAdd (T v, T mulVec); + + /** Sets the components of this vector to 0 + * @return This vector for chaining */ + T setZero (); +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector2.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector2.java new file mode 100644 index 00000000..3bc99673 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector2.java @@ -0,0 +1,523 @@ +/******************************************************************************* + * Copyright 2011 See AUTHORS file. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + ******************************************************************************/ + +package com.neuronrobotics.sdk.addons.kinematics.math; + +import java.io.Serializable; + + +/** Encapsulates a 2D vector. Allows chaining methods by returning a reference to itself + * @author badlogicgames@gmail.com */ + class Vector2 implements Serializable, Vector { + private static final long serialVersionUID = 913902788239530931L; + + public final static Vector2 X = new Vector2(1, 0); + public final static Vector2 Y = new Vector2(0, 1); + public final static Vector2 Zero = new Vector2(0, 0); + + /** the x-component of this vector **/ + public float x; + /** the y-component of this vector **/ + public float y; + + /** Constructs a new vector at (0,0) */ + public Vector2 () { + } + + /** Constructs a vector with the given components + * @param x The x-component + * @param y The y-component */ + public Vector2 (float x, float y) { + this.x = x; + this.y = y; + } + + /** Constructs a vector from the given vector + * @param v The vector */ + public Vector2 (Vector2 v) { + set(v); + } + + @Override + public Vector2 cpy () { + return new Vector2(this); + } + + public static float len (float x, float y) { + return (float)Math.sqrt(x * x + y * y); + } + + @Override + public float len () { + return (float)Math.sqrt(x * x + y * y); + } + + public static float len2 (float x, float y) { + return x * x + y * y; + } + + @Override + public float len2 () { + return x * x + y * y; + } + + @Override + public Vector2 set (Vector2 v) { + x = v.x; + y = v.y; + return this; + } + + /** Sets the components of this vector + * @param x The x-component + * @param y The y-component + * @return This vector for chaining */ + public Vector2 set (float x, float y) { + this.x = x; + this.y = y; + return this; + } + + @Override + public Vector2 sub (Vector2 v) { + x -= v.x; + y -= v.y; + return this; + } + + /** Substracts the other vector from this vector. + * @param x The x-component of the other vector + * @param y The y-component of the other vector + * @return This vector for chaining */ + public Vector2 sub (float x, float y) { + this.x -= x; + this.y -= y; + return this; + } + + @Override + public Vector2 nor () { + float len = len(); + if (len != 0) { + x /= len; + y /= len; + } + return this; + } + + @Override + public Vector2 add (Vector2 v) { + x += v.x; + y += v.y; + return this; + } + + /** Adds the given components to this vector + * @param x The x-component + * @param y The y-component + * @return This vector for chaining */ + public Vector2 add (float x, float y) { + this.x += x; + this.y += y; + return this; + } + + public static float dot (float x1, float y1, float x2, float y2) { + return x1 * x2 + y1 * y2; + } + + @Override + public float dot (Vector2 v) { + return x * v.x + y * v.y; + } + + public float dot (float ox, float oy) { + return x * ox + y * oy; + } + + @Override + public Vector2 scl (float scalar) { + x *= scalar; + y *= scalar; + return this; + } + + /** Multiplies this vector by a scalar + * @return This vector for chaining */ + public Vector2 scl (float x, float y) { + this.x *= x; + this.y *= y; + return this; + } + + @Override + public Vector2 scl (Vector2 v) { + this.x *= v.x; + this.y *= v.y; + return this; + } + + @Override + public Vector2 mulAdd (Vector2 vec, float scalar) { + this.x += vec.x * scalar; + this.y += vec.y * scalar; + return this; + } + + @Override + public Vector2 mulAdd (Vector2 vec, Vector2 mulVec) { + this.x += vec.x * mulVec.x; + this.y += vec.y * mulVec.y; + return this; + } + + public static float dst (float x1, float y1, float x2, float y2) { + final float x_d = x2 - x1; + final float y_d = y2 - y1; + return (float)Math.sqrt(x_d * x_d + y_d * y_d); + } + + @Override + public float dst (Vector2 v) { + final float x_d = v.x - x; + final float y_d = v.y - y; + return (float)Math.sqrt(x_d * x_d + y_d * y_d); + } + + /** @param x The x-component of the other vector + * @param y The y-component of the other vector + * @return the distance between this and the other vector */ + public float dst (float x, float y) { + final float x_d = x - this.x; + final float y_d = y - this.y; + return (float)Math.sqrt(x_d * x_d + y_d * y_d); + } + + public static float dst2 (float x1, float y1, float x2, float y2) { + final float x_d = x2 - x1; + final float y_d = y2 - y1; + return x_d * x_d + y_d * y_d; + } + + @Override + public float dst2 (Vector2 v) { + final float x_d = v.x - x; + final float y_d = v.y - y; + return x_d * x_d + y_d * y_d; + } + + /** @param x The x-component of the other vector + * @param y The y-component of the other vector + * @return the squared distance between this and the other vector */ + public float dst2 (float x, float y) { + final float x_d = x - this.x; + final float y_d = y - this.y; + return x_d * x_d + y_d * y_d; + } + + @Override + public Vector2 limit (float limit) { + return limit2(limit * limit); + } + + @Override + public Vector2 limit2 (float limit2) { + float len2 = len2(); + if (len2 > limit2) { + return scl((float)Math.sqrt(limit2 / len2)); + } + return this; + } + + @Override + public Vector2 clamp (float min, float max) { + final float len2 = len2(); + if (len2 == 0f) return this; + float max2 = max * max; + if (len2 > max2) return scl((float)Math.sqrt(max2 / len2)); + float min2 = min * min; + if (len2 < min2) return scl((float)Math.sqrt(min2 / len2)); + return this; + } + + @Override + public Vector2 setLength (float len) { + return setLength2(len * len); + } + + @Override + public Vector2 setLength2 (float len2) { + float oldLen2 = len2(); + return (oldLen2 == 0 || oldLen2 == len2) ? this : scl((float)Math.sqrt(len2 / oldLen2)); + } + + /** Converts this {@code Vector2} to a string in the format {@code (x,y)}. + * @return a string representation of this object. */ + @Override + public String toString () { + return "(" + x + "," + y + ")"; + } + + /** Sets this {@code Vector2} to the value represented by the specified string according to the format of {@link #toString()}. + * @param v the string. + * @return this vector for chaining */ + public Vector2 fromString (String v) { + int s = v.indexOf(',', 1); + if (s != -1 && v.charAt(0) == '(' && v.charAt(v.length() - 1) == ')') { + try { + float x = Float.parseFloat(v.substring(1, s)); + float y = Float.parseFloat(v.substring(s + 1, v.length() - 1)); + return this.set(x, y); + } catch (NumberFormatException ex) { + // Throw a GdxRuntimeException + } + } + throw new RuntimeException("Malformed Vector2: " + v); + } + + /** Left-multiplies this vector by the given matrix + * @param mat the matrix + * @return this vector */ + public Vector2 mul (Matrix3 mat) { + float x = this.x * mat.val[0] + this.y * mat.val[3] + mat.val[6]; + float y = this.x * mat.val[1] + this.y * mat.val[4] + mat.val[7]; + this.x = x; + this.y = y; + return this; + } + + /** Calculates the 2D cross product between this and the given vector. + * @param v the other vector + * @return the cross product */ + public float crs (Vector2 v) { + return this.x * v.y - this.y * v.x; + } + + /** Calculates the 2D cross product between this and the given vector. + * @param x the x-coordinate of the other vector + * @param y the y-coordinate of the other vector + * @return the cross product */ + public float crs (float x, float y) { + return this.x * y - this.y * x; + } + + /** @return the angle in degrees of this vector (point) relative to the x-axis. Angles are towards the positive y-axis (typically + * counter-clockwise) and between 0 and 360. */ + public float angle () { + float angle = (float)Math.atan2(y, x) * MathUtils.radiansToDegrees; + if (angle < 0) angle += 360; + return angle; + } + + /** @return the angle in degrees of this vector (point) relative to the given vector. Angles are towards the positive y-axis + * (typically counter-clockwise.) between -180 and +180 */ + public float angle (Vector2 reference) { + return (float)Math.atan2(crs(reference), dot(reference)) * MathUtils.radiansToDegrees; + } + + /** @return the angle in radians of this vector (point) relative to the x-axis. Angles are towards the positive y-axis. + * (typically counter-clockwise) */ + public float angleRad () { + return (float)Math.atan2(y, x); + } + + /** @return the angle in radians of this vector (point) relative to the given vector. Angles are towards the positive y-axis. + * (typically counter-clockwise.) */ + public float angleRad (Vector2 reference) { + return (float)Math.atan2(crs(reference), dot(reference)); + } + + /** Sets the angle of the vector in degrees relative to the x-axis, towards the positive y-axis (typically counter-clockwise). + * @param degrees The angle in degrees to set. */ + public Vector2 setAngle (float degrees) { + return setAngleRad(degrees * MathUtils.degreesToRadians); + } + + /** Sets the angle of the vector in radians relative to the x-axis, towards the positive y-axis (typically counter-clockwise). + * @param radians The angle in radians to set. */ + public Vector2 setAngleRad (float radians) { + this.set(len(), 0f); + this.rotateRad(radians); + + return this; + } + + /** Rotates the Vector2 by the given angle, counter-clockwise assuming the y-axis points up. + * @param degrees the angle in degrees */ + public Vector2 rotate (float degrees) { + return rotateRad(degrees * MathUtils.degreesToRadians); + } + + /** Rotates the Vector2 by the given angle, counter-clockwise assuming the y-axis points up. + * @param radians the angle in radians */ + public Vector2 rotateRad (float radians) { + float cos = (float)Math.cos(radians); + float sin = (float)Math.sin(radians); + + float newX = this.x * cos - this.y * sin; + float newY = this.x * sin + this.y * cos; + + this.x = newX; + this.y = newY; + + return this; + } + + /** Rotates the Vector2 by 90 degrees in the specified direction, where >= 0 is counter-clockwise and < 0 is clockwise. */ + public Vector2 rotate90 (int dir) { + float x = this.x; + if (dir >= 0) { + this.x = -y; + y = x; + } else { + this.x = y; + y = -x; + } + return this; + } + + @Override + public Vector2 lerp (Vector2 target, float alpha) { + final float invAlpha = 1.0f - alpha; + this.x = (x * invAlpha) + (target.x * alpha); + this.y = (y * invAlpha) + (target.y * alpha); + return this; + } + + @Override + public Vector2 interpolate (Vector2 target, float alpha, Interpolation interpolation) { + return lerp(target, interpolation.apply(alpha)); + } + + @Override + public Vector2 setToRandomDirection () { + float theta = MathUtils.random(0f, MathUtils.PI2); + return this.set(MathUtils.cos(theta), MathUtils.sin(theta)); + } + + @Override + public int hashCode () { + final int prime = 31; + int result = 1; + result = prime * result + NumberUtils.floatToIntBits(x); + result = prime * result + NumberUtils.floatToIntBits(y); + return result; + } + + @Override + public boolean equals (Object obj) { + if (this == obj) return true; + if (obj == null) return false; + if (getClass() != obj.getClass()) return false; + Vector2 other = (Vector2)obj; + if (NumberUtils.floatToIntBits(x) != NumberUtils.floatToIntBits(other.x)) return false; + if (NumberUtils.floatToIntBits(y) != NumberUtils.floatToIntBits(other.y)) return false; + return true; + } + + @Override + public boolean epsilonEquals (Vector2 other, float epsilon) { + if (other == null) return false; + if (Math.abs(other.x - x) > epsilon) return false; + if (Math.abs(other.y - y) > epsilon) return false; + return true; + } + + /** Compares this vector with the other vector, using the supplied epsilon for fuzzy equality testing. + * @return whether the vectors are the same. */ + public boolean epsilonEquals (float x, float y, float epsilon) { + if (Math.abs(x - this.x) > epsilon) return false; + if (Math.abs(y - this.y) > epsilon) return false; + return true; + } + + @Override + public boolean isUnit () { + return isUnit(0.000000001f); + } + + @Override + public boolean isUnit (final float margin) { + return Math.abs(len2() - 1f) < margin; + } + + @Override + public boolean isZero () { + return x == 0 && y == 0; + } + + @Override + public boolean isZero (final float margin) { + return len2() < margin; + } + + @Override + public boolean isOnLine (Vector2 other) { + return MathUtils.isZero(x * other.y - y * other.x); + } + + @Override + public boolean isOnLine (Vector2 other, float epsilon) { + return MathUtils.isZero(x * other.y - y * other.x, epsilon); + } + + @Override + public boolean isCollinear (Vector2 other, float epsilon) { + return isOnLine(other, epsilon) && dot(other) > 0f; + } + + @Override + public boolean isCollinear (Vector2 other) { + return isOnLine(other) && dot(other) > 0f; + } + + @Override + public boolean isCollinearOpposite (Vector2 other, float epsilon) { + return isOnLine(other, epsilon) && dot(other) < 0f; + } + + @Override + public boolean isCollinearOpposite (Vector2 other) { + return isOnLine(other) && dot(other) < 0f; + } + + @Override + public boolean isPerpendicular (Vector2 vector) { + return MathUtils.isZero(dot(vector)); + } + + @Override + public boolean isPerpendicular (Vector2 vector, float epsilon) { + return MathUtils.isZero(dot(vector), epsilon); + } + + @Override + public boolean hasSameDirection (Vector2 vector) { + return dot(vector) > 0; + } + + @Override + public boolean hasOppositeDirection (Vector2 vector) { + return dot(vector) < 0; + } + + @Override + public Vector2 setZero () { + this.x = 0; + this.y = 0; + return this; + } +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vextor3.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vextor3.java new file mode 100644 index 00000000..1e070a70 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vextor3.java @@ -0,0 +1,698 @@ +package com.neuronrobotics.sdk.addons.kinematics.math; + +/******************************************************************************* + * Copyright 2011 See AUTHORS file. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + ******************************************************************************/ +import java.io.Serializable; + + +/** Encapsulates a 3D vector. Allows chaining operations by returning a reference to itself in all modification methods. + * @author badlogicgames@gmail.com */ +class Vector3 implements Serializable, Vector { + private static final long serialVersionUID = 3840054589595372522L; + + /** the x-component of this vector **/ + public float x; + /** the y-component of this vector **/ + public float y; + /** the z-component of this vector **/ + public float z; + + public final static Vector3 X = new Vector3(1, 0, 0); + public final static Vector3 Y = new Vector3(0, 1, 0); + public final static Vector3 Z = new Vector3(0, 0, 1); + public final static Vector3 Zero = new Vector3(0, 0, 0); + + private final static Matrix4 tmpMat = new Matrix4(); + + /** Constructs a vector at (0,0,0) */ + public Vector3 () { + } + + /** Creates a vector with the given components + * @param x The x-component + * @param y The y-component + * @param z The z-component */ + public Vector3 (float x, float y, float z) { + this.set(x, y, z); + } + + /** Creates a vector from the given vector + * @param vector The vector */ + public Vector3 (final Vector3 vector) { + this.set(vector); + } + + /** Creates a vector from the given array. The array must have at least 3 elements. + * + * @param values The array */ + public Vector3 (final float[] values) { + this.set(values[0], values[1], values[2]); + } + + /** Creates a vector from the given vector and z-component + * + * @param vector The vector + * @param z The z-component */ + public Vector3 (final Vector2 vector, float z) { + this.set(vector.x, vector.y, z); + } + + /** Sets the vector to the given components + * + * @param x The x-component + * @param y The y-component + * @param z The z-component + * @return this vector for chaining */ + public Vector3 set (float x, float y, float z) { + this.x = x; + this.y = y; + this.z = z; + return this; + } + + @Override + public Vector3 set (final Vector3 vector) { + return this.set(vector.x, vector.y, vector.z); + } + + /** Sets the components from the array. The array must have at least 3 elements + * + * @param values The array + * @return this vector for chaining */ + public Vector3 set (final float[] values) { + return this.set(values[0], values[1], values[2]); + } + + /** Sets the components of the given vector and z-component + * + * @param vector The vector + * @param z The z-component + * @return This vector for chaining */ + public Vector3 set (final Vector2 vector, float z) { + return this.set(vector.x, vector.y, z); + } + + /** Sets the components from the given spherical coordinate + * @param azimuthalAngle The angle between x-axis in radians [0, 2pi] + * @param polarAngle The angle between z-axis in radians [0, pi] + * @return This vector for chaining */ + public Vector3 setFromSpherical (float azimuthalAngle, float polarAngle) { + float cosPolar = MathUtils.cos(polarAngle); + float sinPolar = MathUtils.sin(polarAngle); + + float cosAzim = MathUtils.cos(azimuthalAngle); + float sinAzim = MathUtils.sin(azimuthalAngle); + + return this.set(cosAzim * sinPolar, sinAzim * sinPolar, cosPolar); + } + + @Override + public Vector3 setToRandomDirection () { + float u = MathUtils.random(); + float v = MathUtils.random(); + + float theta = MathUtils.PI2 * u; // azimuthal angle + float phi = (float)Math.acos(2f * v - 1f); // polar angle + + return this.setFromSpherical(theta, phi); + } + + @Override + public Vector3 cpy () { + return new Vector3(this); + } + + @Override + public Vector3 add (final Vector3 vector) { + return this.add(vector.x, vector.y, vector.z); + } + + /** Adds the given vector to this component + * @param x The x-component of the other vector + * @param y The y-component of the other vector + * @param z The z-component of the other vector + * @return This vector for chaining. */ + public Vector3 add (float x, float y, float z) { + return this.set(this.x + x, this.y + y, this.z + z); + } + + /** Adds the given value to all three components of the vector. + * + * @param values The value + * @return This vector for chaining */ + public Vector3 add (float values) { + return this.set(this.x + values, this.y + values, this.z + values); + } + + @Override + public Vector3 sub (final Vector3 a_vec) { + return this.sub(a_vec.x, a_vec.y, a_vec.z); + } + + /** Subtracts the other vector from this vector. + * + * @param x The x-component of the other vector + * @param y The y-component of the other vector + * @param z The z-component of the other vector + * @return This vector for chaining */ + public Vector3 sub (float x, float y, float z) { + return this.set(this.x - x, this.y - y, this.z - z); + } + + /** Subtracts the given value from all components of this vector + * + * @param value The value + * @return This vector for chaining */ + public Vector3 sub (float value) { + return this.set(this.x - value, this.y - value, this.z - value); + } + + @Override + public Vector3 scl (float scalar) { + return this.set(this.x * scalar, this.y * scalar, this.z * scalar); + } + + @Override + public Vector3 scl (final Vector3 other) { + return this.set(x * other.x, y * other.y, z * other.z); + } + + /** Scales this vector by the given values + * @param vx X value + * @param vy Y value + * @param vz Z value + * @return This vector for chaining */ + public Vector3 scl (float vx, float vy, float vz) { + return this.set(this.x * vx, this.y * vy, this.z * vz); + } + + @Override + public Vector3 mulAdd (Vector3 vec, float scalar) { + this.x += vec.x * scalar; + this.y += vec.y * scalar; + this.z += vec.z * scalar; + return this; + } + + @Override + public Vector3 mulAdd (Vector3 vec, Vector3 mulVec) { + this.x += vec.x * mulVec.x; + this.y += vec.y * mulVec.y; + this.z += vec.z * mulVec.z; + return this; + } + + /** @return The euclidean length */ + public static float len (final float x, final float y, final float z) { + return (float)Math.sqrt(x * x + y * y + z * z); + } + + @Override + public float len () { + return (float)Math.sqrt(x * x + y * y + z * z); + } + + /** @return The squared euclidean length */ + public static float len2 (final float x, final float y, final float z) { + return x * x + y * y + z * z; + } + + @Override + public float len2 () { + return x * x + y * y + z * z; + } + + /** @param vector The other vector + * @return Whether this and the other vector are equal */ + public boolean idt (final Vector3 vector) { + return x == vector.x && y == vector.y && z == vector.z; + } + + /** @return The euclidean distance between the two specified vectors */ + public static float dst (final float x1, final float y1, final float z1, final float x2, final float y2, final float z2) { + final float a = x2 - x1; + final float b = y2 - y1; + final float c = z2 - z1; + return (float)Math.sqrt(a * a + b * b + c * c); + } + + @Override + public float dst (final Vector3 vector) { + final float a = vector.x - x; + final float b = vector.y - y; + final float c = vector.z - z; + return (float)Math.sqrt(a * a + b * b + c * c); + } + + /** @return the distance between this point and the given point */ + public float dst (float x, float y, float z) { + final float a = x - this.x; + final float b = y - this.y; + final float c = z - this.z; + return (float)Math.sqrt(a * a + b * b + c * c); + } + + /** @return the squared distance between the given points */ + public static float dst2 (final float x1, final float y1, final float z1, final float x2, final float y2, final float z2) { + final float a = x2 - x1; + final float b = y2 - y1; + final float c = z2 - z1; + return a * a + b * b + c * c; + } + + @Override + public float dst2 (Vector3 point) { + final float a = point.x - x; + final float b = point.y - y; + final float c = point.z - z; + return a * a + b * b + c * c; + } + + /** Returns the squared distance between this point and the given point + * @param x The x-component of the other point + * @param y The y-component of the other point + * @param z The z-component of the other point + * @return The squared distance */ + public float dst2 (float x, float y, float z) { + final float a = x - this.x; + final float b = y - this.y; + final float c = z - this.z; + return a * a + b * b + c * c; + } + + @Override + public Vector3 nor () { + final float len2 = this.len2(); + if (len2 == 0f || len2 == 1f) return this; + return this.scl(1f / (float)Math.sqrt(len2)); + } + + /** @return The dot product between the two vectors */ + public static float dot (float x1, float y1, float z1, float x2, float y2, float z2) { + return x1 * x2 + y1 * y2 + z1 * z2; + } + + @Override + public float dot (final Vector3 vector) { + return x * vector.x + y * vector.y + z * vector.z; + } + + /** Returns the dot product between this and the given vector. + * @param x The x-component of the other vector + * @param y The y-component of the other vector + * @param z The z-component of the other vector + * @return The dot product */ + public float dot (float x, float y, float z) { + return this.x * x + this.y * y + this.z * z; + } + + /** Sets this vector to the cross product between it and the other vector. + * @param vector The other vector + * @return This vector for chaining */ + public Vector3 crs (final Vector3 vector) { + return this.set(y * vector.z - z * vector.y, z * vector.x - x * vector.z, x * vector.y - y * vector.x); + } + + /** Sets this vector to the cross product between it and the other vector. + * @param x The x-component of the other vector + * @param y The y-component of the other vector + * @param z The z-component of the other vector + * @return This vector for chaining */ + public Vector3 crs (float x, float y, float z) { + return this.set(this.y * z - this.z * y, this.z * x - this.x * z, this.x * y - this.y * x); + } + + /** Left-multiplies the vector by the given 4x3 column major matrix. The matrix should be composed by a 3x3 matrix representing + * rotation and scale plus a 1x3 matrix representing the translation. + * @param matrix The matrix + * @return This vector for chaining */ + public Vector3 mul4x3 (float[] matrix) { + return set(x * matrix[0] + y * matrix[3] + z * matrix[6] + matrix[9], x * matrix[1] + y * matrix[4] + z * matrix[7] + + matrix[10], x * matrix[2] + y * matrix[5] + z * matrix[8] + matrix[11]); + } + + /** Left-multiplies the vector by the given matrix, assuming the fourth (w) component of the vector is 1. + * @param matrix The matrix + * @return This vector for chaining */ + public Vector3 mul (final Matrix4 matrix) { + final float l_mat[] = matrix.val; + return this.set(x * l_mat[Matrix4.M00] + y * l_mat[Matrix4.M01] + z * l_mat[Matrix4.M02] + l_mat[Matrix4.M03], x + * l_mat[Matrix4.M10] + y * l_mat[Matrix4.M11] + z * l_mat[Matrix4.M12] + l_mat[Matrix4.M13], x * l_mat[Matrix4.M20] + y + * l_mat[Matrix4.M21] + z * l_mat[Matrix4.M22] + l_mat[Matrix4.M23]); + } + + /** Multiplies the vector by the transpose of the given matrix, assuming the fourth (w) component of the vector is 1. + * @param matrix The matrix + * @return This vector for chaining */ + public Vector3 traMul (final Matrix4 matrix) { + final float l_mat[] = matrix.val; + return this.set(x * l_mat[Matrix4.M00] + y * l_mat[Matrix4.M10] + z * l_mat[Matrix4.M20] + l_mat[Matrix4.M30], x + * l_mat[Matrix4.M01] + y * l_mat[Matrix4.M11] + z * l_mat[Matrix4.M21] + l_mat[Matrix4.M31], x * l_mat[Matrix4.M02] + y + * l_mat[Matrix4.M12] + z * l_mat[Matrix4.M22] + l_mat[Matrix4.M32]); + } + + /** Left-multiplies the vector by the given matrix. + * @param matrix The matrix + * @return This vector for chaining */ + public Vector3 mul (Matrix3 matrix) { + final float l_mat[] = matrix.val; + return set(x * l_mat[Matrix3.M00] + y * l_mat[Matrix3.M01] + z * l_mat[Matrix3.M02], x * l_mat[Matrix3.M10] + y + * l_mat[Matrix3.M11] + z * l_mat[Matrix3.M12], x * l_mat[Matrix3.M20] + y * l_mat[Matrix3.M21] + z * l_mat[Matrix3.M22]); + } + + /** Multiplies the vector by the transpose of the given matrix. + * @param matrix The matrix + * @return This vector for chaining */ + public Vector3 traMul (Matrix3 matrix) { + final float l_mat[] = matrix.val; + return set(x * l_mat[Matrix3.M00] + y * l_mat[Matrix3.M10] + z * l_mat[Matrix3.M20], x * l_mat[Matrix3.M01] + y + * l_mat[Matrix3.M11] + z * l_mat[Matrix3.M21], x * l_mat[Matrix3.M02] + y * l_mat[Matrix3.M12] + z * l_mat[Matrix3.M22]); + } + + /** Multiplies the vector by the given {@link Quaternion}. + * @return This vector for chaining */ + public Vector3 mul (final QuaternionGDX quat) { + return quat.transform(this); + } + + /** Multiplies this vector by the given matrix dividing by w, assuming the fourth (w) component of the vector is 1. This is + * mostly used to project/unproject vectors via a perspective projection matrix. + * + * @param matrix The matrix. + * @return This vector for chaining */ + public Vector3 prj (final Matrix4 matrix) { + final float l_mat[] = matrix.val; + final float l_w = 1f / (x * l_mat[Matrix4.M30] + y * l_mat[Matrix4.M31] + z * l_mat[Matrix4.M32] + l_mat[Matrix4.M33]); + return this.set((x * l_mat[Matrix4.M00] + y * l_mat[Matrix4.M01] + z * l_mat[Matrix4.M02] + l_mat[Matrix4.M03]) * l_w, (x + * l_mat[Matrix4.M10] + y * l_mat[Matrix4.M11] + z * l_mat[Matrix4.M12] + l_mat[Matrix4.M13]) + * l_w, (x * l_mat[Matrix4.M20] + y * l_mat[Matrix4.M21] + z * l_mat[Matrix4.M22] + l_mat[Matrix4.M23]) * l_w); + } + + /** Multiplies this vector by the first three columns of the matrix, essentially only applying rotation and scaling. + * + * @param matrix The matrix + * @return This vector for chaining */ + public Vector3 rot (final Matrix4 matrix) { + final float l_mat[] = matrix.val; + return this.set(x * l_mat[Matrix4.M00] + y * l_mat[Matrix4.M01] + z * l_mat[Matrix4.M02], x * l_mat[Matrix4.M10] + y + * l_mat[Matrix4.M11] + z * l_mat[Matrix4.M12], x * l_mat[Matrix4.M20] + y * l_mat[Matrix4.M21] + z * l_mat[Matrix4.M22]); + } + + /** Multiplies this vector by the transpose of the first three columns of the matrix. Note: only works for translation and + * rotation, does not work for scaling. For those, use {@link #rot(Matrix4)} with {@link Matrix4#inv()}. + * @param matrix The transformation matrix + * @return The vector for chaining */ + public Vector3 unrotate (final Matrix4 matrix) { + final float l_mat[] = matrix.val; + return this.set(x * l_mat[Matrix4.M00] + y * l_mat[Matrix4.M10] + z * l_mat[Matrix4.M20], x * l_mat[Matrix4.M01] + y + * l_mat[Matrix4.M11] + z * l_mat[Matrix4.M21], x * l_mat[Matrix4.M02] + y * l_mat[Matrix4.M12] + z * l_mat[Matrix4.M22]); + } + + /** Translates this vector in the direction opposite to the translation of the matrix and the multiplies this vector by the + * transpose of the first three columns of the matrix. Note: only works for translation and rotation, does not work for + * scaling. For those, use {@link #mul(Matrix4)} with {@link Matrix4#inv()}. + * @param matrix The transformation matrix + * @return The vector for chaining */ + public Vector3 untransform (final Matrix4 matrix) { + final float l_mat[] = matrix.val; + x -= l_mat[Matrix4.M03]; + y -= l_mat[Matrix4.M03]; + z -= l_mat[Matrix4.M03]; + return this.set(x * l_mat[Matrix4.M00] + y * l_mat[Matrix4.M10] + z * l_mat[Matrix4.M20], x * l_mat[Matrix4.M01] + y + * l_mat[Matrix4.M11] + z * l_mat[Matrix4.M21], x * l_mat[Matrix4.M02] + y * l_mat[Matrix4.M12] + z * l_mat[Matrix4.M22]); + } + + /** Rotates this vector by the given angle in degrees around the given axis. + * + * @param degrees the angle in degrees + * @param axisX the x-component of the axis + * @param axisY the y-component of the axis + * @param axisZ the z-component of the axis + * @return This vector for chaining */ + public Vector3 rotate (float degrees, float axisX, float axisY, float axisZ) { + return this.mul(tmpMat.setToRotation(axisX, axisY, axisZ, degrees)); + } + + /** Rotates this vector by the given angle in radians around the given axis. + * + * @param radians the angle in radians + * @param axisX the x-component of the axis + * @param axisY the y-component of the axis + * @param axisZ the z-component of the axis + * @return This vector for chaining */ + public Vector3 rotateRad (float radians, float axisX, float axisY, float axisZ) { + return this.mul(tmpMat.setToRotationRad(axisX, axisY, axisZ, radians)); + } + + /** Rotates this vector by the given angle in degrees around the given axis. + * + * @param axis the axis + * @param degrees the angle in degrees + * @return This vector for chaining */ + public Vector3 rotate (final Vector3 axis, float degrees) { + tmpMat.setToRotation(axis, degrees); + return this.mul(tmpMat); + } + + /** Rotates this vector by the given angle in radians around the given axis. + * + * @param axis the axis + * @param radians the angle in radians + * @return This vector for chaining */ + public Vector3 rotateRad (final Vector3 axis, float radians) { + tmpMat.setToRotationRad(axis, radians); + return this.mul(tmpMat); + } + + @Override + public boolean isUnit () { + return isUnit(0.000000001f); + } + + @Override + public boolean isUnit (final float margin) { + return Math.abs(len2() - 1f) < margin; + } + + @Override + public boolean isZero () { + return x == 0 && y == 0 && z == 0; + } + + @Override + public boolean isZero (final float margin) { + return len2() < margin; + } + + @Override + public boolean isOnLine (Vector3 other, float epsilon) { + return len2(y * other.z - z * other.y, z * other.x - x * other.z, x * other.y - y * other.x) <= epsilon; + } + + @Override + public boolean isOnLine (Vector3 other) { + return len2(y * other.z - z * other.y, z * other.x - x * other.z, x * other.y - y * other.x) <= MathUtils.FLOAT_ROUNDING_ERROR; + } + + @Override + public boolean isCollinear (Vector3 other, float epsilon) { + return isOnLine(other, epsilon) && hasSameDirection(other); + } + + @Override + public boolean isCollinear (Vector3 other) { + return isOnLine(other) && hasSameDirection(other); + } + + @Override + public boolean isCollinearOpposite (Vector3 other, float epsilon) { + return isOnLine(other, epsilon) && hasOppositeDirection(other); + } + + @Override + public boolean isCollinearOpposite (Vector3 other) { + return isOnLine(other) && hasOppositeDirection(other); + } + + @Override + public boolean isPerpendicular (Vector3 vector) { + return MathUtils.isZero(dot(vector)); + } + + @Override + public boolean isPerpendicular (Vector3 vector, float epsilon) { + return MathUtils.isZero(dot(vector), epsilon); + } + + @Override + public boolean hasSameDirection (Vector3 vector) { + return dot(vector) > 0; + } + + @Override + public boolean hasOppositeDirection (Vector3 vector) { + return dot(vector) < 0; + } + + @Override + public Vector3 lerp (final Vector3 target, float alpha) { + x += alpha * (target.x - x); + y += alpha * (target.y - y); + z += alpha * (target.z - z); + return this; + } + + @Override + public Vector3 interpolate (Vector3 target, float alpha, Interpolation interpolator) { + return lerp(target, interpolator.apply(0f, 1f, alpha)); + } + + /** Spherically interpolates between this vector and the target vector by alpha which is in the range [0,1]. The result is + * stored in this vector. + * + * @param target The target vector + * @param alpha The interpolation coefficient + * @return This vector for chaining. */ + public Vector3 slerp (final Vector3 target, float alpha) { + final float dot = dot(target); + // If the inputs are too close for comfort, simply linearly interpolate. + if (dot > 0.9995 || dot < -0.9995) return lerp(target, alpha); + + // theta0 = angle between input vectors + final float theta0 = (float)Math.acos(dot); + // theta = angle between this vector and result + final float theta = theta0 * alpha; + + final float st = (float)Math.sin(theta); + final float tx = target.x - x * dot; + final float ty = target.y - y * dot; + final float tz = target.z - z * dot; + final float l2 = tx * tx + ty * ty + tz * tz; + final float dl = st * ((l2 < 0.0001f) ? 1f : 1f / (float)Math.sqrt(l2)); + + return scl((float)Math.cos(theta)).add(tx * dl, ty * dl, tz * dl).nor(); + } + + /** Converts this {@code Vector3} to a string in the format {@code (x,y,z)}. + * @return a string representation of this object. */ + @Override + public String toString () { + return "(" + x + "," + y + "," + z + ")"; + } + + /** Sets this {@code Vector3} to the value represented by the specified string according to the format of {@link #toString()}. + * @param v the string. + * @return this vector for chaining */ + public Vector3 fromString (String v) { + int s0 = v.indexOf(',', 1); + int s1 = v.indexOf(',', s0 + 1); + if (s0 != -1 && s1 != -1 && v.charAt(0) == '(' && v.charAt(v.length() - 1) == ')') { + try { + float x = Float.parseFloat(v.substring(1, s0)); + float y = Float.parseFloat(v.substring(s0 + 1, s1)); + float z = Float.parseFloat(v.substring(s1 + 1, v.length() - 1)); + return this.set(x, y, z); + } catch (NumberFormatException ex) { + // Throw a GdxRuntimeException + } + } + throw new RuntimeException("Malformed Vector3: " + v); + } + + @Override + public Vector3 limit (float limit) { + return limit2(limit * limit); + } + + @Override + public Vector3 limit2 (float limit2) { + float len2 = len2(); + if (len2 > limit2) { + scl((float)Math.sqrt(limit2 / len2)); + } + return this; + } + + @Override + public Vector3 setLength (float len) { + return setLength2(len * len); + } + + @Override + public Vector3 setLength2 (float len2) { + float oldLen2 = len2(); + return (oldLen2 == 0 || oldLen2 == len2) ? this : scl((float)Math.sqrt(len2 / oldLen2)); + } + + @Override + public Vector3 clamp (float min, float max) { + final float len2 = len2(); + if (len2 == 0f) return this; + float max2 = max * max; + if (len2 > max2) return scl((float)Math.sqrt(max2 / len2)); + float min2 = min * min; + if (len2 < min2) return scl((float)Math.sqrt(min2 / len2)); + return this; + } + + @Override + public int hashCode () { + final int prime = 31; + int result = 1; + result = prime * result + NumberUtils.floatToIntBits(x); + result = prime * result + NumberUtils.floatToIntBits(y); + result = prime * result + NumberUtils.floatToIntBits(z); + return result; + } + + @Override + public boolean equals (Object obj) { + if (this == obj) return true; + if (obj == null) return false; + if (getClass() != obj.getClass()) return false; + Vector3 other = (Vector3)obj; + if (NumberUtils.floatToIntBits(x) != NumberUtils.floatToIntBits(other.x)) return false; + if (NumberUtils.floatToIntBits(y) != NumberUtils.floatToIntBits(other.y)) return false; + if (NumberUtils.floatToIntBits(z) != NumberUtils.floatToIntBits(other.z)) return false; + return true; + } + + @Override + public boolean epsilonEquals (final Vector3 other, float epsilon) { + if (other == null) return false; + if (Math.abs(other.x - x) > epsilon) return false; + if (Math.abs(other.y - y) > epsilon) return false; + if (Math.abs(other.z - z) > epsilon) return false; + return true; + } + + /** Compares this vector with the other vector, using the supplied epsilon for fuzzy equality testing. + * @return whether the vectors are the same. */ + public boolean epsilonEquals (float x, float y, float z, float epsilon) { + if (Math.abs(x - this.x) > epsilon) return false; + if (Math.abs(y - this.y) > epsilon) return false; + if (Math.abs(z - this.z) > epsilon) return false; + return true; + } + + @Override + public Vector3 setZero () { + this.x = 0; + this.y = 0; + this.z = 0; + return this; + } +} \ No newline at end of file From a94f2bbc4846a4044b3ad118c5334fab0960cfcc Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 20 Dec 2016 12:57:43 -0500 Subject: [PATCH 112/482] updating the class name to match the upstream --- .../sdk/addons/kinematics/math/Matrix4.java | 24 ++--- .../{QuaternionGDX.java => Quaternion.java} | 98 +++++++++---------- .../sdk/addons/kinematics/math/Vextor3.java | 2 +- 3 files changed, 62 insertions(+), 62 deletions(-) rename src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/{QuaternionGDX.java => Quaternion.java} (89%) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix4.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix4.java index 909792f1..c47bc0ec 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix4.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix4.java @@ -96,8 +96,8 @@ public Matrix4 (float[] values) { } /** Constructs a rotation matrix from the given {@link Quaternion}. - * @param QuaternionGDX The QuaternionGDX to be copied. (The QuaternionGDX is not modified) */ - public Matrix4 (QuaternionGDX quaternion) { + * @param Quaternion The QuaternionGDX to be copied. (The QuaternionGDX is not modified) */ + public Matrix4 (Quaternion quaternion) { this.set(quaternion); } @@ -105,7 +105,7 @@ public Matrix4 (QuaternionGDX quaternion) { * @param position The translation * @param rotation The rotation, must be normalized * @param scale The scale */ - public Matrix4 (Vector3 position, QuaternionGDX rotation, Vector3 scale) { + public Matrix4 (Vector3 position, Quaternion rotation, Vector3 scale) { set(position, rotation, scale); } @@ -130,9 +130,9 @@ public Matrix4 set (float[] values) { /** Sets the matrix to a rotation matrix representing the quaternion. * - * @param QuaternionGDX The QuaternionGDX that is to be used to set this matrix. + * @param Quaternion The QuaternionGDX that is to be used to set this matrix. * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 set (QuaternionGDX quaternion) { + public Matrix4 set (Quaternion quaternion) { return set(quaternion.x, quaternion.y, quaternion.z, quaternion.w); } @@ -151,7 +151,7 @@ public Matrix4 set (float quaternionX, float quaternionY, float quaternionZ, flo * @param position The translation * @param orientation The rotation, must be normalized * @return This matrix for chaining */ - public Matrix4 set (Vector3 position, QuaternionGDX orientation) { + public Matrix4 set (Vector3 position, Quaternion orientation) { return set(position.x, position.y, position.z, orientation.x, orientation.y, orientation.z, orientation.w); } @@ -199,7 +199,7 @@ public Matrix4 set (float translationX, float translationY, float translationZ, * @param orientation The rotation, must be normalized * @param scale The scale * @return This matrix for chaining */ - public Matrix4 set (Vector3 position, QuaternionGDX orientation, Vector3 scale) { + public Matrix4 set (Vector3 position, Quaternion orientation, Vector3 scale) { return set(position.x, position.y, position.z, orientation.x, orientation.y, orientation.z, orientation.w, scale.x, scale.y, scale.z); } @@ -698,8 +698,8 @@ public Matrix4 setToTranslationAndScaling (float translationX, float translation return this; } - static QuaternionGDX quat = new QuaternionGDX(); - static QuaternionGDX quat2 = new QuaternionGDX(); + static Quaternion quat = new Quaternion(); + static Quaternion quat2 = new Quaternion(); /** Sets the matrix to a rotation matrix around the given axis. * @@ -1047,14 +1047,14 @@ public Vector3 getTranslation (Vector3 position) { * @param rotation The {@link Quaternion} to receive the rotation * @param normalizeAxes True to normalize the axes, necessary when the matrix might also include scaling. * @return The provided {@link Quaternion} for chaining. */ - public QuaternionGDX getRotation (QuaternionGDX rotation, boolean normalizeAxes) { + public Quaternion getRotation (Quaternion rotation, boolean normalizeAxes) { return rotation.setFromMatrix(normalizeAxes, this); } /** Gets the rotation of this matrix. * @param rotation The {@link Quaternion} to receive the rotation * @return The provided {@link Quaternion} for chaining. */ - public QuaternionGDX getRotation (QuaternionGDX rotation) { + public Quaternion getRotation (Quaternion rotation) { return rotation.setFromMatrix(this); } @@ -1451,7 +1451,7 @@ public Matrix4 rotateRad (float axisX, float axisY, float axisZ, float radians) * * @param rotation * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 rotate (QuaternionGDX rotation) { + public Matrix4 rotate (Quaternion rotation) { rotation.toMatrix(tmp); mul(val, tmp); return this; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/QuaternionGDX.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Quaternion.java similarity index 89% rename from src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/QuaternionGDX.java rename to src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Quaternion.java index 549af1bb..e19e5fa8 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/QuaternionGDX.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Quaternion.java @@ -23,10 +23,10 @@ * @author badlogicgames@gmail.com * @author vesuvio * @author xoppa */ - class QuaternionGDX implements Serializable { + class Quaternion implements Serializable { private static final long serialVersionUID = -7661875440774897168L; - private static QuaternionGDX tmp1 = new QuaternionGDX(0, 0, 0, 0); - private static QuaternionGDX tmp2 = new QuaternionGDX(0, 0, 0, 0); + private static Quaternion tmp1 = new Quaternion(0, 0, 0, 0); + private static Quaternion tmp2 = new Quaternion(0, 0, 0, 0); public float x; public float y; @@ -38,18 +38,18 @@ class QuaternionGDX implements Serializable { * @param y The y-component * @param z The z-component * @param w The w-component */ - public QuaternionGDX (float x, float y, float z, float w) { + public Quaternion (float x, float y, float z, float w) { this.set(x, y, z, w); } - public QuaternionGDX () { + public Quaternion () { idt(); } /** Constructor, sets the QuaternionGDX components from the given quaternion. * - * @param QuaternionGDX The QuaternionGDX to copy. */ - public QuaternionGDX (QuaternionGDX quaternion) { + * @param Quaternion The QuaternionGDX to copy. */ + public Quaternion (Quaternion quaternion) { this.set(quaternion); } @@ -57,7 +57,7 @@ public QuaternionGDX (QuaternionGDX quaternion) { * * @param axis The axis * @param angle The angle in degrees. */ - public QuaternionGDX (Vector3 axis, float angle) { + public Quaternion (Vector3 axis, float angle) { this.set(axis, angle); } @@ -67,7 +67,7 @@ public QuaternionGDX (Vector3 axis, float angle) { * @param z The z-component * @param w The w-component * @return This QuaternionGDX for chaining */ - public QuaternionGDX set (float x, float y, float z, float w) { + public Quaternion set (float x, float y, float z, float w) { this.x = x; this.y = y; this.z = z; @@ -76,9 +76,9 @@ public QuaternionGDX set (float x, float y, float z, float w) { } /** Sets the QuaternionGDX components from the given quaternion. - * @param QuaternionGDX The quaternion. + * @param Quaternion The quaternion. * @return This QuaternionGDX for chaining. */ - public QuaternionGDX set (QuaternionGDX quaternion) { + public Quaternion set (Quaternion quaternion) { return this.set(quaternion.x, quaternion.y, quaternion.z, quaternion.w); } @@ -87,13 +87,13 @@ public QuaternionGDX set (QuaternionGDX quaternion) { * @param axis The axis * @param angle The angle in degrees * @return This QuaternionGDX for chaining. */ - public QuaternionGDX set (Vector3 axis, float angle) { + public Quaternion set (Vector3 axis, float angle) { return setFromAxis(axis.x, axis.y, axis.z, angle); } /** @return a copy of this QuaternionGDX */ - public QuaternionGDX cpy () { - return new QuaternionGDX(this); + public Quaternion cpy () { + return new Quaternion(this); } /** @return the euclidean length of the specified QuaternionGDX */ @@ -116,7 +116,7 @@ public String toString () { * @param pitch the rotation around the x axis in degrees * @param roll the rotation around the z axis degrees * @return this QuaternionGDX */ - public QuaternionGDX setEulerAngles (float yaw, float pitch, float roll) { + public Quaternion setEulerAngles (float yaw, float pitch, float roll) { return setEulerAnglesRad(yaw * MathUtils.degreesToRadians, pitch * MathUtils.degreesToRadians, roll * MathUtils.degreesToRadians); } @@ -126,7 +126,7 @@ public QuaternionGDX setEulerAngles (float yaw, float pitch, float roll) { * @param pitch the rotation around the x axis in radians * @param roll the rotation around the z axis in radians * @return this QuaternionGDX */ - public QuaternionGDX setEulerAnglesRad (float yaw, float pitch, float roll) { + public Quaternion setEulerAnglesRad (float yaw, float pitch, float roll) { final float hr = roll * 0.5f; final float shr = (float)Math.sin(hr); final float chr = (float)Math.cos(hr); @@ -205,7 +205,7 @@ public float len2 () { /** Normalizes this QuaternionGDX to unit length * @return the QuaternionGDX for chaining */ - public QuaternionGDX nor () { + public Quaternion nor () { float len = len2(); if (len != 0.f && !MathUtils.isEqual(len, 1f)) { len = (float)Math.sqrt(len); @@ -220,7 +220,7 @@ public QuaternionGDX nor () { /** Conjugate the quaternion. * * @return This QuaternionGDX for chaining */ - public QuaternionGDX conjugate () { + public Quaternion conjugate () { x = -x; y = -y; z = -z; @@ -246,7 +246,7 @@ public Vector3 transform (Vector3 v) { * * @param other QuaternionGDX to multiply with * @return This QuaternionGDX for chaining */ - public QuaternionGDX mul (final QuaternionGDX other) { + public Quaternion mul (final Quaternion other) { final float newX = this.w * other.x + this.x * other.w + this.y * other.z - this.z * other.y; final float newY = this.w * other.y + this.y * other.w + this.z * other.x - this.x * other.z; final float newZ = this.w * other.z + this.z * other.w + this.x * other.y - this.y * other.x; @@ -265,7 +265,7 @@ public QuaternionGDX mul (final QuaternionGDX other) { * @param z the z component of the other QuaternionGDX to multiply with * @param w the w component of the other QuaternionGDX to multiply with * @return This QuaternionGDX for chaining */ - public QuaternionGDX mul (final float x, final float y, final float z, final float w) { + public Quaternion mul (final float x, final float y, final float z, final float w) { final float newX = this.w * x + this.x * w + this.y * z - this.z * y; final float newY = this.w * y + this.y * w + this.z * x - this.x * z; final float newZ = this.w * z + this.z * w + this.x * y - this.y * x; @@ -281,7 +281,7 @@ public QuaternionGDX mul (final float x, final float y, final float z, final flo * * @param other QuaternionGDX to multiply with * @return This QuaternionGDX for chaining */ - public QuaternionGDX mulLeft (QuaternionGDX other) { + public Quaternion mulLeft (Quaternion other) { final float newX = other.w * this.x + other.x * this.w + other.y * this.z - other.z * y; final float newY = other.w * this.y + other.y * this.w + other.z * this.x - other.x * z; final float newZ = other.w * this.z + other.z * this.w + other.x * this.y - other.y * x; @@ -300,7 +300,7 @@ public QuaternionGDX mulLeft (QuaternionGDX other) { * @param z the z component of the other QuaternionGDX to multiply with * @param w the w component of the other QuaternionGDX to multiply with * @return This QuaternionGDX for chaining */ - public QuaternionGDX mulLeft (final float x, final float y, final float z, final float w) { + public Quaternion mulLeft (final float x, final float y, final float z, final float w) { final float newX = w * this.x + x * this.w + y * this.z - z * this.y; final float newY = w * this.y + y * this.w + z * this.x - x * this.z; final float newZ = w * this.z + z * this.w + x * this.y - y * this.x; @@ -313,7 +313,7 @@ public QuaternionGDX mulLeft (final float x, final float y, final float z, final } /** Add the x,y,z,w components of the passed in QuaternionGDX to the ones of this QuaternionGDX */ - public QuaternionGDX add (QuaternionGDX quaternion) { + public Quaternion add (Quaternion quaternion) { this.x += quaternion.x; this.y += quaternion.y; this.z += quaternion.z; @@ -322,7 +322,7 @@ public QuaternionGDX add (QuaternionGDX quaternion) { } /** Add the x,y,z,w components of the passed in QuaternionGDX to the ones of this QuaternionGDX */ - public QuaternionGDX add (float qx, float qy, float qz, float qw) { + public Quaternion add (float qx, float qy, float qz, float qw) { this.x += qx; this.y += qy; this.z += qz; @@ -366,7 +366,7 @@ public void toMatrix (final float[] matrix) { /** Sets the QuaternionGDX to an identity Quaternion * @return this QuaternionGDX for chaining */ - public QuaternionGDX idt () { + public Quaternion idt () { return this.set(0, 0, 0, 1); } @@ -387,7 +387,7 @@ public boolean isIdentity (final float tolerance) { * @param axis The axis * @param degrees The angle in degrees * @return This QuaternionGDX for chaining. */ - public QuaternionGDX setFromAxis (final Vector3 axis, final float degrees) { + public Quaternion setFromAxis (final Vector3 axis, final float degrees) { return setFromAxis(axis.x, axis.y, axis.z, degrees); } @@ -396,7 +396,7 @@ public QuaternionGDX setFromAxis (final Vector3 axis, final float degrees) { * @param axis The axis * @param radians The angle in radians * @return This QuaternionGDX for chaining. */ - public QuaternionGDX setFromAxisRad (final Vector3 axis, final float radians) { + public Quaternion setFromAxisRad (final Vector3 axis, final float radians) { return setFromAxisRad(axis.x, axis.y, axis.z, radians); } @@ -406,7 +406,7 @@ public QuaternionGDX setFromAxisRad (final Vector3 axis, final float radians) { * @param z Z direction of the axis * @param degrees The angle in degrees * @return This QuaternionGDX for chaining. */ - public QuaternionGDX setFromAxis (final float x, final float y, final float z, final float degrees) { + public Quaternion setFromAxis (final float x, final float y, final float z, final float degrees) { return setFromAxisRad(x, y, z, degrees * MathUtils.degreesToRadians); } @@ -416,7 +416,7 @@ public QuaternionGDX setFromAxis (final float x, final float y, final float z, f * @param z Z direction of the axis * @param radians The angle in radians * @return This QuaternionGDX for chaining. */ - public QuaternionGDX setFromAxisRad (final float x, final float y, final float z, final float radians) { + public Quaternion setFromAxisRad (final float x, final float y, final float z, final float radians) { float d = Vector3.len(x, y, z); if (d == 0f) return idt(); d = 1f / d; @@ -427,26 +427,26 @@ public QuaternionGDX setFromAxisRad (final float x, final float y, final float z } /** Sets the QuaternionGDX from the given matrix, optionally removing any scaling. */ - public QuaternionGDX setFromMatrix (boolean normalizeAxes, Matrix4 matrix) { + public Quaternion setFromMatrix (boolean normalizeAxes, Matrix4 matrix) { return setFromAxes(normalizeAxes, matrix.val[Matrix4.M00], matrix.val[Matrix4.M01], matrix.val[Matrix4.M02], matrix.val[Matrix4.M10], matrix.val[Matrix4.M11], matrix.val[Matrix4.M12], matrix.val[Matrix4.M20], matrix.val[Matrix4.M21], matrix.val[Matrix4.M22]); } /** Sets the QuaternionGDX from the given rotation matrix, which must not contain scaling. */ - public QuaternionGDX setFromMatrix (Matrix4 matrix) { + public Quaternion setFromMatrix (Matrix4 matrix) { return setFromMatrix(false, matrix); } /** Sets the QuaternionGDX from the given matrix, optionally removing any scaling. */ - public QuaternionGDX setFromMatrix (boolean normalizeAxes, Matrix3 matrix) { + public Quaternion setFromMatrix (boolean normalizeAxes, Matrix3 matrix) { return setFromAxes(normalizeAxes, matrix.val[Matrix3.M00], matrix.val[Matrix3.M01], matrix.val[Matrix3.M02], matrix.val[Matrix3.M10], matrix.val[Matrix3.M11], matrix.val[Matrix3.M12], matrix.val[Matrix3.M20], matrix.val[Matrix3.M21], matrix.val[Matrix3.M22]); } /** Sets the QuaternionGDX from the given rotation matrix, which must not contain scaling. */ - public QuaternionGDX setFromMatrix (Matrix3 matrix) { + public Quaternion setFromMatrix (Matrix3 matrix) { return setFromMatrix(false, matrix); } @@ -468,7 +468,7 @@ public QuaternionGDX setFromMatrix (Matrix3 matrix) { * @param zx z-axis x-coordinate * @param zy z-axis y-coordinate * @param zz z-axis z-coordinate */ - public QuaternionGDX setFromAxes (float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz) { + public Quaternion setFromAxes (float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz) { return setFromAxes(false, xx, xy, xz, yx, yy, yz, zx, zy, zz); } @@ -491,7 +491,7 @@ public QuaternionGDX setFromAxes (float xx, float xy, float xz, float yx, float * @param zx z-axis x-coordinate * @param zy z-axis y-coordinate * @param zz z-axis z-coordinate */ - public QuaternionGDX setFromAxes (boolean normalizeAxes, float xx, float xy, float xz, float yx, float yy, float yz, float zx, + public Quaternion setFromAxes (boolean normalizeAxes, float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz) { if (normalizeAxes) { final float lx = 1f / Vector3.len(xx, xy, xz); @@ -549,7 +549,7 @@ public QuaternionGDX setFromAxes (boolean normalizeAxes, float xx, float xy, flo * @param v1 The base vector, which should be normalized. * @param v2 The target vector, which should be normalized. * @return This QuaternionGDX for chaining */ - public QuaternionGDX setFromCross (final Vector3 v1, final Vector3 v2) { + public Quaternion setFromCross (final Vector3 v1, final Vector3 v2) { final float dot = MathUtils.clamp(v1.dot(v2), -1f, 1f); final float angle = (float)Math.acos(dot); return setFromAxisRad(v1.y * v2.z - v1.z * v2.y, v1.z * v2.x - v1.x * v2.z, v1.x * v2.y - v1.y * v2.x, angle); @@ -563,7 +563,7 @@ public QuaternionGDX setFromCross (final Vector3 v1, final Vector3 v2) { * @param y2 The target vector y value, which should be normalized. * @param z2 The target vector z value, which should be normalized. * @return This QuaternionGDX for chaining */ - public QuaternionGDX setFromCross (final float x1, final float y1, final float z1, final float x2, final float y2, final float z2) { + public Quaternion setFromCross (final float x1, final float y1, final float z1, final float x2, final float y2, final float z2) { final float dot = MathUtils.clamp(Vector3.dot(x1, y1, z1, x2, y2, z2), -1f, 1f); final float angle = (float)Math.acos(dot); return setFromAxisRad(y1 * z2 - z1 * y2, z1 * x2 - x1 * z2, x1 * y2 - y1 * x2, angle); @@ -574,7 +574,7 @@ public QuaternionGDX setFromCross (final float x1, final float y1, final float z * @param end the end quaternion * @param alpha alpha in the range [0,1] * @return this QuaternionGDX for chaining */ - public QuaternionGDX slerp (QuaternionGDX end, float alpha) { + public Quaternion slerp (Quaternion end, float alpha) { final float d = this.x * end.x + this.y * end.y + this.z * end.z + this.w * end.w; float absDot = d < 0.f ? -d : d; @@ -612,7 +612,7 @@ public QuaternionGDX slerp (QuaternionGDX end, float alpha) { * previously inside the elements of q. result = (q_1^w_1)*(q_2^w_2)* ... *(q_n^w_n) where w_i=1/n. * @param q List of quaternions * @return This QuaternionGDX for chaining */ - public QuaternionGDX slerp (QuaternionGDX[] q) { + public Quaternion slerp (Quaternion[] q) { // Calculate exponents and multiply everything from left to right final float w = 1.0f / q.length; @@ -629,7 +629,7 @@ public QuaternionGDX slerp (QuaternionGDX[] q) { * @param q List of quaternions * @param w List of weights * @return This QuaternionGDX for chaining */ - public QuaternionGDX slerp (QuaternionGDX[] q, float[] w) { + public Quaternion slerp (Quaternion[] q, float[] w) { // Calculate exponents and multiply everything from left to right set(q[0]).exp(w[0]); @@ -643,7 +643,7 @@ public QuaternionGDX slerp (QuaternionGDX[] q, float[] w) { * http://en.wikipedia.org/wiki/Quaternion#Exponential.2C_logarithm.2C_and_power * @param alpha Exponent * @return This QuaternionGDX for chaining */ - public QuaternionGDX exp (float alpha) { + public Quaternion exp (float alpha) { // Calculate |q|^alpha float norm = len(); @@ -691,10 +691,10 @@ public boolean equals (Object obj) { if (obj == null) { return false; } - if (!(obj instanceof QuaternionGDX)) { + if (!(obj instanceof Quaternion)) { return false; } - QuaternionGDX other = (QuaternionGDX)obj; + Quaternion other = (Quaternion)obj; return (NumberUtils.floatToRawIntBits(w) == NumberUtils.floatToRawIntBits(other.w)) && (NumberUtils.floatToRawIntBits(x) == NumberUtils.floatToRawIntBits(other.x)) && (NumberUtils.floatToRawIntBits(y) == NumberUtils.floatToRawIntBits(other.y)) @@ -719,7 +719,7 @@ public final static float dot (final float x1, final float y1, final float z1, f /** Get the dot product between this and the other QuaternionGDX (commutative). * @param other the other quaternion. * @return the dot product of this and the other quaternion. */ - public float dot (final QuaternionGDX other) { + public float dot (final Quaternion other) { return this.x * other.x + this.y * other.y + this.z * other.z + this.w * other.w; } @@ -736,7 +736,7 @@ public float dot (final float x, final float y, final float z, final float w) { /** Multiplies the components of this QuaternionGDX with the given scalar. * @param scalar the scalar. * @return this QuaternionGDX for chaining. */ - public QuaternionGDX mul (float scalar) { + public Quaternion mul (float scalar) { this.x *= scalar; this.y *= scalar; this.z *= scalar; @@ -812,8 +812,8 @@ public float getAngle () { * @param swing will receive the swing rotation: the rotation around an axis perpendicular to the specified axis * @param twist will receive the twist rotation: the rotation around the specified axis * @see calculation */ - public void getSwingTwist (final float axisX, final float axisY, final float axisZ, final QuaternionGDX swing, - final QuaternionGDX twist) { + public void getSwingTwist (final float axisX, final float axisY, final float axisZ, final Quaternion swing, + final Quaternion twist) { final float d = Vector3.dot(this.x, this.y, this.z, axisX, axisY, axisZ); twist.set(axisX * d, axisY * d, axisZ * d, this.w).nor(); if (d < 0) twist.mul(-1f); @@ -829,7 +829,7 @@ public void getSwingTwist (final float axisX, final float axisY, final float axi * @param swing will receive the swing rotation: the rotation around an axis perpendicular to the specified axis * @param twist will receive the twist rotation: the rotation around the specified axis * @see calculation */ - public void getSwingTwist (final Vector3 axis, final QuaternionGDX swing, final QuaternionGDX twist) { + public void getSwingTwist (final Vector3 axis, final Quaternion swing, final Quaternion twist) { getSwingTwist(axis.x, axis.y, axis.z, swing, twist); } @@ -840,7 +840,7 @@ public void getSwingTwist (final Vector3 axis, final QuaternionGDX swing, final * @return the angle in radians of the rotation around the specified axis */ public float getAngleAroundRad (final float axisX, final float axisY, final float axisZ) { final float d = Vector3.dot(this.x, this.y, this.z, axisX, axisY, axisZ); - final float l2 = QuaternionGDX.len2(axisX * d, axisY * d, axisZ * d, this.w); + final float l2 = Quaternion.len2(axisX * d, axisY * d, axisZ * d, this.w); return MathUtils.isZero(l2) ? 0f : (float)(2.0 * Math.acos(MathUtils.clamp( (float)((d < 0 ? -this.w : this.w) / Math.sqrt(l2)), -1f, 1f))); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vextor3.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vextor3.java index 1e070a70..bf236791 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vextor3.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vextor3.java @@ -384,7 +384,7 @@ public Vector3 traMul (Matrix3 matrix) { /** Multiplies the vector by the given {@link Quaternion}. * @return This vector for chaining */ - public Vector3 mul (final QuaternionGDX quat) { + public Vector3 mul (final Quaternion quat) { return quat.transform(this); } From 9a9c7b84831cb25bcc0028fbcf1a50e8bf8fd47e Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 20 Dec 2016 13:11:24 -0500 Subject: [PATCH 113/482] removing the LibGDX sources --- .../addons/kinematics/math/Interpolation.java | 434 ----- .../sdk/addons/kinematics/math/MathUtils.java | 354 ---- .../sdk/addons/kinematics/math/Matrix3.java | 585 ------- .../sdk/addons/kinematics/math/Matrix4.java | 1519 ----------------- .../addons/kinematics/math/NumberUtils.java | 49 - .../addons/kinematics/math/Quaternion.java | 870 ---------- .../addons/kinematics/math/RandomXS128.java | 197 --- .../sdk/addons/kinematics/math/Vector.java | 193 --- .../sdk/addons/kinematics/math/Vector2.java | 523 ------ .../sdk/addons/kinematics/math/Vextor3.java | 698 -------- 10 files changed, 5422 deletions(-) delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Interpolation.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/MathUtils.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix3.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix4.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/NumberUtils.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Quaternion.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RandomXS128.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector2.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vextor3.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Interpolation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Interpolation.java deleted file mode 100644 index 33314cc0..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Interpolation.java +++ /dev/null @@ -1,434 +0,0 @@ -/******************************************************************************* - * Copyright 2011 See AUTHORS file. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - ******************************************************************************/ - -package com.neuronrobotics.sdk.addons.kinematics.math; - -/** Takes a linear value in the range of 0-1 and outputs a (usually) non-linear, interpolated value. - * @author Nathan Sweet */ -abstract class Interpolation { - /** @param a Alpha value between 0 and 1. */ - abstract public float apply (float a); - - /** @param a Alpha value between 0 and 1. */ - public float apply (float start, float end, float a) { - return start + (end - start) * apply(a); - } - - // - - static public final Interpolation linear = new Interpolation() { - public float apply (float a) { - return a; - } - }; - - // - - /** Aka "smoothstep". */ - static public final Interpolation smooth = new Interpolation() { - public float apply (float a) { - return a * a * (3 - 2 * a); - } - }; - static public final Interpolation smooth2 = new Interpolation() { - public float apply (float a) { - a = a * a * (3 - 2 * a); - return a * a * (3 - 2 * a); - } - }; - - /** By Ken Perlin. */ - static public final Interpolation smoother = new Interpolation() { - public float apply (float a) { - return MathUtils.clamp(a * a * a * (a * (a * 6 - 15) + 10), 0, 1); - } - }; - static public final Interpolation fade = smoother; - - // - - static public final Pow pow2 = new Pow(2); - /** Slow, then fast. */ - static public final PowIn pow2In = new PowIn(2); - /** Fast, then slow. */ - static public final PowOut pow2Out = new PowOut(2); - static public final Interpolation pow2InInverse = new Interpolation() { - public float apply (float a) { - return (float)Math.sqrt(a); - } - }; - static public final Interpolation pow2OutInverse = new Interpolation() { - public float apply (float a) { - return 1 - (float)Math.sqrt(-(a - 1)); - } - }; - - static public final Pow pow3 = new Pow(3); - static public final PowIn pow3In = new PowIn(3); - static public final PowOut pow3Out = new PowOut(3); - static public final Interpolation pow3InInverse = new Interpolation() { - public float apply (float a) { - return (float)Math.cbrt(a); - } - }; - static public final Interpolation pow3OutInverse = new Interpolation() { - public float apply (float a) { - return 1 - (float)Math.cbrt(-(a - 1)); - } - }; - - static public final Pow pow4 = new Pow(4); - static public final PowIn pow4In = new PowIn(4); - static public final PowOut pow4Out = new PowOut(4); - - static public final Pow pow5 = new Pow(5); - static public final PowIn pow5In = new PowIn(5); - static public final PowOut pow5Out = new PowOut(5); - - static public final Interpolation sine = new Interpolation() { - public float apply (float a) { - return (1 - MathUtils.cos(a * MathUtils.PI)) / 2; - } - }; - - static public final Interpolation sineIn = new Interpolation() { - public float apply (float a) { - return 1 - MathUtils.cos(a * MathUtils.PI / 2); - } - }; - - static public final Interpolation sineOut = new Interpolation() { - public float apply (float a) { - return MathUtils.sin(a * MathUtils.PI / 2); - } - }; - - static public final Exp exp10 = new Exp(2, 10); - static public final ExpIn exp10In = new ExpIn(2, 10); - static public final ExpOut exp10Out = new ExpOut(2, 10); - - static public final Exp exp5 = new Exp(2, 5); - static public final ExpIn exp5In = new ExpIn(2, 5); - static public final ExpOut exp5Out = new ExpOut(2, 5); - - static public final Interpolation circle = new Interpolation() { - public float apply (float a) { - if (a <= 0.5f) { - a *= 2; - return (1 - (float)Math.sqrt(1 - a * a)) / 2; - } - a--; - a *= 2; - return ((float)Math.sqrt(1 - a * a) + 1) / 2; - } - }; - - static public final Interpolation circleIn = new Interpolation() { - public float apply (float a) { - return 1 - (float)Math.sqrt(1 - a * a); - } - }; - - static public final Interpolation circleOut = new Interpolation() { - public float apply (float a) { - a--; - return (float)Math.sqrt(1 - a * a); - } - }; - - static public final Elastic elastic = new Elastic(2, 10, 7, 1); - static public final ElasticIn elasticIn = new ElasticIn(2, 10, 6, 1); - static public final ElasticOut elasticOut = new ElasticOut(2, 10, 7, 1); - - static public final Swing swing = new Swing(1.5f); - static public final SwingIn swingIn = new SwingIn(2f); - static public final SwingOut swingOut = new SwingOut(2f); - - static public final Bounce bounce = new Bounce(4); - static public final BounceIn bounceIn = new BounceIn(4); - static public final BounceOut bounceOut = new BounceOut(4); - - // - - static public class Pow extends Interpolation { - final int power; - - public Pow (int power) { - this.power = power; - } - - public float apply (float a) { - if (a <= 0.5f) return (float)Math.pow(a * 2, power) / 2; - return (float)Math.pow((a - 1) * 2, power) / (power % 2 == 0 ? -2 : 2) + 1; - } - } - - static public class PowIn extends Pow { - public PowIn (int power) { - super(power); - } - - public float apply (float a) { - return (float)Math.pow(a, power); - } - } - - static public class PowOut extends Pow { - public PowOut (int power) { - super(power); - } - - public float apply (float a) { - return (float)Math.pow(a - 1, power) * (power % 2 == 0 ? -1 : 1) + 1; - } - } - - // - - static public class Exp extends Interpolation { - final float value, power, min, scale; - - public Exp (float value, float power) { - this.value = value; - this.power = power; - min = (float)Math.pow(value, -power); - scale = 1 / (1 - min); - } - - public float apply (float a) { - if (a <= 0.5f) return ((float)Math.pow(value, power * (a * 2 - 1)) - min) * scale / 2; - return (2 - ((float)Math.pow(value, -power * (a * 2 - 1)) - min) * scale) / 2; - } - }; - - static public class ExpIn extends Exp { - public ExpIn (float value, float power) { - super(value, power); - } - - public float apply (float a) { - return ((float)Math.pow(value, power * (a - 1)) - min) * scale; - } - } - - static public class ExpOut extends Exp { - public ExpOut (float value, float power) { - super(value, power); - } - - public float apply (float a) { - return 1 - ((float)Math.pow(value, -power * a) - min) * scale; - } - } - - // - - static public class Elastic extends Interpolation { - final float value, power, scale, bounces; - - public Elastic (float value, float power, int bounces, float scale) { - this.value = value; - this.power = power; - this.scale = scale; - this.bounces = bounces * MathUtils.PI * (bounces % 2 == 0 ? 1 : -1); - } - - public float apply (float a) { - if (a <= 0.5f) { - a *= 2; - return (float)Math.pow(value, power * (a - 1)) * MathUtils.sin(a * bounces) * scale / 2; - } - a = 1 - a; - a *= 2; - return 1 - (float)Math.pow(value, power * (a - 1)) * MathUtils.sin((a) * bounces) * scale / 2; - } - } - - static public class ElasticIn extends Elastic { - public ElasticIn (float value, float power, int bounces, float scale) { - super(value, power, bounces, scale); - } - - public float apply (float a) { - if (a >= 0.99) return 1; - return (float)Math.pow(value, power * (a - 1)) * MathUtils.sin(a * bounces) * scale; - } - } - - static public class ElasticOut extends Elastic { - public ElasticOut (float value, float power, int bounces, float scale) { - super(value, power, bounces, scale); - } - - public float apply (float a) { - if (a == 0) return 0; - a = 1 - a; - return (1 - (float)Math.pow(value, power * (a - 1)) * MathUtils.sin(a * bounces) * scale); - } - } - - // - - static public class Bounce extends BounceOut { - public Bounce (float[] widths, float[] heights) { - super(widths, heights); - } - - public Bounce (int bounces) { - super(bounces); - } - - private float out (float a) { - float test = a + widths[0] / 2; - if (test < widths[0]) return test / (widths[0] / 2) - 1; - return super.apply(a); - } - - public float apply (float a) { - if (a <= 0.5f) return (1 - out(1 - a * 2)) / 2; - return out(a * 2 - 1) / 2 + 0.5f; - } - } - - static public class BounceOut extends Interpolation { - final float[] widths, heights; - - public BounceOut (float[] widths, float[] heights) { - if (widths.length != heights.length) - throw new IllegalArgumentException("Must be the same number of widths and heights."); - this.widths = widths; - this.heights = heights; - } - - public BounceOut (int bounces) { - if (bounces < 2 || bounces > 5) throw new IllegalArgumentException("bounces cannot be < 2 or > 5: " + bounces); - widths = new float[bounces]; - heights = new float[bounces]; - heights[0] = 1; - switch (bounces) { - case 2: - widths[0] = 0.6f; - widths[1] = 0.4f; - heights[1] = 0.33f; - break; - case 3: - widths[0] = 0.4f; - widths[1] = 0.4f; - widths[2] = 0.2f; - heights[1] = 0.33f; - heights[2] = 0.1f; - break; - case 4: - widths[0] = 0.34f; - widths[1] = 0.34f; - widths[2] = 0.2f; - widths[3] = 0.15f; - heights[1] = 0.26f; - heights[2] = 0.11f; - heights[3] = 0.03f; - break; - case 5: - widths[0] = 0.3f; - widths[1] = 0.3f; - widths[2] = 0.2f; - widths[3] = 0.1f; - widths[4] = 0.1f; - heights[1] = 0.45f; - heights[2] = 0.3f; - heights[3] = 0.15f; - heights[4] = 0.06f; - break; - } - widths[0] *= 2; - } - - public float apply (float a) { - if (a == 1) return 1; - a += widths[0] / 2; - float width = 0, height = 0; - for (int i = 0, n = widths.length; i < n; i++) { - width = widths[i]; - if (a <= width) { - height = heights[i]; - break; - } - a -= width; - } - a /= width; - float z = 4 / width * height * a; - return 1 - (z - z * a) * width; - } - } - - static public class BounceIn extends BounceOut { - public BounceIn (float[] widths, float[] heights) { - super(widths, heights); - } - - public BounceIn (int bounces) { - super(bounces); - } - - public float apply (float a) { - return 1 - super.apply(1 - a); - } - } - - // - - static public class Swing extends Interpolation { - private final float scale; - - public Swing (float scale) { - this.scale = scale * 2; - } - - public float apply (float a) { - if (a <= 0.5f) { - a *= 2; - return a * a * ((scale + 1) * a - scale) / 2; - } - a--; - a *= 2; - return a * a * ((scale + 1) * a + scale) / 2 + 1; - } - } - - static public class SwingOut extends Interpolation { - private final float scale; - - public SwingOut (float scale) { - this.scale = scale; - } - - public float apply (float a) { - a--; - return a * a * ((scale + 1) * a + scale) + 1; - } - } - - static public class SwingIn extends Interpolation { - private final float scale; - - public SwingIn (float scale) { - this.scale = scale; - } - - public float apply (float a) { - return a * a * ((scale + 1) * a - scale); - } - } -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/MathUtils.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/MathUtils.java deleted file mode 100644 index 1462d2ed..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/MathUtils.java +++ /dev/null @@ -1,354 +0,0 @@ -/******************************************************************************* - * Copyright 2011 See AUTHORS file. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - ******************************************************************************/ - -package com.neuronrobotics.sdk.addons.kinematics.math; - -import java.util.Random; - -/** Utility and fast math functions. - *

- * Thanks to Riven on JavaGaming.org for the basis of sin/cos/floor/ceil. - * @author Nathan Sweet */ -final class MathUtils { - static public final float nanoToSec = 1 / 1000000000f; - - // --- - static public final float FLOAT_ROUNDING_ERROR = 0.000001f; // 32 bits - static public final float PI = 3.1415927f; - static public final float PI2 = PI * 2; - - static public final float E = 2.7182818f; - - static private final int SIN_BITS = 14; // 16KB. Adjust for accuracy. - static private final int SIN_MASK = ~(-1 << SIN_BITS); - static private final int SIN_COUNT = SIN_MASK + 1; - - static private final float radFull = PI * 2; - static private final float degFull = 360; - static private final float radToIndex = SIN_COUNT / radFull; - static private final float degToIndex = SIN_COUNT / degFull; - - /** multiply by this to convert from radians to degrees */ - static public final float radiansToDegrees = 180f / PI; - static public final float radDeg = radiansToDegrees; - /** multiply by this to convert from degrees to radians */ - static public final float degreesToRadians = PI / 180; - static public final float degRad = degreesToRadians; - - static private class Sin { - static final float[] table = new float[SIN_COUNT]; - - static { - for (int i = 0; i < SIN_COUNT; i++) - table[i] = (float)Math.sin((i + 0.5f) / SIN_COUNT * radFull); - for (int i = 0; i < 360; i += 90) - table[(int)(i * degToIndex) & SIN_MASK] = (float)Math.sin(i * degreesToRadians); - } - } - - /** Returns the sine in radians from a lookup table. */ - static public float sin (float radians) { - return Sin.table[(int)(radians * radToIndex) & SIN_MASK]; - } - - /** Returns the cosine in radians from a lookup table. */ - static public float cos (float radians) { - return Sin.table[(int)((radians + PI / 2) * radToIndex) & SIN_MASK]; - } - - /** Returns the sine in radians from a lookup table. */ - static public float sinDeg (float degrees) { - return Sin.table[(int)(degrees * degToIndex) & SIN_MASK]; - } - - /** Returns the cosine in radians from a lookup table. */ - static public float cosDeg (float degrees) { - return Sin.table[(int)((degrees + 90) * degToIndex) & SIN_MASK]; - } - - // --- - - /** Returns atan2 in radians, faster but less accurate than Math.atan2. Average error of 0.00231 radians (0.1323 degrees), - * largest error of 0.00488 radians (0.2796 degrees). */ - static public float atan2 (float y, float x) { - if (x == 0f) { - if (y > 0f) return PI / 2; - if (y == 0f) return 0f; - return -PI / 2; - } - final float atan, z = y / x; - if (Math.abs(z) < 1f) { - atan = z / (1f + 0.28f * z * z); - if (x < 0f) return atan + (y < 0f ? -PI : PI); - return atan; - } - atan = PI / 2 - z / (z * z + 0.28f); - return y < 0f ? atan - PI : atan; - } - - // --- - - static public Random random = new RandomXS128(); - - /** Returns a random number between 0 (inclusive) and the specified value (inclusive). */ - static public int random (int range) { - return random.nextInt(range + 1); - } - - /** Returns a random number between start (inclusive) and end (inclusive). */ - static public int random (int start, int end) { - return start + random.nextInt(end - start + 1); - } - - /** Returns a random number between 0 (inclusive) and the specified value (inclusive). */ - static public long random (long range) { - return (long)(random.nextDouble() * range); - } - - /** Returns a random number between start (inclusive) and end (inclusive). */ - static public long random (long start, long end) { - return start + (long)(random.nextDouble() * (end - start)); - } - - /** Returns a random boolean value. */ - static public boolean randomBoolean () { - return random.nextBoolean(); - } - - /** Returns true if a random value between 0 and 1 is less than the specified value. */ - static public boolean randomBoolean (float chance) { - return MathUtils.random() < chance; - } - - /** Returns random number between 0.0 (inclusive) and 1.0 (exclusive). */ - static public float random () { - return random.nextFloat(); - } - - /** Returns a random number between 0 (inclusive) and the specified value (exclusive). */ - static public float random (float range) { - return random.nextFloat() * range; - } - - /** Returns a random number between start (inclusive) and end (exclusive). */ - static public float random (float start, float end) { - return start + random.nextFloat() * (end - start); - } - - /** Returns -1 or 1, randomly. */ - static public int randomSign () { - return 1 | (random.nextInt() >> 31); - } - - /** Returns a triangularly distributed random number between -1.0 (exclusive) and 1.0 (exclusive), where values around zero are - * more likely. - *

- * This is an optimized version of {@link #randomTriangular(float, float, float) randomTriangular(-1, 1, 0)} */ - public static float randomTriangular () { - return random.nextFloat() - random.nextFloat(); - } - - /** Returns a triangularly distributed random number between {@code -max} (exclusive) and {@code max} (exclusive), where values - * around zero are more likely. - *

- * This is an optimized version of {@link #randomTriangular(float, float, float) randomTriangular(-max, max, 0)} - * @param max the upper limit */ - public static float randomTriangular (float max) { - return (random.nextFloat() - random.nextFloat()) * max; - } - - /** Returns a triangularly distributed random number between {@code min} (inclusive) and {@code max} (exclusive), where the - * {@code mode} argument defaults to the midpoint between the bounds, giving a symmetric distribution. - *

- * This method is equivalent of {@link #randomTriangular(float, float, float) randomTriangular(min, max, (min + max) * .5f)} - * @param min the lower limit - * @param max the upper limit */ - public static float randomTriangular (float min, float max) { - return randomTriangular(min, max, (min + max) * 0.5f); - } - - /** Returns a triangularly distributed random number between {@code min} (inclusive) and {@code max} (exclusive), where values - * around {@code mode} are more likely. - * @param min the lower limit - * @param max the upper limit - * @param mode the point around which the values are more likely */ - public static float randomTriangular (float min, float max, float mode) { - float u = random.nextFloat(); - float d = max - min; - if (u <= (mode - min) / d) return min + (float)Math.sqrt(u * d * (mode - min)); - return max - (float)Math.sqrt((1 - u) * d * (max - mode)); - } - - // --- - - /** Returns the next power of two. Returns the specified value if the value is already a power of two. */ - static public int nextPowerOfTwo (int value) { - if (value == 0) return 1; - value--; - value |= value >> 1; - value |= value >> 2; - value |= value >> 4; - value |= value >> 8; - value |= value >> 16; - return value + 1; - } - - static public boolean isPowerOfTwo (int value) { - return value != 0 && (value & value - 1) == 0; - } - - // --- - - static public short clamp (short value, short min, short max) { - if (value < min) return min; - if (value > max) return max; - return value; - } - - static public int clamp (int value, int min, int max) { - if (value < min) return min; - if (value > max) return max; - return value; - } - - static public long clamp (long value, long min, long max) { - if (value < min) return min; - if (value > max) return max; - return value; - } - - static public float clamp (float value, float min, float max) { - if (value < min) return min; - if (value > max) return max; - return value; - } - - static public double clamp (double value, double min, double max) { - if (value < min) return min; - if (value > max) return max; - return value; - } - - // --- - - /** Linearly interpolates between fromValue to toValue on progress position. */ - static public float lerp (float fromValue, float toValue, float progress) { - return fromValue + (toValue - fromValue) * progress; - } - - /** Linearly interpolates between two angles in radians. Takes into account that angles wrap at two pi and always takes the - * direction with the smallest delta angle. - * - * @param fromRadians start angle in radians - * @param toRadians target angle in radians - * @param progress interpolation value in the range [0, 1] - * @return the interpolated angle in the range [0, PI2[ */ - public static float lerpAngle (float fromRadians, float toRadians, float progress) { - float delta = ((toRadians - fromRadians + PI2 + PI) % PI2) - PI; - return (fromRadians + delta * progress + PI2) % PI2; - } - - /** Linearly interpolates between two angles in degrees. Takes into account that angles wrap at 360 degrees and always takes - * the direction with the smallest delta angle. - * - * @param fromDegrees start angle in degrees - * @param toDegrees target angle in degrees - * @param progress interpolation value in the range [0, 1] - * @return the interpolated angle in the range [0, 360[ */ - public static float lerpAngleDeg (float fromDegrees, float toDegrees, float progress) { - float delta = ((toDegrees - fromDegrees + 360 + 180) % 360) - 180; - return (fromDegrees + delta * progress + 360) % 360; - } - - // --- - - static private final int BIG_ENOUGH_INT = 16 * 1024; - static private final double BIG_ENOUGH_FLOOR = BIG_ENOUGH_INT; - static private final double CEIL = 0.9999999; - static private final double BIG_ENOUGH_CEIL = 16384.999999999996; - static private final double BIG_ENOUGH_ROUND = BIG_ENOUGH_INT + 0.5f; - - /** Returns the largest integer less than or equal to the specified float. This method will only properly floor floats from - * -(2^14) to (Float.MAX_VALUE - 2^14). */ - static public int floor (float value) { - return (int)(value + BIG_ENOUGH_FLOOR) - BIG_ENOUGH_INT; - } - - /** Returns the largest integer less than or equal to the specified float. This method will only properly floor floats that are - * positive. Note this method simply casts the float to int. */ - static public int floorPositive (float value) { - return (int)value; - } - - /** Returns the smallest integer greater than or equal to the specified float. This method will only properly ceil floats from - * -(2^14) to (Float.MAX_VALUE - 2^14). */ - static public int ceil (float value) { - return BIG_ENOUGH_INT - (int)(BIG_ENOUGH_FLOOR - value); - } - - /** Returns the smallest integer greater than or equal to the specified float. This method will only properly ceil floats that - * are positive. */ - static public int ceilPositive (float value) { - return (int)(value + CEIL); - } - - /** Returns the closest integer to the specified float. This method will only properly round floats from -(2^14) to - * (Float.MAX_VALUE - 2^14). */ - static public int round (float value) { - return (int)(value + BIG_ENOUGH_ROUND) - BIG_ENOUGH_INT; - } - - /** Returns the closest integer to the specified float. This method will only properly round floats that are positive. */ - static public int roundPositive (float value) { - return (int)(value + 0.5f); - } - - /** Returns true if the value is zero (using the default tolerance as upper bound) */ - static public boolean isZero (float value) { - return Math.abs(value) <= FLOAT_ROUNDING_ERROR; - } - - /** Returns true if the value is zero. - * @param tolerance represent an upper bound below which the value is considered zero. */ - static public boolean isZero (float value, float tolerance) { - return Math.abs(value) <= tolerance; - } - - /** Returns true if a is nearly equal to b. The function uses the default floating error tolerance. - * @param a the first value. - * @param b the second value. */ - static public boolean isEqual (float a, float b) { - return Math.abs(a - b) <= FLOAT_ROUNDING_ERROR; - } - - /** Returns true if a is nearly equal to b. - * @param a the first value. - * @param b the second value. - * @param tolerance represent an upper bound below which the two values are considered equal. */ - static public boolean isEqual (float a, float b, float tolerance) { - return Math.abs(a - b) <= tolerance; - } - - /** @return the logarithm of value with base a */ - static public float log (float a, float value) { - return (float)(Math.log(value) / Math.log(a)); - } - - /** @return the logarithm of value with base 2 */ - static public float log2 (float value) { - return log(2, value); - } -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix3.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix3.java deleted file mode 100644 index 38262884..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix3.java +++ /dev/null @@ -1,585 +0,0 @@ -/******************************************************************************* - * Copyright 2011 See AUTHORS file. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - ******************************************************************************/ - -package com.neuronrobotics.sdk.addons.kinematics.math; - -import java.io.Serializable; - - -/** A 3x3 column major matrix; useful for 2D - * transforms. - * - * @author mzechner */ -class Matrix3 implements Serializable { - private static final long serialVersionUID = 7907569533774959788L; - public static final int M00 = 0; - public static final int M01 = 3; - public static final int M02 = 6; - public static final int M10 = 1; - public static final int M11 = 4; - public static final int M12 = 7; - public static final int M20 = 2; - public static final int M21 = 5; - public static final int M22 = 8; - public float[] val = new float[9]; - private float[] tmp = new float[9]; - - public Matrix3 () { - idt(); - } - - public Matrix3 (Matrix3 matrix) { - set(matrix); - } - - /** Constructs a matrix from the given float array. The array must have at least 9 elements; the first 9 will be copied. - * @param values The float array to copy. Remember that this matrix is in column major order. (The float array is - * not modified.) */ - public Matrix3 (float[] values) { - this.set(values); - } - - /** Sets this matrix to the identity matrix - * @return This matrix for the purpose of chaining operations. */ - public Matrix3 idt () { - float[] val = this.val; - val[M00] = 1; - val[M10] = 0; - val[M20] = 0; - val[M01] = 0; - val[M11] = 1; - val[M21] = 0; - val[M02] = 0; - val[M12] = 0; - val[M22] = 1; - return this; - } - - /** Postmultiplies this matrix with the provided matrix and stores the result in this matrix. For example: - * - * 

-	 * A.mul(B) results in A := AB
-	 *
- * @param m Matrix to multiply by. - * @return This matrix for the purpose of chaining operations together. */ - public Matrix3 mul (Matrix3 m) { - float[] val = this.val; - - float v00 = val[M00] * m.val[M00] + val[M01] * m.val[M10] + val[M02] * m.val[M20]; - float v01 = val[M00] * m.val[M01] + val[M01] * m.val[M11] + val[M02] * m.val[M21]; - float v02 = val[M00] * m.val[M02] + val[M01] * m.val[M12] + val[M02] * m.val[M22]; - - float v10 = val[M10] * m.val[M00] + val[M11] * m.val[M10] + val[M12] * m.val[M20]; - float v11 = val[M10] * m.val[M01] + val[M11] * m.val[M11] + val[M12] * m.val[M21]; - float v12 = val[M10] * m.val[M02] + val[M11] * m.val[M12] + val[M12] * m.val[M22]; - - float v20 = val[M20] * m.val[M00] + val[M21] * m.val[M10] + val[M22] * m.val[M20]; - float v21 = val[M20] * m.val[M01] + val[M21] * m.val[M11] + val[M22] * m.val[M21]; - float v22 = val[M20] * m.val[M02] + val[M21] * m.val[M12] + val[M22] * m.val[M22]; - - val[M00] = v00; - val[M10] = v10; - val[M20] = v20; - val[M01] = v01; - val[M11] = v11; - val[M21] = v21; - val[M02] = v02; - val[M12] = v12; - val[M22] = v22; - - return this; - } - - /** Premultiplies this matrix with the provided matrix and stores the result in this matrix. For example: - * - * 
-	 * A.mulLeft(B) results in A := BA
-	 *
- * @param m The other Matrix to multiply by - * @return This matrix for the purpose of chaining operations. */ - public Matrix3 mulLeft (Matrix3 m) { - float[] val = this.val; - - float v00 = m.val[M00] * val[M00] + m.val[M01] * val[M10] + m.val[M02] * val[M20]; - float v01 = m.val[M00] * val[M01] + m.val[M01] * val[M11] + m.val[M02] * val[M21]; - float v02 = m.val[M00] * val[M02] + m.val[M01] * val[M12] + m.val[M02] * val[M22]; - - float v10 = m.val[M10] * val[M00] + m.val[M11] * val[M10] + m.val[M12] * val[M20]; - float v11 = m.val[M10] * val[M01] + m.val[M11] * val[M11] + m.val[M12] * val[M21]; - float v12 = m.val[M10] * val[M02] + m.val[M11] * val[M12] + m.val[M12] * val[M22]; - - float v20 = m.val[M20] * val[M00] + m.val[M21] * val[M10] + m.val[M22] * val[M20]; - float v21 = m.val[M20] * val[M01] + m.val[M21] * val[M11] + m.val[M22] * val[M21]; - float v22 = m.val[M20] * val[M02] + m.val[M21] * val[M12] + m.val[M22] * val[M22]; - - val[M00] = v00; - val[M10] = v10; - val[M20] = v20; - val[M01] = v01; - val[M11] = v11; - val[M21] = v21; - val[M02] = v02; - val[M12] = v12; - val[M22] = v22; - - return this; - } - - /** Sets this matrix to a rotation matrix that will rotate any vector in counter-clockwise direction around the z-axis. - * @param degrees the angle in degrees. - * @return This matrix for the purpose of chaining operations. */ - public Matrix3 setToRotation (float degrees) { - return setToRotationRad(MathUtils.degreesToRadians * degrees); - } - - /** Sets this matrix to a rotation matrix that will rotate any vector in counter-clockwise direction around the z-axis. - * @param radians the angle in radians. - * @return This matrix for the purpose of chaining operations. */ - public Matrix3 setToRotationRad (float radians) { - float cos = (float)Math.cos(radians); - float sin = (float)Math.sin(radians); - float[] val = this.val; - - val[M00] = cos; - val[M10] = sin; - val[M20] = 0; - - val[M01] = -sin; - val[M11] = cos; - val[M21] = 0; - - val[M02] = 0; - val[M12] = 0; - val[M22] = 1; - - return this; - } - - public Matrix3 setToRotation (Vector3 axis, float degrees) { - return setToRotation(axis, MathUtils.cosDeg(degrees), MathUtils.sinDeg(degrees)); - } - - public Matrix3 setToRotation (Vector3 axis, float cos, float sin) { - float[] val = this.val; - float oc = 1.0f - cos; - val[M00] = oc * axis.x * axis.x + cos; - val[M10] = oc * axis.x * axis.y - axis.z * sin; - val[M20] = oc * axis.z * axis.x + axis.y * sin; - val[M01] = oc * axis.x * axis.y + axis.z * sin; - val[M11] = oc * axis.y * axis.y + cos; - val[M21] = oc * axis.y * axis.z - axis.x * sin; - val[M02] = oc * axis.z * axis.x - axis.y * sin; - val[M12] = oc * axis.y * axis.z + axis.x * sin; - val[M22] = oc * axis.z * axis.z + cos; - return this; - } - - /** Sets this matrix to a translation matrix. - * @param x the translation in x - * @param y the translation in y - * @return This matrix for the purpose of chaining operations. */ - public Matrix3 setToTranslation (float x, float y) { - float[] val = this.val; - - val[M00] = 1; - val[M10] = 0; - val[M20] = 0; - - val[M01] = 0; - val[M11] = 1; - val[M21] = 0; - - val[M02] = x; - val[M12] = y; - val[M22] = 1; - - return this; - } - - /** Sets this matrix to a translation matrix. - * @param translation The translation vector. - * @return This matrix for the purpose of chaining operations. */ - public Matrix3 setToTranslation (Vector2 translation) { - float[] val = this.val; - - val[M00] = 1; - val[M10] = 0; - val[M20] = 0; - - val[M01] = 0; - val[M11] = 1; - val[M21] = 0; - - val[M02] = translation.x; - val[M12] = translation.y; - val[M22] = 1; - - return this; - } - - /** Sets this matrix to a scaling matrix. - * - * @param scaleX the scale in x - * @param scaleY the scale in y - * @return This matrix for the purpose of chaining operations. */ - public Matrix3 setToScaling (float scaleX, float scaleY) { - float[] val = this.val; - val[M00] = scaleX; - val[M10] = 0; - val[M20] = 0; - val[M01] = 0; - val[M11] = scaleY; - val[M21] = 0; - val[M02] = 0; - val[M12] = 0; - val[M22] = 1; - return this; - } - - /** Sets this matrix to a scaling matrix. - * @param scale The scale vector. - * @return This matrix for the purpose of chaining operations. */ - public Matrix3 setToScaling (Vector2 scale) { - float[] val = this.val; - val[M00] = scale.x; - val[M10] = 0; - val[M20] = 0; - val[M01] = 0; - val[M11] = scale.y; - val[M21] = 0; - val[M02] = 0; - val[M12] = 0; - val[M22] = 1; - return this; - } - - public String toString () { - float[] val = this.val; - return "[" + val[M00] + "|" + val[M01] + "|" + val[M02] + "]\n" // - + "[" + val[M10] + "|" + val[M11] + "|" + val[M12] + "]\n" // - + "[" + val[M20] + "|" + val[M21] + "|" + val[M22] + "]"; - } - - /** @return The determinant of this matrix */ - public float det () { - float[] val = this.val; - return val[M00] * val[M11] * val[M22] + val[M01] * val[M12] * val[M20] + val[M02] * val[M10] * val[M21] - val[M00] - * val[M12] * val[M21] - val[M01] * val[M10] * val[M22] - val[M02] * val[M11] * val[M20]; - } - - /** Inverts this matrix given that the determinant is != 0. - * @return This matrix for the purpose of chaining operations. - * @throws GdxRuntimeException if the matrix is singular (not invertible) */ - public Matrix3 inv () { - float det = det(); - if (det == 0) throw new RuntimeException("Can't invert a singular matrix"); - - float inv_det = 1.0f / det; - float[] tmp = this.tmp, val = this.val; - - tmp[M00] = val[M11] * val[M22] - val[M21] * val[M12]; - tmp[M10] = val[M20] * val[M12] - val[M10] * val[M22]; - tmp[M20] = val[M10] * val[M21] - val[M20] * val[M11]; - tmp[M01] = val[M21] * val[M02] - val[M01] * val[M22]; - tmp[M11] = val[M00] * val[M22] - val[M20] * val[M02]; - tmp[M21] = val[M20] * val[M01] - val[M00] * val[M21]; - tmp[M02] = val[M01] * val[M12] - val[M11] * val[M02]; - tmp[M12] = val[M10] * val[M02] - val[M00] * val[M12]; - tmp[M22] = val[M00] * val[M11] - val[M10] * val[M01]; - - val[M00] = inv_det * tmp[M00]; - val[M10] = inv_det * tmp[M10]; - val[M20] = inv_det * tmp[M20]; - val[M01] = inv_det * tmp[M01]; - val[M11] = inv_det * tmp[M11]; - val[M21] = inv_det * tmp[M21]; - val[M02] = inv_det * tmp[M02]; - val[M12] = inv_det * tmp[M12]; - val[M22] = inv_det * tmp[M22]; - - return this; - } - - /** Copies the values from the provided matrix to this matrix. - * @param mat The matrix to copy. - * @return This matrix for the purposes of chaining. */ - public Matrix3 set (Matrix3 mat) { - System.arraycopy(mat.val, 0, val, 0, val.length); - return this; - } - - - - /** Sets the matrix to the given matrix as a float array. The float array must have at least 9 elements; the first 9 will be - * copied. - * - * @param values The matrix, in float form, that is to be copied. Remember that this matrix is in column major order. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix3 set (float[] values) { - System.arraycopy(values, 0, val, 0, val.length); - return this; - } - - /** Adds a translational component to the matrix in the 3rd column. The other columns are untouched. - * @param vector The translation vector. - * @return This matrix for the purpose of chaining. */ - public Matrix3 trn (Vector2 vector) { - val[M02] += vector.x; - val[M12] += vector.y; - return this; - } - - /** Adds a translational component to the matrix in the 3rd column. The other columns are untouched. - * @param x The x-component of the translation vector. - * @param y The y-component of the translation vector. - * @return This matrix for the purpose of chaining. */ - public Matrix3 trn (float x, float y) { - val[M02] += x; - val[M12] += y; - return this; - } - - /** Adds a translational component to the matrix in the 3rd column. The other columns are untouched. - * @param vector The translation vector. (The z-component of the vector is ignored because this is a 3x3 matrix) - * @return This matrix for the purpose of chaining. */ - public Matrix3 trn (Vector3 vector) { - val[M02] += vector.x; - val[M12] += vector.y; - return this; - } - - /** Postmultiplies this matrix by a translation matrix. Postmultiplication is also used by OpenGL ES' 1.x - * glTranslate/glRotate/glScale. - * @param x The x-component of the translation vector. - * @param y The y-component of the translation vector. - * @return This matrix for the purpose of chaining. */ - public Matrix3 translate (float x, float y) { - float[] val = this.val; - tmp[M00] = 1; - tmp[M10] = 0; - tmp[M20] = 0; - - tmp[M01] = 0; - tmp[M11] = 1; - tmp[M21] = 0; - - tmp[M02] = x; - tmp[M12] = y; - tmp[M22] = 1; - mul(val, tmp); - return this; - } - - /** Postmultiplies this matrix by a translation matrix. Postmultiplication is also used by OpenGL ES' 1.x - * glTranslate/glRotate/glScale. - * @param translation The translation vector. - * @return This matrix for the purpose of chaining. */ - public Matrix3 translate (Vector2 translation) { - float[] val = this.val; - tmp[M00] = 1; - tmp[M10] = 0; - tmp[M20] = 0; - - tmp[M01] = 0; - tmp[M11] = 1; - tmp[M21] = 0; - - tmp[M02] = translation.x; - tmp[M12] = translation.y; - tmp[M22] = 1; - mul(val, tmp); - return this; - } - - /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x - * glTranslate/glRotate/glScale. - * @param degrees The angle in degrees - * @return This matrix for the purpose of chaining. */ - public Matrix3 rotate (float degrees) { - return rotateRad(MathUtils.degreesToRadians * degrees); - } - - /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x - * glTranslate/glRotate/glScale. - * @param radians The angle in radians - * @return This matrix for the purpose of chaining. */ - public Matrix3 rotateRad (float radians) { - if (radians == 0) return this; - float cos = (float)Math.cos(radians); - float sin = (float)Math.sin(radians); - float[] tmp = this.tmp; - - tmp[M00] = cos; - tmp[M10] = sin; - tmp[M20] = 0; - - tmp[M01] = -sin; - tmp[M11] = cos; - tmp[M21] = 0; - - tmp[M02] = 0; - tmp[M12] = 0; - tmp[M22] = 1; - mul(val, tmp); - return this; - } - - /** Postmultiplies this matrix with a scale matrix. Postmultiplication is also used by OpenGL ES' 1.x - * glTranslate/glRotate/glScale. - * @param scaleX The scale in the x-axis. - * @param scaleY The scale in the y-axis. - * @return This matrix for the purpose of chaining. */ - public Matrix3 scale (float scaleX, float scaleY) { - float[] tmp = this.tmp; - tmp[M00] = scaleX; - tmp[M10] = 0; - tmp[M20] = 0; - tmp[M01] = 0; - tmp[M11] = scaleY; - tmp[M21] = 0; - tmp[M02] = 0; - tmp[M12] = 0; - tmp[M22] = 1; - mul(val, tmp); - return this; - } - - /** Postmultiplies this matrix with a scale matrix. Postmultiplication is also used by OpenGL ES' 1.x - * glTranslate/glRotate/glScale. - * @param scale The vector to scale the matrix by. - * @return This matrix for the purpose of chaining. */ - public Matrix3 scale (Vector2 scale) { - float[] tmp = this.tmp; - tmp[M00] = scale.x; - tmp[M10] = 0; - tmp[M20] = 0; - tmp[M01] = 0; - tmp[M11] = scale.y; - tmp[M21] = 0; - tmp[M02] = 0; - tmp[M12] = 0; - tmp[M22] = 1; - mul(val, tmp); - return this; - } - - /** Get the values in this matrix. - * @return The float values that make up this matrix in column-major order. */ - public float[] getValues () { - return val; - } - - public Vector2 getTranslation (Vector2 position) { - position.x = val[M02]; - position.y = val[M12]; - return position; - } - - public Vector2 getScale (Vector2 scale) { - float[] val = this.val; - scale.x = (float)Math.sqrt(val[M00] * val[M00] + val[M01] * val[M01]); - scale.y = (float)Math.sqrt(val[M10] * val[M10] + val[M11] * val[M11]); - return scale; - } - - public float getRotation () { - return MathUtils.radiansToDegrees * (float)Math.atan2(val[M10], val[M00]); - } - - public float getRotationRad () { - return (float)Math.atan2(val[M10], val[M00]); - } - - /** Scale the matrix in the both the x and y components by the scalar value. - * @param scale The single value that will be used to scale both the x and y components. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix3 scl (float scale) { - val[M00] *= scale; - val[M11] *= scale; - return this; - } - - /** Scale this matrix using the x and y components of the vector but leave the rest of the matrix alone. - * @param scale The {@link Vector3} to use to scale this matrix. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix3 scl (Vector2 scale) { - val[M00] *= scale.x; - val[M11] *= scale.y; - return this; - } - - /** Scale this matrix using the x and y components of the vector but leave the rest of the matrix alone. - * @param scale The {@link Vector3} to use to scale this matrix. The z component will be ignored. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix3 scl (Vector3 scale) { - val[M00] *= scale.x; - val[M11] *= scale.y; - return this; - } - - /** Transposes the current matrix. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix3 transpose () { - // Where MXY you do not have to change MXX - float[] val = this.val; - float v01 = val[M10]; - float v02 = val[M20]; - float v10 = val[M01]; - float v12 = val[M21]; - float v20 = val[M02]; - float v21 = val[M12]; - val[M01] = v01; - val[M02] = v02; - val[M10] = v10; - val[M12] = v12; - val[M20] = v20; - val[M21] = v21; - return this; - } - - /** Multiplies matrix a with matrix b in the following manner: - * - * 
-	 * mul(A, B) => A := AB
-	 *
- * @param mata The float array representing the first matrix. Must have at least 9 elements. - * @param matb The float array representing the second matrix. Must have at least 9 elements. */ - private static void mul (float[] mata, float[] matb) { - float v00 = mata[M00] * matb[M00] + mata[M01] * matb[M10] + mata[M02] * matb[M20]; - float v01 = mata[M00] * matb[M01] + mata[M01] * matb[M11] + mata[M02] * matb[M21]; - float v02 = mata[M00] * matb[M02] + mata[M01] * matb[M12] + mata[M02] * matb[M22]; - - float v10 = mata[M10] * matb[M00] + mata[M11] * matb[M10] + mata[M12] * matb[M20]; - float v11 = mata[M10] * matb[M01] + mata[M11] * matb[M11] + mata[M12] * matb[M21]; - float v12 = mata[M10] * matb[M02] + mata[M11] * matb[M12] + mata[M12] * matb[M22]; - - float v20 = mata[M20] * matb[M00] + mata[M21] * matb[M10] + mata[M22] * matb[M20]; - float v21 = mata[M20] * matb[M01] + mata[M21] * matb[M11] + mata[M22] * matb[M21]; - float v22 = mata[M20] * matb[M02] + mata[M21] * matb[M12] + mata[M22] * matb[M22]; - - mata[M00] = v00; - mata[M10] = v10; - mata[M20] = v20; - mata[M01] = v01; - mata[M11] = v11; - mata[M21] = v21; - mata[M02] = v02; - mata[M12] = v12; - mata[M22] = v22; - } -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix4.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix4.java deleted file mode 100644 index c47bc0ec..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Matrix4.java +++ /dev/null @@ -1,1519 +0,0 @@ -/******************************************************************************* - * Copyright 2011 See AUTHORS file. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - ******************************************************************************/ - -package com.neuronrobotics.sdk.addons.kinematics.math; - -import java.io.Serializable; - -/** Encapsulates a column major 4 by 4 matrix. Like - * the {@link Vector3} class it allows the chaining of methods by returning a reference to itself. For example: - * - * 
- * Matrix4 mat = new Matrix4().trn(position).mul(camera.combined);
- *
- * - * @author badlogicgames@gmail.com */ -class Matrix4 implements Serializable { - private static final long serialVersionUID = -2717655254359579617L; - /** XX: Typically the unrotated X component for scaling, also the cosine of the angle when rotated on the Y and/or Z axis. On - * Vector3 multiplication this value is multiplied with the source X component and added to the target X component. */ - public static final int M00 = 0; - /** XY: Typically the negative sine of the angle when rotated on the Z axis. On Vector3 multiplication this value is multiplied - * with the source Y component and added to the target X component. */ - public static final int M01 = 4; - /** XZ: Typically the sine of the angle when rotated on the Y axis. On Vector3 multiplication this value is multiplied with the - * source Z component and added to the target X component. */ - public static final int M02 = 8; - /** XW: Typically the translation of the X component. On Vector3 multiplication this value is added to the target X component. */ - public static final int M03 = 12; - /** YX: Typically the sine of the angle when rotated on the Z axis. On Vector3 multiplication this value is multiplied with the - * source X component and added to the target Y component. */ - public static final int M10 = 1; - /** YY: Typically the unrotated Y component for scaling, also the cosine of the angle when rotated on the X and/or Z axis. On - * Vector3 multiplication this value is multiplied with the source Y component and added to the target Y component. */ - public static final int M11 = 5; - /** YZ: Typically the negative sine of the angle when rotated on the X axis. On Vector3 multiplication this value is multiplied - * with the source Z component and added to the target Y component. */ - public static final int M12 = 9; - /** YW: Typically the translation of the Y component. On Vector3 multiplication this value is added to the target Y component. */ - public static final int M13 = 13; - /** ZX: Typically the negative sine of the angle when rotated on the Y axis. On Vector3 multiplication this value is multiplied - * with the source X component and added to the target Z component. */ - public static final int M20 = 2; - /** ZY: Typical the sine of the angle when rotated on the X axis. On Vector3 multiplication this value is multiplied with the - * source Y component and added to the target Z component. */ - public static final int M21 = 6; - /** ZZ: Typically the unrotated Z component for scaling, also the cosine of the angle when rotated on the X and/or Y axis. On - * Vector3 multiplication this value is multiplied with the source Z component and added to the target Z component. */ - public static final int M22 = 10; - /** ZW: Typically the translation of the Z component. On Vector3 multiplication this value is added to the target Z component. */ - public static final int M23 = 14; - /** WX: Typically the value zero. On Vector3 multiplication this value is ignored. */ - public static final int M30 = 3; - /** WY: Typically the value zero. On Vector3 multiplication this value is ignored. */ - public static final int M31 = 7; - /** WZ: Typically the value zero. On Vector3 multiplication this value is ignored. */ - public static final int M32 = 11; - /** WW: Typically the value one. On Vector3 multiplication this value is ignored. */ - public static final int M33 = 15; - - private static final float tmp[] = new float[16]; - public final float val[] = new float[16]; - - /** Constructs an identity matrix */ - public Matrix4 () { - val[M00] = 1f; - val[M11] = 1f; - val[M22] = 1f; - val[M33] = 1f; - } - - /** Constructs a matrix from the given matrix. - * - * @param matrix The matrix to copy. (This matrix is not modified) */ - public Matrix4 (Matrix4 matrix) { - this.set(matrix); - } - - /** Constructs a matrix from the given float array. The array must have at least 16 elements; the first 16 will be copied. - * @param values The float array to copy. Remember that this matrix is in column major order. (The float array is not modified) */ - public Matrix4 (float[] values) { - this.set(values); - } - - /** Constructs a rotation matrix from the given {@link Quaternion}. - * @param Quaternion The QuaternionGDX to be copied. (The QuaternionGDX is not modified) */ - public Matrix4 (Quaternion quaternion) { - this.set(quaternion); - } - - /** Construct a matrix from the given translation, rotation and scale. - * @param position The translation - * @param rotation The rotation, must be normalized - * @param scale The scale */ - public Matrix4 (Vector3 position, Quaternion rotation, Vector3 scale) { - set(position, rotation, scale); - } - - /** Sets the matrix to the given matrix. - * - * @param matrix The matrix that is to be copied. (The given matrix is not modified) - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 set (Matrix4 matrix) { - return this.set(matrix.val); - } - - /** Sets the matrix to the given matrix as a float array. The float array must have at least 16 elements; the first 16 will be - * copied. - * - * @param values The matrix, in float form, that is to be copied. Remember that this matrix is in column major order. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 set (float[] values) { - System.arraycopy(values, 0, val, 0, val.length); - return this; - } - - /** Sets the matrix to a rotation matrix representing the quaternion. - * - * @param Quaternion The QuaternionGDX that is to be used to set this matrix. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 set (Quaternion quaternion) { - return set(quaternion.x, quaternion.y, quaternion.z, quaternion.w); - } - - /** Sets the matrix to a rotation matrix representing the quaternion. - * - * @param quaternionX The X component of the QuaternionGDX that is to be used to set this matrix. - * @param quaternionY The Y component of the QuaternionGDX that is to be used to set this matrix. - * @param quaternionZ The Z component of the QuaternionGDX that is to be used to set this matrix. - * @param quaternionW The W component of the QuaternionGDX that is to be used to set this matrix. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 set (float quaternionX, float quaternionY, float quaternionZ, float quaternionW) { - return set(0f, 0f, 0f, quaternionX, quaternionY, quaternionZ, quaternionW); - } - - /** Set this matrix to the specified translation and rotation. - * @param position The translation - * @param orientation The rotation, must be normalized - * @return This matrix for chaining */ - public Matrix4 set (Vector3 position, Quaternion orientation) { - return set(position.x, position.y, position.z, orientation.x, orientation.y, orientation.z, orientation.w); - } - - /** Sets the matrix to a rotation matrix representing the translation and quaternion. - * - * @param translationX The X component of the translation that is to be used to set this matrix. - * @param translationY The Y component of the translation that is to be used to set this matrix. - * @param translationZ The Z component of the translation that is to be used to set this matrix. - * @param quaternionX The X component of the QuaternionGDX that is to be used to set this matrix. - * @param quaternionY The Y component of the QuaternionGDX that is to be used to set this matrix. - * @param quaternionZ The Z component of the QuaternionGDX that is to be used to set this matrix. - * @param quaternionW The W component of the QuaternionGDX that is to be used to set this matrix. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 set (float translationX, float translationY, float translationZ, float quaternionX, float quaternionY, - float quaternionZ, float quaternionW) { - final float xs = quaternionX * 2f, ys = quaternionY * 2f, zs = quaternionZ * 2f; - final float wx = quaternionW * xs, wy = quaternionW * ys, wz = quaternionW * zs; - final float xx = quaternionX * xs, xy = quaternionX * ys, xz = quaternionX * zs; - final float yy = quaternionY * ys, yz = quaternionY * zs, zz = quaternionZ * zs; - - val[M00] = (1.0f - (yy + zz)); - val[M01] = (xy - wz); - val[M02] = (xz + wy); - val[M03] = translationX; - - val[M10] = (xy + wz); - val[M11] = (1.0f - (xx + zz)); - val[M12] = (yz - wx); - val[M13] = translationY; - - val[M20] = (xz - wy); - val[M21] = (yz + wx); - val[M22] = (1.0f - (xx + yy)); - val[M23] = translationZ; - - val[M30] = 0.f; - val[M31] = 0.f; - val[M32] = 0.f; - val[M33] = 1.0f; - return this; - } - - /** Set this matrix to the specified translation, rotation and scale. - * @param position The translation - * @param orientation The rotation, must be normalized - * @param scale The scale - * @return This matrix for chaining */ - public Matrix4 set (Vector3 position, Quaternion orientation, Vector3 scale) { - return set(position.x, position.y, position.z, orientation.x, orientation.y, orientation.z, orientation.w, scale.x, - scale.y, scale.z); - } - - /** Sets the matrix to a rotation matrix representing the translation and quaternion. - * - * @param translationX The X component of the translation that is to be used to set this matrix. - * @param translationY The Y component of the translation that is to be used to set this matrix. - * @param translationZ The Z component of the translation that is to be used to set this matrix. - * @param quaternionX The X component of the QuaternionGDX that is to be used to set this matrix. - * @param quaternionY The Y component of the QuaternionGDX that is to be used to set this matrix. - * @param quaternionZ The Z component of the QuaternionGDX that is to be used to set this matrix. - * @param quaternionW The W component of the QuaternionGDX that is to be used to set this matrix. - * @param scaleX The X component of the scaling that is to be used to set this matrix. - * @param scaleY The Y component of the scaling that is to be used to set this matrix. - * @param scaleZ The Z component of the scaling that is to be used to set this matrix. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 set (float translationX, float translationY, float translationZ, float quaternionX, float quaternionY, - float quaternionZ, float quaternionW, float scaleX, float scaleY, float scaleZ) { - final float xs = quaternionX * 2f, ys = quaternionY * 2f, zs = quaternionZ * 2f; - final float wx = quaternionW * xs, wy = quaternionW * ys, wz = quaternionW * zs; - final float xx = quaternionX * xs, xy = quaternionX * ys, xz = quaternionX * zs; - final float yy = quaternionY * ys, yz = quaternionY * zs, zz = quaternionZ * zs; - - val[M00] = scaleX * (1.0f - (yy + zz)); - val[M01] = scaleY * (xy - wz); - val[M02] = scaleZ * (xz + wy); - val[M03] = translationX; - - val[M10] = scaleX * (xy + wz); - val[M11] = scaleY * (1.0f - (xx + zz)); - val[M12] = scaleZ * (yz - wx); - val[M13] = translationY; - - val[M20] = scaleX * (xz - wy); - val[M21] = scaleY * (yz + wx); - val[M22] = scaleZ * (1.0f - (xx + yy)); - val[M23] = translationZ; - - val[M30] = 0.f; - val[M31] = 0.f; - val[M32] = 0.f; - val[M33] = 1.0f; - return this; - } - - /** Sets the four columns of the matrix which correspond to the x-, y- and z-axis of the vector space this matrix creates as - * well as the 4th column representing the translation of any point that is multiplied by this matrix. - * - * @param xAxis The x-axis. - * @param yAxis The y-axis. - * @param zAxis The z-axis. - * @param pos The translation vector. */ - public Matrix4 set (Vector3 xAxis, Vector3 yAxis, Vector3 zAxis, Vector3 pos) { - val[M00] = xAxis.x; - val[M01] = xAxis.y; - val[M02] = xAxis.z; - val[M10] = yAxis.x; - val[M11] = yAxis.y; - val[M12] = yAxis.z; - val[M20] = zAxis.x; - val[M21] = zAxis.y; - val[M22] = zAxis.z; - val[M03] = pos.x; - val[M13] = pos.y; - val[M23] = pos.z; - val[M30] = 0; - val[M31] = 0; - val[M32] = 0; - val[M33] = 1; - return this; - } - - /** @return a copy of this matrix */ - public Matrix4 cpy () { - return new Matrix4(this); - } - - /** Adds a translational component to the matrix in the 4th column. The other columns are untouched. - * - * @param vector The translation vector to add to the current matrix. (This vector is not modified) - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 trn (Vector3 vector) { - val[M03] += vector.x; - val[M13] += vector.y; - val[M23] += vector.z; - return this; - } - - /** Adds a translational component to the matrix in the 4th column. The other columns are untouched. - * - * @param x The x-component of the translation vector. - * @param y The y-component of the translation vector. - * @param z The z-component of the translation vector. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 trn (float x, float y, float z) { - val[M03] += x; - val[M13] += y; - val[M23] += z; - return this; - } - - /** @return the backing float array */ - public float[] getValues () { - return val; - } - - /** Postmultiplies this matrix with the given matrix, storing the result in this matrix. For example: - * - * 
-	 * A.mul(B) results in A := AB.
-	 *
- * - * @param matrix The other matrix to multiply by. - * @return This matrix for the purpose of chaining operations together. */ - public Matrix4 mul (Matrix4 matrix) { - mul(val, matrix.val); - return this; - } - - /** Premultiplies this matrix with the given matrix, storing the result in this matrix. For example: - * - * 
-	 * A.mulLeft(B) results in A := BA.
-	 *
- * - * @param matrix The other matrix to multiply by. - * @return This matrix for the purpose of chaining operations together. */ - public Matrix4 mulLeft (Matrix4 matrix) { - tmpMat.set(matrix); - mul(tmpMat.val, this.val); - return set(tmpMat); - } - - /** Transposes the matrix. - * - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 tra () { - tmp[M00] = val[M00]; - tmp[M01] = val[M10]; - tmp[M02] = val[M20]; - tmp[M03] = val[M30]; - tmp[M10] = val[M01]; - tmp[M11] = val[M11]; - tmp[M12] = val[M21]; - tmp[M13] = val[M31]; - tmp[M20] = val[M02]; - tmp[M21] = val[M12]; - tmp[M22] = val[M22]; - tmp[M23] = val[M32]; - tmp[M30] = val[M03]; - tmp[M31] = val[M13]; - tmp[M32] = val[M23]; - tmp[M33] = val[M33]; - return set(tmp); - } - - /** Sets the matrix to an identity matrix. - * - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 idt () { - val[M00] = 1; - val[M01] = 0; - val[M02] = 0; - val[M03] = 0; - val[M10] = 0; - val[M11] = 1; - val[M12] = 0; - val[M13] = 0; - val[M20] = 0; - val[M21] = 0; - val[M22] = 1; - val[M23] = 0; - val[M30] = 0; - val[M31] = 0; - val[M32] = 0; - val[M33] = 1; - return this; - } - - /** Inverts the matrix. Stores the result in this matrix. - * - * @return This matrix for the purpose of chaining methods together. - * @throws RuntimeException if the matrix is singular (not invertible) */ - public Matrix4 inv () { - float l_det = val[M30] * val[M21] * val[M12] * val[M03] - val[M20] * val[M31] * val[M12] * val[M03] - val[M30] * val[M11] - * val[M22] * val[M03] + val[M10] * val[M31] * val[M22] * val[M03] + val[M20] * val[M11] * val[M32] * val[M03] - val[M10] - * val[M21] * val[M32] * val[M03] - val[M30] * val[M21] * val[M02] * val[M13] + val[M20] * val[M31] * val[M02] * val[M13] - + val[M30] * val[M01] * val[M22] * val[M13] - val[M00] * val[M31] * val[M22] * val[M13] - val[M20] * val[M01] * val[M32] - * val[M13] + val[M00] * val[M21] * val[M32] * val[M13] + val[M30] * val[M11] * val[M02] * val[M23] - val[M10] * val[M31] - * val[M02] * val[M23] - val[M30] * val[M01] * val[M12] * val[M23] + val[M00] * val[M31] * val[M12] * val[M23] + val[M10] - * val[M01] * val[M32] * val[M23] - val[M00] * val[M11] * val[M32] * val[M23] - val[M20] * val[M11] * val[M02] * val[M33] - + val[M10] * val[M21] * val[M02] * val[M33] + val[M20] * val[M01] * val[M12] * val[M33] - val[M00] * val[M21] * val[M12] - * val[M33] - val[M10] * val[M01] * val[M22] * val[M33] + val[M00] * val[M11] * val[M22] * val[M33]; - if (l_det == 0f) throw new RuntimeException("non-invertible matrix"); - float inv_det = 1.0f / l_det; - tmp[M00] = val[M12] * val[M23] * val[M31] - val[M13] * val[M22] * val[M31] + val[M13] * val[M21] * val[M32] - val[M11] - * val[M23] * val[M32] - val[M12] * val[M21] * val[M33] + val[M11] * val[M22] * val[M33]; - tmp[M01] = val[M03] * val[M22] * val[M31] - val[M02] * val[M23] * val[M31] - val[M03] * val[M21] * val[M32] + val[M01] - * val[M23] * val[M32] + val[M02] * val[M21] * val[M33] - val[M01] * val[M22] * val[M33]; - tmp[M02] = val[M02] * val[M13] * val[M31] - val[M03] * val[M12] * val[M31] + val[M03] * val[M11] * val[M32] - val[M01] - * val[M13] * val[M32] - val[M02] * val[M11] * val[M33] + val[M01] * val[M12] * val[M33]; - tmp[M03] = val[M03] * val[M12] * val[M21] - val[M02] * val[M13] * val[M21] - val[M03] * val[M11] * val[M22] + val[M01] - * val[M13] * val[M22] + val[M02] * val[M11] * val[M23] - val[M01] * val[M12] * val[M23]; - tmp[M10] = val[M13] * val[M22] * val[M30] - val[M12] * val[M23] * val[M30] - val[M13] * val[M20] * val[M32] + val[M10] - * val[M23] * val[M32] + val[M12] * val[M20] * val[M33] - val[M10] * val[M22] * val[M33]; - tmp[M11] = val[M02] * val[M23] * val[M30] - val[M03] * val[M22] * val[M30] + val[M03] * val[M20] * val[M32] - val[M00] - * val[M23] * val[M32] - val[M02] * val[M20] * val[M33] + val[M00] * val[M22] * val[M33]; - tmp[M12] = val[M03] * val[M12] * val[M30] - val[M02] * val[M13] * val[M30] - val[M03] * val[M10] * val[M32] + val[M00] - * val[M13] * val[M32] + val[M02] * val[M10] * val[M33] - val[M00] * val[M12] * val[M33]; - tmp[M13] = val[M02] * val[M13] * val[M20] - val[M03] * val[M12] * val[M20] + val[M03] * val[M10] * val[M22] - val[M00] - * val[M13] * val[M22] - val[M02] * val[M10] * val[M23] + val[M00] * val[M12] * val[M23]; - tmp[M20] = val[M11] * val[M23] * val[M30] - val[M13] * val[M21] * val[M30] + val[M13] * val[M20] * val[M31] - val[M10] - * val[M23] * val[M31] - val[M11] * val[M20] * val[M33] + val[M10] * val[M21] * val[M33]; - tmp[M21] = val[M03] * val[M21] * val[M30] - val[M01] * val[M23] * val[M30] - val[M03] * val[M20] * val[M31] + val[M00] - * val[M23] * val[M31] + val[M01] * val[M20] * val[M33] - val[M00] * val[M21] * val[M33]; - tmp[M22] = val[M01] * val[M13] * val[M30] - val[M03] * val[M11] * val[M30] + val[M03] * val[M10] * val[M31] - val[M00] - * val[M13] * val[M31] - val[M01] * val[M10] * val[M33] + val[M00] * val[M11] * val[M33]; - tmp[M23] = val[M03] * val[M11] * val[M20] - val[M01] * val[M13] * val[M20] - val[M03] * val[M10] * val[M21] + val[M00] - * val[M13] * val[M21] + val[M01] * val[M10] * val[M23] - val[M00] * val[M11] * val[M23]; - tmp[M30] = val[M12] * val[M21] * val[M30] - val[M11] * val[M22] * val[M30] - val[M12] * val[M20] * val[M31] + val[M10] - * val[M22] * val[M31] + val[M11] * val[M20] * val[M32] - val[M10] * val[M21] * val[M32]; - tmp[M31] = val[M01] * val[M22] * val[M30] - val[M02] * val[M21] * val[M30] + val[M02] * val[M20] * val[M31] - val[M00] - * val[M22] * val[M31] - val[M01] * val[M20] * val[M32] + val[M00] * val[M21] * val[M32]; - tmp[M32] = val[M02] * val[M11] * val[M30] - val[M01] * val[M12] * val[M30] - val[M02] * val[M10] * val[M31] + val[M00] - * val[M12] * val[M31] + val[M01] * val[M10] * val[M32] - val[M00] * val[M11] * val[M32]; - tmp[M33] = val[M01] * val[M12] * val[M20] - val[M02] * val[M11] * val[M20] + val[M02] * val[M10] * val[M21] - val[M00] - * val[M12] * val[M21] - val[M01] * val[M10] * val[M22] + val[M00] * val[M11] * val[M22]; - val[M00] = tmp[M00] * inv_det; - val[M01] = tmp[M01] * inv_det; - val[M02] = tmp[M02] * inv_det; - val[M03] = tmp[M03] * inv_det; - val[M10] = tmp[M10] * inv_det; - val[M11] = tmp[M11] * inv_det; - val[M12] = tmp[M12] * inv_det; - val[M13] = tmp[M13] * inv_det; - val[M20] = tmp[M20] * inv_det; - val[M21] = tmp[M21] * inv_det; - val[M22] = tmp[M22] * inv_det; - val[M23] = tmp[M23] * inv_det; - val[M30] = tmp[M30] * inv_det; - val[M31] = tmp[M31] * inv_det; - val[M32] = tmp[M32] * inv_det; - val[M33] = tmp[M33] * inv_det; - return this; - } - - /** @return The determinant of this matrix */ - public float det () { - return val[M30] * val[M21] * val[M12] * val[M03] - val[M20] * val[M31] * val[M12] * val[M03] - val[M30] * val[M11] - * val[M22] * val[M03] + val[M10] * val[M31] * val[M22] * val[M03] + val[M20] * val[M11] * val[M32] * val[M03] - val[M10] - * val[M21] * val[M32] * val[M03] - val[M30] * val[M21] * val[M02] * val[M13] + val[M20] * val[M31] * val[M02] * val[M13] - + val[M30] * val[M01] * val[M22] * val[M13] - val[M00] * val[M31] * val[M22] * val[M13] - val[M20] * val[M01] * val[M32] - * val[M13] + val[M00] * val[M21] * val[M32] * val[M13] + val[M30] * val[M11] * val[M02] * val[M23] - val[M10] * val[M31] - * val[M02] * val[M23] - val[M30] * val[M01] * val[M12] * val[M23] + val[M00] * val[M31] * val[M12] * val[M23] + val[M10] - * val[M01] * val[M32] * val[M23] - val[M00] * val[M11] * val[M32] * val[M23] - val[M20] * val[M11] * val[M02] * val[M33] - + val[M10] * val[M21] * val[M02] * val[M33] + val[M20] * val[M01] * val[M12] * val[M33] - val[M00] * val[M21] * val[M12] - * val[M33] - val[M10] * val[M01] * val[M22] * val[M33] + val[M00] * val[M11] * val[M22] * val[M33]; - } - - /** @return The determinant of the 3x3 upper left matrix */ - public float det3x3 () { - return val[M00] * val[M11] * val[M22] + val[M01] * val[M12] * val[M20] + val[M02] * val[M10] * val[M21] - val[M00] - * val[M12] * val[M21] - val[M01] * val[M10] * val[M22] - val[M02] * val[M11] * val[M20]; - } - - /** Sets the matrix to a projection matrix with a near- and far plane, a field of view in degrees and an aspect ratio. Note that - * the field of view specified is the angle in degrees for the height, the field of view for the width will be calculated - * according to the aspect ratio. - * - * @param near The near plane - * @param far The far plane - * @param fovy The field of view of the height in degrees - * @param aspectRatio The "width over height" aspect ratio - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToProjection (float near, float far, float fovy, float aspectRatio) { - idt(); - float l_fd = (float)(1.0 / Math.tan((fovy * (Math.PI / 180)) / 2.0)); - float l_a1 = (far + near) / (near - far); - float l_a2 = (2 * far * near) / (near - far); - val[M00] = l_fd / aspectRatio; - val[M10] = 0; - val[M20] = 0; - val[M30] = 0; - val[M01] = 0; - val[M11] = l_fd; - val[M21] = 0; - val[M31] = 0; - val[M02] = 0; - val[M12] = 0; - val[M22] = l_a1; - val[M32] = -1; - val[M03] = 0; - val[M13] = 0; - val[M23] = l_a2; - val[M33] = 0; - - return this; - } - - /** Sets the matrix to a projection matrix with a near/far plane, and left, bottom, right and top specifying the points on the - * near plane that are mapped to the lower left and upper right corners of the viewport. This allows to create projection - * matrix with off-center vanishing point. - * - * @param left - * @param right - * @param bottom - * @param top - * @param near The near plane - * @param far The far plane - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToProjection (float left, float right, float bottom, float top, float near, float far) { - float x = 2.0f * near / (right - left); - float y = 2.0f * near / (top - bottom); - float a = (right + left) / (right - left); - float b = (top + bottom) / (top - bottom); - float l_a1 = (far + near) / (near - far); - float l_a2 = (2 * far * near) / (near - far); - val[M00] = x; - val[M10] = 0; - val[M20] = 0; - val[M30] = 0; - val[M01] = 0; - val[M11] = y; - val[M21] = 0; - val[M31] = 0; - val[M02] = a; - val[M12] = b; - val[M22] = l_a1; - val[M32] = -1; - val[M03] = 0; - val[M13] = 0; - val[M23] = l_a2; - val[M33] = 0; - - return this; - } - - /** Sets this matrix to an orthographic projection matrix with the origin at (x,y) extending by width and height. The near plane - * is set to 0, the far plane is set to 1. - * - * @param x The x-coordinate of the origin - * @param y The y-coordinate of the origin - * @param width The width - * @param height The height - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToOrtho2D (float x, float y, float width, float height) { - setToOrtho(x, x + width, y, y + height, 0, 1); - return this; - } - - /** Sets this matrix to an orthographic projection matrix with the origin at (x,y) extending by width and height, having a near - * and far plane. - * - * @param x The x-coordinate of the origin - * @param y The y-coordinate of the origin - * @param width The width - * @param height The height - * @param near The near plane - * @param far The far plane - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToOrtho2D (float x, float y, float width, float height, float near, float far) { - setToOrtho(x, x + width, y, y + height, near, far); - return this; - } - - /** Sets the matrix to an orthographic projection like glOrtho (http://www.opengl.org/sdk/docs/man/xhtml/glOrtho.xml) following - * the OpenGL equivalent - * - * @param left The left clipping plane - * @param right The right clipping plane - * @param bottom The bottom clipping plane - * @param top The top clipping plane - * @param near The near clipping plane - * @param far The far clipping plane - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToOrtho (float left, float right, float bottom, float top, float near, float far) { - - this.idt(); - float x_orth = 2 / (right - left); - float y_orth = 2 / (top - bottom); - float z_orth = -2 / (far - near); - - float tx = -(right + left) / (right - left); - float ty = -(top + bottom) / (top - bottom); - float tz = -(far + near) / (far - near); - - val[M00] = x_orth; - val[M10] = 0; - val[M20] = 0; - val[M30] = 0; - val[M01] = 0; - val[M11] = y_orth; - val[M21] = 0; - val[M31] = 0; - val[M02] = 0; - val[M12] = 0; - val[M22] = z_orth; - val[M32] = 0; - val[M03] = tx; - val[M13] = ty; - val[M23] = tz; - val[M33] = 1; - - return this; - } - - /** Sets the 4th column to the translation vector. - * - * @param vector The translation vector - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setTranslation (Vector3 vector) { - val[M03] = vector.x; - val[M13] = vector.y; - val[M23] = vector.z; - return this; - } - - /** Sets the 4th column to the translation vector. - * - * @param x The X coordinate of the translation vector - * @param y The Y coordinate of the translation vector - * @param z The Z coordinate of the translation vector - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setTranslation (float x, float y, float z) { - val[M03] = x; - val[M13] = y; - val[M23] = z; - return this; - } - - /** Sets this matrix to a translation matrix, overwriting it first by an identity matrix and then setting the 4th column to the - * translation vector. - * - * @param vector The translation vector - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToTranslation (Vector3 vector) { - idt(); - val[M03] = vector.x; - val[M13] = vector.y; - val[M23] = vector.z; - return this; - } - - /** Sets this matrix to a translation matrix, overwriting it first by an identity matrix and then setting the 4th column to the - * translation vector. - * - * @param x The x-component of the translation vector. - * @param y The y-component of the translation vector. - * @param z The z-component of the translation vector. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToTranslation (float x, float y, float z) { - idt(); - val[M03] = x; - val[M13] = y; - val[M23] = z; - return this; - } - - /** Sets this matrix to a translation and scaling matrix by first overwriting it with an identity and then setting the - * translation vector in the 4th column and the scaling vector in the diagonal. - * - * @param translation The translation vector - * @param scaling The scaling vector - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToTranslationAndScaling (Vector3 translation, Vector3 scaling) { - idt(); - val[M03] = translation.x; - val[M13] = translation.y; - val[M23] = translation.z; - val[M00] = scaling.x; - val[M11] = scaling.y; - val[M22] = scaling.z; - return this; - } - - /** Sets this matrix to a translation and scaling matrix by first overwriting it with an identity and then setting the - * translation vector in the 4th column and the scaling vector in the diagonal. - * - * @param translationX The x-component of the translation vector - * @param translationY The y-component of the translation vector - * @param translationZ The z-component of the translation vector - * @param scalingX The x-component of the scaling vector - * @param scalingY The x-component of the scaling vector - * @param scalingZ The x-component of the scaling vector - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToTranslationAndScaling (float translationX, float translationY, float translationZ, float scalingX, - float scalingY, float scalingZ) { - idt(); - val[M03] = translationX; - val[M13] = translationY; - val[M23] = translationZ; - val[M00] = scalingX; - val[M11] = scalingY; - val[M22] = scalingZ; - return this; - } - - static Quaternion quat = new Quaternion(); - static Quaternion quat2 = new Quaternion(); - - /** Sets the matrix to a rotation matrix around the given axis. - * - * @param axis The axis - * @param degrees The angle in degrees - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToRotation (Vector3 axis, float degrees) { - if (degrees == 0) { - idt(); - return this; - } - return set(quat.set(axis, degrees)); - } - - /** Sets the matrix to a rotation matrix around the given axis. - * - * @param axis The axis - * @param radians The angle in radians - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToRotationRad (Vector3 axis, float radians) { - if (radians == 0) { - idt(); - return this; - } - return set(quat.setFromAxisRad(axis, radians)); - } - - /** Sets the matrix to a rotation matrix around the given axis. - * - * @param axisX The x-component of the axis - * @param axisY The y-component of the axis - * @param axisZ The z-component of the axis - * @param degrees The angle in degrees - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToRotation (float axisX, float axisY, float axisZ, float degrees) { - if (degrees == 0) { - idt(); - return this; - } - return set(quat.setFromAxis(axisX, axisY, axisZ, degrees)); - } - - /** Sets the matrix to a rotation matrix around the given axis. - * - * @param axisX The x-component of the axis - * @param axisY The y-component of the axis - * @param axisZ The z-component of the axis - * @param radians The angle in radians - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToRotationRad (float axisX, float axisY, float axisZ, float radians) { - if (radians == 0) { - idt(); - return this; - } - return set(quat.setFromAxisRad(axisX, axisY, axisZ, radians)); - } - - /** Set the matrix to a rotation matrix between two vectors. - * @param v1 The base vector - * @param v2 The target vector - * @return This matrix for the purpose of chaining methods together */ - public Matrix4 setToRotation (final Vector3 v1, final Vector3 v2) { - return set(quat.setFromCross(v1, v2)); - } - - /** Set the matrix to a rotation matrix between two vectors. - * @param x1 The base vectors x value - * @param y1 The base vectors y value - * @param z1 The base vectors z value - * @param x2 The target vector x value - * @param y2 The target vector y value - * @param z2 The target vector z value - * @return This matrix for the purpose of chaining methods together */ - public Matrix4 setToRotation (final float x1, final float y1, final float z1, final float x2, final float y2, final float z2) { - return set(quat.setFromCross(x1, y1, z1, x2, y2, z2)); - } - - /** Sets this matrix to a rotation matrix from the given euler angles. - * @param yaw the yaw in degrees - * @param pitch the pitch in degrees - * @param roll the roll in degrees - * @return This matrix */ - public Matrix4 setFromEulerAngles (float yaw, float pitch, float roll) { - quat.setEulerAngles(yaw, pitch, roll); - return set(quat); - } - - /** Sets this matrix to a rotation matrix from the given euler angles. - * @param yaw the yaw in radians - * @param pitch the pitch in radians - * @param roll the roll in radians - * @return This matrix */ - public Matrix4 setFromEulerAnglesRad (float yaw, float pitch, float roll) { - quat.setEulerAnglesRad(yaw, pitch, roll); - return set(quat); - } - - /** Sets this matrix to a scaling matrix - * - * @param vector The scaling vector - * @return This matrix for chaining. */ - public Matrix4 setToScaling (Vector3 vector) { - idt(); - val[M00] = vector.x; - val[M11] = vector.y; - val[M22] = vector.z; - return this; - } - - /** Sets this matrix to a scaling matrix - * - * @param x The x-component of the scaling vector - * @param y The y-component of the scaling vector - * @param z The z-component of the scaling vector - * @return This matrix for chaining. */ - public Matrix4 setToScaling (float x, float y, float z) { - idt(); - val[M00] = x; - val[M11] = y; - val[M22] = z; - return this; - } - - static final Vector3 l_vez = new Vector3(); - static final Vector3 l_vex = new Vector3(); - static final Vector3 l_vey = new Vector3(); - - /** Sets the matrix to a look at matrix with a direction and an up vector. Multiply with a translation matrix to get a camera - * model view matrix. - * - * @param direction The direction vector - * @param up The up vector - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 setToLookAt (Vector3 direction, Vector3 up) { - l_vez.set(direction).nor(); - l_vex.set(direction).nor(); - l_vex.crs(up).nor(); - l_vey.set(l_vex).crs(l_vez).nor(); - idt(); - val[M00] = l_vex.x; - val[M01] = l_vex.y; - val[M02] = l_vex.z; - val[M10] = l_vey.x; - val[M11] = l_vey.y; - val[M12] = l_vey.z; - val[M20] = -l_vez.x; - val[M21] = -l_vez.y; - val[M22] = -l_vez.z; - - return this; - } - - static final Vector3 tmpVec = new Vector3(); - static final Matrix4 tmpMat = new Matrix4(); - - /** Sets this matrix to a look at matrix with the given position, target and up vector. - * - * @param position the position - * @param target the target - * @param up the up vector - * @return This matrix */ - public Matrix4 setToLookAt (Vector3 position, Vector3 target, Vector3 up) { - tmpVec.set(target).sub(position); - setToLookAt(tmpVec, up); - this.mul(tmpMat.setToTranslation(-position.x, -position.y, -position.z)); - - return this; - } - - static final Vector3 right = new Vector3(); - static final Vector3 tmpForward = new Vector3(); - static final Vector3 tmpUp = new Vector3(); - - public Matrix4 setToWorld (Vector3 position, Vector3 forward, Vector3 up) { - tmpForward.set(forward).nor(); - right.set(tmpForward).crs(up).nor(); - tmpUp.set(right).crs(tmpForward).nor(); - - this.set(right, tmpUp, tmpForward.scl(-1), position); - return this; - } - - public String toString () { - return "[" + val[M00] + "|" + val[M01] + "|" + val[M02] + "|" + val[M03] + "]\n" + "[" + val[M10] + "|" + val[M11] + "|" - + val[M12] + "|" + val[M13] + "]\n" + "[" + val[M20] + "|" + val[M21] + "|" + val[M22] + "|" + val[M23] + "]\n" + "[" - + val[M30] + "|" + val[M31] + "|" + val[M32] + "|" + val[M33] + "]\n"; - } - - /** Linearly interpolates between this matrix and the given matrix mixing by alpha - * @param matrix the matrix - * @param alpha the alpha value in the range [0,1] - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 lerp (Matrix4 matrix, float alpha) { - for (int i = 0; i < 16; i++) - this.val[i] = this.val[i] * (1 - alpha) + matrix.val[i] * alpha; - return this; - } - - /** Averages the given transform with this one and stores the result in this matrix. Translations and scales are lerped while - * rotations are slerped. - * @param other The other transform - * @param w Weight of this transform; weight of the other transform is (1 - w) - * @return This matrix for chaining */ - public Matrix4 avg (Matrix4 other, float w) { - getScale(tmpVec); - other.getScale(tmpForward); - - getRotation(quat); - other.getRotation(quat2); - - getTranslation(tmpUp); - other.getTranslation(right); - - setToScaling(tmpVec.scl(w).add(tmpForward.scl(1 - w))); - rotate(quat.slerp(quat2, 1 - w)); - setTranslation(tmpUp.scl(w).add(right.scl(1 - w))); - - return this; - } - - /** Averages the given transforms and stores the result in this matrix. Translations and scales are lerped while rotations are - * slerped. Does not destroy the data contained in t. - * @param t List of transforms - * @return This matrix for chaining */ - public Matrix4 avg (Matrix4[] t) { - final float w = 1.0f / t.length; - - tmpVec.set(t[0].getScale(tmpUp).scl(w)); - quat.set(t[0].getRotation(quat2).exp(w)); - tmpForward.set(t[0].getTranslation(tmpUp).scl(w)); - - for (int i = 1; i < t.length; i++) { - tmpVec.add(t[i].getScale(tmpUp).scl(w)); - quat.mul(t[i].getRotation(quat2).exp(w)); - tmpForward.add(t[i].getTranslation(tmpUp).scl(w)); - } - quat.nor(); - - setToScaling(tmpVec); - rotate(quat); - setTranslation(tmpForward); - - return this; - } - - /** Averages the given transforms with the given weights and stores the result in this matrix. Translations and scales are - * lerped while rotations are slerped. Does not destroy the data contained in t or w; Sum of w_i must be equal to 1, or - * unexpected results will occur. - * @param t List of transforms - * @param w List of weights - * @return This matrix for chaining */ - public Matrix4 avg (Matrix4[] t, float[] w) { - tmpVec.set(t[0].getScale(tmpUp).scl(w[0])); - quat.set(t[0].getRotation(quat2).exp(w[0])); - tmpForward.set(t[0].getTranslation(tmpUp).scl(w[0])); - - for (int i = 1; i < t.length; i++) { - tmpVec.add(t[i].getScale(tmpUp).scl(w[i])); - quat.mul(t[i].getRotation(quat2).exp(w[i])); - tmpForward.add(t[i].getTranslation(tmpUp).scl(w[i])); - } - quat.nor(); - - setToScaling(tmpVec); - rotate(quat); - setTranslation(tmpForward); - - return this; - } - - /** Sets this matrix to the given 3x3 matrix. The third column of this matrix is set to (0,0,1,0). - * @param mat the matrix */ - public Matrix4 set (Matrix3 mat) { - val[0] = mat.val[0]; - val[1] = mat.val[1]; - val[2] = mat.val[2]; - val[3] = 0; - val[4] = mat.val[3]; - val[5] = mat.val[4]; - val[6] = mat.val[5]; - val[7] = 0; - val[8] = 0; - val[9] = 0; - val[10] = 1; - val[11] = 0; - val[12] = mat.val[6]; - val[13] = mat.val[7]; - val[14] = 0; - val[15] = mat.val[8]; - return this; - } - - - - - /** Assumes that both matrices are 2D affine transformations, copying only the relevant components. The copied values are: - * - * 
-	 *      [  M00  M01   _   M03  ]
-	 *      [  M10  M11   _   M13  ]
-	 *      [   _    _    _    _   ]
-	 *      [   _    _    _    _   ]
-	 *
- * @param mat the source matrix - * @return This matrix for chaining */ - public Matrix4 setAsAffine (Matrix4 mat) { - val[M00] = mat.val[M00]; - val[M10] = mat.val[M10]; - val[M01] = mat.val[M01]; - val[M11] = mat.val[M11]; - val[M03] = mat.val[M03]; - val[M13] = mat.val[M13]; - return this; - } - - public Matrix4 scl (Vector3 scale) { - val[M00] *= scale.x; - val[M11] *= scale.y; - val[M22] *= scale.z; - return this; - } - - public Matrix4 scl (float x, float y, float z) { - val[M00] *= x; - val[M11] *= y; - val[M22] *= z; - return this; - } - - public Matrix4 scl (float scale) { - val[M00] *= scale; - val[M11] *= scale; - val[M22] *= scale; - return this; - } - - public Vector3 getTranslation (Vector3 position) { - position.x = val[M03]; - position.y = val[M13]; - position.z = val[M23]; - return position; - } - - /** Gets the rotation of this matrix. - * @param rotation The {@link Quaternion} to receive the rotation - * @param normalizeAxes True to normalize the axes, necessary when the matrix might also include scaling. - * @return The provided {@link Quaternion} for chaining. */ - public Quaternion getRotation (Quaternion rotation, boolean normalizeAxes) { - return rotation.setFromMatrix(normalizeAxes, this); - } - - /** Gets the rotation of this matrix. - * @param rotation The {@link Quaternion} to receive the rotation - * @return The provided {@link Quaternion} for chaining. */ - public Quaternion getRotation (Quaternion rotation) { - return rotation.setFromMatrix(this); - } - - /** @return the squared scale factor on the X axis */ - public float getScaleXSquared () { - return val[Matrix4.M00] * val[Matrix4.M00] + val[Matrix4.M01] * val[Matrix4.M01] + val[Matrix4.M02] * val[Matrix4.M02]; - } - - /** @return the squared scale factor on the Y axis */ - public float getScaleYSquared () { - return val[Matrix4.M10] * val[Matrix4.M10] + val[Matrix4.M11] * val[Matrix4.M11] + val[Matrix4.M12] * val[Matrix4.M12]; - } - - /** @return the squared scale factor on the Z axis */ - public float getScaleZSquared () { - return val[Matrix4.M20] * val[Matrix4.M20] + val[Matrix4.M21] * val[Matrix4.M21] + val[Matrix4.M22] * val[Matrix4.M22]; - } - - /** @return the scale factor on the X axis (non-negative) */ - public float getScaleX () { - return (MathUtils.isZero(val[Matrix4.M01]) && MathUtils.isZero(val[Matrix4.M02])) ? Math.abs(val[Matrix4.M00]) - : (float)Math.sqrt(getScaleXSquared()); - } - - /** @return the scale factor on the Y axis (non-negative) */ - public float getScaleY () { - return (MathUtils.isZero(val[Matrix4.M10]) && MathUtils.isZero(val[Matrix4.M12])) ? Math.abs(val[Matrix4.M11]) - : (float)Math.sqrt(getScaleYSquared()); - } - - /** @return the scale factor on the X axis (non-negative) */ - public float getScaleZ () { - return (MathUtils.isZero(val[Matrix4.M20]) && MathUtils.isZero(val[Matrix4.M21])) ? Math.abs(val[Matrix4.M22]) - : (float)Math.sqrt(getScaleZSquared()); - } - - /** @param scale The vector which will receive the (non-negative) scale components on each axis. - * @return The provided vector for chaining. */ - public Vector3 getScale (Vector3 scale) { - return scale.set(getScaleX(), getScaleY(), getScaleZ()); - } - - /** removes the translational part and transposes the matrix. */ - public Matrix4 toNormalMatrix () { - val[M03] = 0; - val[M13] = 0; - val[M23] = 0; - return inv().tra(); - } - - // @off - /*JNI - #include - #include - #include - - #define M00 0 - #define M01 4 - #define M02 8 - #define M03 12 - #define M10 1 - #define M11 5 - #define M12 9 - #define M13 13 - #define M20 2 - #define M21 6 - #define M22 10 - #define M23 14 - #define M30 3 - #define M31 7 - #define M32 11 - #define M33 15 - - static inline void matrix4_mul(float* mata, float* matb) { - float tmp[16]; - tmp[M00] = mata[M00] * matb[M00] + mata[M01] * matb[M10] + mata[M02] * matb[M20] + mata[M03] * matb[M30]; - tmp[M01] = mata[M00] * matb[M01] + mata[M01] * matb[M11] + mata[M02] * matb[M21] + mata[M03] * matb[M31]; - tmp[M02] = mata[M00] * matb[M02] + mata[M01] * matb[M12] + mata[M02] * matb[M22] + mata[M03] * matb[M32]; - tmp[M03] = mata[M00] * matb[M03] + mata[M01] * matb[M13] + mata[M02] * matb[M23] + mata[M03] * matb[M33]; - tmp[M10] = mata[M10] * matb[M00] + mata[M11] * matb[M10] + mata[M12] * matb[M20] + mata[M13] * matb[M30]; - tmp[M11] = mata[M10] * matb[M01] + mata[M11] * matb[M11] + mata[M12] * matb[M21] + mata[M13] * matb[M31]; - tmp[M12] = mata[M10] * matb[M02] + mata[M11] * matb[M12] + mata[M12] * matb[M22] + mata[M13] * matb[M32]; - tmp[M13] = mata[M10] * matb[M03] + mata[M11] * matb[M13] + mata[M12] * matb[M23] + mata[M13] * matb[M33]; - tmp[M20] = mata[M20] * matb[M00] + mata[M21] * matb[M10] + mata[M22] * matb[M20] + mata[M23] * matb[M30]; - tmp[M21] = mata[M20] * matb[M01] + mata[M21] * matb[M11] + mata[M22] * matb[M21] + mata[M23] * matb[M31]; - tmp[M22] = mata[M20] * matb[M02] + mata[M21] * matb[M12] + mata[M22] * matb[M22] + mata[M23] * matb[M32]; - tmp[M23] = mata[M20] * matb[M03] + mata[M21] * matb[M13] + mata[M22] * matb[M23] + mata[M23] * matb[M33]; - tmp[M30] = mata[M30] * matb[M00] + mata[M31] * matb[M10] + mata[M32] * matb[M20] + mata[M33] * matb[M30]; - tmp[M31] = mata[M30] * matb[M01] + mata[M31] * matb[M11] + mata[M32] * matb[M21] + mata[M33] * matb[M31]; - tmp[M32] = mata[M30] * matb[M02] + mata[M31] * matb[M12] + mata[M32] * matb[M22] + mata[M33] * matb[M32]; - tmp[M33] = mata[M30] * matb[M03] + mata[M31] * matb[M13] + mata[M32] * matb[M23] + mata[M33] * matb[M33]; - memcpy(mata, tmp, sizeof(float) * 16); - } - - static inline float matrix4_det(float* val) { - return val[M30] * val[M21] * val[M12] * val[M03] - val[M20] * val[M31] * val[M12] * val[M03] - val[M30] * val[M11] - * val[M22] * val[M03] + val[M10] * val[M31] * val[M22] * val[M03] + val[M20] * val[M11] * val[M32] * val[M03] - val[M10] - * val[M21] * val[M32] * val[M03] - val[M30] * val[M21] * val[M02] * val[M13] + val[M20] * val[M31] * val[M02] * val[M13] - + val[M30] * val[M01] * val[M22] * val[M13] - val[M00] * val[M31] * val[M22] * val[M13] - val[M20] * val[M01] * val[M32] - * val[M13] + val[M00] * val[M21] * val[M32] * val[M13] + val[M30] * val[M11] * val[M02] * val[M23] - val[M10] * val[M31] - * val[M02] * val[M23] - val[M30] * val[M01] * val[M12] * val[M23] + val[M00] * val[M31] * val[M12] * val[M23] + val[M10] - * val[M01] * val[M32] * val[M23] - val[M00] * val[M11] * val[M32] * val[M23] - val[M20] * val[M11] * val[M02] * val[M33] - + val[M10] * val[M21] * val[M02] * val[M33] + val[M20] * val[M01] * val[M12] * val[M33] - val[M00] * val[M21] * val[M12] - * val[M33] - val[M10] * val[M01] * val[M22] * val[M33] + val[M00] * val[M11] * val[M22] * val[M33]; - } - - static inline bool matrix4_inv(float* val) { - float tmp[16]; - float l_det = matrix4_det(val); - if (l_det == 0) return false; - tmp[M00] = val[M12] * val[M23] * val[M31] - val[M13] * val[M22] * val[M31] + val[M13] * val[M21] * val[M32] - val[M11] - * val[M23] * val[M32] - val[M12] * val[M21] * val[M33] + val[M11] * val[M22] * val[M33]; - tmp[M01] = val[M03] * val[M22] * val[M31] - val[M02] * val[M23] * val[M31] - val[M03] * val[M21] * val[M32] + val[M01] - * val[M23] * val[M32] + val[M02] * val[M21] * val[M33] - val[M01] * val[M22] * val[M33]; - tmp[M02] = val[M02] * val[M13] * val[M31] - val[M03] * val[M12] * val[M31] + val[M03] * val[M11] * val[M32] - val[M01] - * val[M13] * val[M32] - val[M02] * val[M11] * val[M33] + val[M01] * val[M12] * val[M33]; - tmp[M03] = val[M03] * val[M12] * val[M21] - val[M02] * val[M13] * val[M21] - val[M03] * val[M11] * val[M22] + val[M01] - * val[M13] * val[M22] + val[M02] * val[M11] * val[M23] - val[M01] * val[M12] * val[M23]; - tmp[M10] = val[M13] * val[M22] * val[M30] - val[M12] * val[M23] * val[M30] - val[M13] * val[M20] * val[M32] + val[M10] - * val[M23] * val[M32] + val[M12] * val[M20] * val[M33] - val[M10] * val[M22] * val[M33]; - tmp[M11] = val[M02] * val[M23] * val[M30] - val[M03] * val[M22] * val[M30] + val[M03] * val[M20] * val[M32] - val[M00] - * val[M23] * val[M32] - val[M02] * val[M20] * val[M33] + val[M00] * val[M22] * val[M33]; - tmp[M12] = val[M03] * val[M12] * val[M30] - val[M02] * val[M13] * val[M30] - val[M03] * val[M10] * val[M32] + val[M00] - * val[M13] * val[M32] + val[M02] * val[M10] * val[M33] - val[M00] * val[M12] * val[M33]; - tmp[M13] = val[M02] * val[M13] * val[M20] - val[M03] * val[M12] * val[M20] + val[M03] * val[M10] * val[M22] - val[M00] - * val[M13] * val[M22] - val[M02] * val[M10] * val[M23] + val[M00] * val[M12] * val[M23]; - tmp[M20] = val[M11] * val[M23] * val[M30] - val[M13] * val[M21] * val[M30] + val[M13] * val[M20] * val[M31] - val[M10] - * val[M23] * val[M31] - val[M11] * val[M20] * val[M33] + val[M10] * val[M21] * val[M33]; - tmp[M21] = val[M03] * val[M21] * val[M30] - val[M01] * val[M23] * val[M30] - val[M03] * val[M20] * val[M31] + val[M00] - * val[M23] * val[M31] + val[M01] * val[M20] * val[M33] - val[M00] * val[M21] * val[M33]; - tmp[M22] = val[M01] * val[M13] * val[M30] - val[M03] * val[M11] * val[M30] + val[M03] * val[M10] * val[M31] - val[M00] - * val[M13] * val[M31] - val[M01] * val[M10] * val[M33] + val[M00] * val[M11] * val[M33]; - tmp[M23] = val[M03] * val[M11] * val[M20] - val[M01] * val[M13] * val[M20] - val[M03] * val[M10] * val[M21] + val[M00] - * val[M13] * val[M21] + val[M01] * val[M10] * val[M23] - val[M00] * val[M11] * val[M23]; - tmp[M30] = val[M12] * val[M21] * val[M30] - val[M11] * val[M22] * val[M30] - val[M12] * val[M20] * val[M31] + val[M10] - * val[M22] * val[M31] + val[M11] * val[M20] * val[M32] - val[M10] * val[M21] * val[M32]; - tmp[M31] = val[M01] * val[M22] * val[M30] - val[M02] * val[M21] * val[M30] + val[M02] * val[M20] * val[M31] - val[M00] - * val[M22] * val[M31] - val[M01] * val[M20] * val[M32] + val[M00] * val[M21] * val[M32]; - tmp[M32] = val[M02] * val[M11] * val[M30] - val[M01] * val[M12] * val[M30] - val[M02] * val[M10] * val[M31] + val[M00] - * val[M12] * val[M31] + val[M01] * val[M10] * val[M32] - val[M00] * val[M11] * val[M32]; - tmp[M33] = val[M01] * val[M12] * val[M20] - val[M02] * val[M11] * val[M20] + val[M02] * val[M10] * val[M21] - val[M00] - * val[M12] * val[M21] - val[M01] * val[M10] * val[M22] + val[M00] * val[M11] * val[M22]; - - float inv_det = 1.0f / l_det; - val[M00] = tmp[M00] * inv_det; - val[M01] = tmp[M01] * inv_det; - val[M02] = tmp[M02] * inv_det; - val[M03] = tmp[M03] * inv_det; - val[M10] = tmp[M10] * inv_det; - val[M11] = tmp[M11] * inv_det; - val[M12] = tmp[M12] * inv_det; - val[M13] = tmp[M13] * inv_det; - val[M20] = tmp[M20] * inv_det; - val[M21] = tmp[M21] * inv_det; - val[M22] = tmp[M22] * inv_det; - val[M23] = tmp[M23] * inv_det; - val[M30] = tmp[M30] * inv_det; - val[M31] = tmp[M31] * inv_det; - val[M32] = tmp[M32] * inv_det; - val[M33] = tmp[M33] * inv_det; - return true; - } - - static inline void matrix4_mulVec(float* mat, float* vec) { - float x = vec[0] * mat[M00] + vec[1] * mat[M01] + vec[2] * mat[M02] + mat[M03]; - float y = vec[0] * mat[M10] + vec[1] * mat[M11] + vec[2] * mat[M12] + mat[M13]; - float z = vec[0] * mat[M20] + vec[1] * mat[M21] + vec[2] * mat[M22] + mat[M23]; - vec[0] = x; - vec[1] = y; - vec[2] = z; - } - - static inline void matrix4_proj(float* mat, float* vec) { - float inv_w = 1.0f / (vec[0] * mat[M30] + vec[1] * mat[M31] + vec[2] * mat[M32] + mat[M33]); - float x = (vec[0] * mat[M00] + vec[1] * mat[M01] + vec[2] * mat[M02] + mat[M03]) * inv_w; - float y = (vec[0] * mat[M10] + vec[1] * mat[M11] + vec[2] * mat[M12] + mat[M13]) * inv_w; - float z = (vec[0] * mat[M20] + vec[1] * mat[M21] + vec[2] * mat[M22] + mat[M23]) * inv_w; - vec[0] = x; - vec[1] = y; - vec[2] = z; - } - - static inline void matrix4_rot(float* mat, float* vec) { - float x = vec[0] * mat[M00] + vec[1] * mat[M01] + vec[2] * mat[M02]; - float y = vec[0] * mat[M10] + vec[1] * mat[M11] + vec[2] * mat[M12]; - float z = vec[0] * mat[M20] + vec[1] * mat[M21] + vec[2] * mat[M22]; - vec[0] = x; - vec[1] = y; - vec[2] = z; - } - */ - - /** Multiplies the matrix mata with matrix matb, storing the result in mata. The arrays are assumed to hold 4x4 column major - * matrices as you can get from {@link Matrix4#val}. This is the same as {@link Matrix4#mul(Matrix4)}. - * - * @param mata the first matrix. - * @param matb the second matrix. */ - public static native void mul (float[] mata, float[] matb) /*-{ }-*/; /* - matrix4_mul(mata, matb); - */ - - /** Multiplies the vector with the given matrix. The matrix array is assumed to hold a 4x4 column major matrix as you can get - * from {@link Matrix4#val}. The vector array is assumed to hold a 3-component vector, with x being the first element, y being - * the second and z being the last component. The result is stored in the vector array. This is the same as - * {@link Vector3#mul(Matrix4)}. - * @param mat the matrix - * @param vec the vector. */ - public static native void mulVec (float[] mat, float[] vec) /*-{ }-*/; /* - matrix4_mulVec(mat, vec); - */ - - /** Multiplies the vectors with the given matrix. The matrix array is assumed to hold a 4x4 column major matrix as you can get - * from {@link Matrix4#val}. The vectors array is assumed to hold 3-component vectors. Offset specifies the offset into the - * array where the x-component of the first vector is located. The numVecs parameter specifies the number of vectors stored in - * the vectors array. The stride parameter specifies the number of floats between subsequent vectors and must be >= 3. This is - * the same as {@link Vector3#mul(Matrix4)} applied to multiple vectors. - * - * @param mat the matrix - * @param vecs the vectors - * @param offset the offset into the vectors array - * @param numVecs the number of vectors - * @param stride the stride between vectors in floats */ - public static native void mulVec (float[] mat, float[] vecs, int offset, int numVecs, int stride) /*-{ }-*/; /* - float* vecPtr = vecs + offset; - for(int i = 0; i < numVecs; i++) { - matrix4_mulVec(mat, vecPtr); - vecPtr += stride; - } - */ - - /** Multiplies the vector with the given matrix, performing a division by w. The matrix array is assumed to hold a 4x4 column - * major matrix as you can get from {@link Matrix4#val}. The vector array is assumed to hold a 3-component vector, with x being - * the first element, y being the second and z being the last component. The result is stored in the vector array. This is the - * same as {@link Vector3#prj(Matrix4)}. - * @param mat the matrix - * @param vec the vector. */ - public static native void prj (float[] mat, float[] vec) /*-{ }-*/; /* - matrix4_proj(mat, vec); - */ - - /** Multiplies the vectors with the given matrix, , performing a division by w. The matrix array is assumed to hold a 4x4 column - * major matrix as you can get from {@link Matrix4#val}. The vectors array is assumed to hold 3-component vectors. Offset - * specifies the offset into the array where the x-component of the first vector is located. The numVecs parameter specifies - * the number of vectors stored in the vectors array. The stride parameter specifies the number of floats between subsequent - * vectors and must be >= 3. This is the same as {@link Vector3#prj(Matrix4)} applied to multiple vectors. - * - * @param mat the matrix - * @param vecs the vectors - * @param offset the offset into the vectors array - * @param numVecs the number of vectors - * @param stride the stride between vectors in floats */ - public static native void prj (float[] mat, float[] vecs, int offset, int numVecs, int stride) /*-{ }-*/; /* - float* vecPtr = vecs + offset; - for(int i = 0; i < numVecs; i++) { - matrix4_proj(mat, vecPtr); - vecPtr += stride; - } - */ - - /** Multiplies the vector with the top most 3x3 sub-matrix of the given matrix. The matrix array is assumed to hold a 4x4 column - * major matrix as you can get from {@link Matrix4#val}. The vector array is assumed to hold a 3-component vector, with x being - * the first element, y being the second and z being the last component. The result is stored in the vector array. This is the - * same as {@link Vector3#rot(Matrix4)}. - * @param mat the matrix - * @param vec the vector. */ - public static native void rot (float[] mat, float[] vec) /*-{ }-*/; /* - matrix4_rot(mat, vec); - */ - - /** Multiplies the vectors with the top most 3x3 sub-matrix of the given matrix. The matrix array is assumed to hold a 4x4 - * column major matrix as you can get from {@link Matrix4#val}. The vectors array is assumed to hold 3-component vectors. - * Offset specifies the offset into the array where the x-component of the first vector is located. The numVecs parameter - * specifies the number of vectors stored in the vectors array. The stride parameter specifies the number of floats between - * subsequent vectors and must be >= 3. This is the same as {@link Vector3#rot(Matrix4)} applied to multiple vectors. - * - * @param mat the matrix - * @param vecs the vectors - * @param offset the offset into the vectors array - * @param numVecs the number of vectors - * @param stride the stride between vectors in floats */ - public static native void rot (float[] mat, float[] vecs, int offset, int numVecs, int stride) /*-{ }-*/; /* - float* vecPtr = vecs + offset; - for(int i = 0; i < numVecs; i++) { - matrix4_rot(mat, vecPtr); - vecPtr += stride; - } - */ - - /** Computes the inverse of the given matrix. The matrix array is assumed to hold a 4x4 column major matrix as you can get from - * {@link Matrix4#val}. - * @param values the matrix values. - * @return false in case the inverse could not be calculated, true otherwise. */ - public static native boolean inv (float[] values) /*-{ }-*/; /* - return matrix4_inv(values); - */ - - /** Computes the determinante of the given matrix. The matrix array is assumed to hold a 4x4 column major matrix as you can get - * from {@link Matrix4#val}. - * @param values the matrix values. - * @return the determinante. */ - public static native float det (float[] values) /*-{ }-*/; /* - return matrix4_det(values); - */ - - // @on - /** Postmultiplies this matrix by a translation matrix. Postmultiplication is also used by OpenGL ES' - * glTranslate/glRotate/glScale - * @param translation - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 translate (Vector3 translation) { - return translate(translation.x, translation.y, translation.z); - } - - /** Postmultiplies this matrix by a translation matrix. Postmultiplication is also used by OpenGL ES' 1.x - * glTranslate/glRotate/glScale. - * @param x Translation in the x-axis. - * @param y Translation in the y-axis. - * @param z Translation in the z-axis. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 translate (float x, float y, float z) { - tmp[M00] = 1; - tmp[M01] = 0; - tmp[M02] = 0; - tmp[M03] = x; - tmp[M10] = 0; - tmp[M11] = 1; - tmp[M12] = 0; - tmp[M13] = y; - tmp[M20] = 0; - tmp[M21] = 0; - tmp[M22] = 1; - tmp[M23] = z; - tmp[M30] = 0; - tmp[M31] = 0; - tmp[M32] = 0; - tmp[M33] = 1; - - mul(val, tmp); - return this; - } - - /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x - * glTranslate/glRotate/glScale. - * - * @param axis The vector axis to rotate around. - * @param degrees The angle in degrees. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 rotate (Vector3 axis, float degrees) { - if (degrees == 0) return this; - quat.set(axis, degrees); - return rotate(quat); - } - - /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x - * glTranslate/glRotate/glScale. - * - * @param axis The vector axis to rotate around. - * @param radians The angle in radians. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 rotateRad (Vector3 axis, float radians) { - if (radians == 0) return this; - quat.setFromAxisRad(axis, radians); - return rotate(quat); - } - - /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x - * glTranslate/glRotate/glScale - * @param axisX The x-axis component of the vector to rotate around. - * @param axisY The y-axis component of the vector to rotate around. - * @param axisZ The z-axis component of the vector to rotate around. - * @param degrees The angle in degrees - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 rotate (float axisX, float axisY, float axisZ, float degrees) { - if (degrees == 0) return this; - quat.setFromAxis(axisX, axisY, axisZ, degrees); - return rotate(quat); - } - - /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x - * glTranslate/glRotate/glScale - * @param axisX The x-axis component of the vector to rotate around. - * @param axisY The y-axis component of the vector to rotate around. - * @param axisZ The z-axis component of the vector to rotate around. - * @param radians The angle in radians - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 rotateRad (float axisX, float axisY, float axisZ, float radians) { - if (radians == 0) return this; - quat.setFromAxisRad(axisX, axisY, axisZ, radians); - return rotate(quat); - } - - /** Postmultiplies this matrix with a (counter-clockwise) rotation matrix. Postmultiplication is also used by OpenGL ES' 1.x - * glTranslate/glRotate/glScale. - * - * @param rotation - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 rotate (Quaternion rotation) { - rotation.toMatrix(tmp); - mul(val, tmp); - return this; - } - - /** Postmultiplies this matrix by the rotation between two vectors. - * @param v1 The base vector - * @param v2 The target vector - * @return This matrix for the purpose of chaining methods together */ - public Matrix4 rotate (final Vector3 v1, final Vector3 v2) { - return rotate(quat.setFromCross(v1, v2)); - } - - /** Postmultiplies this matrix with a scale matrix. Postmultiplication is also used by OpenGL ES' 1.x - * glTranslate/glRotate/glScale. - * @param scaleX The scale in the x-axis. - * @param scaleY The scale in the y-axis. - * @param scaleZ The scale in the z-axis. - * @return This matrix for the purpose of chaining methods together. */ - public Matrix4 scale (float scaleX, float scaleY, float scaleZ) { - tmp[M00] = scaleX; - tmp[M01] = 0; - tmp[M02] = 0; - tmp[M03] = 0; - tmp[M10] = 0; - tmp[M11] = scaleY; - tmp[M12] = 0; - tmp[M13] = 0; - tmp[M20] = 0; - tmp[M21] = 0; - tmp[M22] = scaleZ; - tmp[M23] = 0; - tmp[M30] = 0; - tmp[M31] = 0; - tmp[M32] = 0; - tmp[M33] = 1; - - mul(val, tmp); - return this; - } - - /** Copies the 4x3 upper-left sub-matrix into float array. The destination array is supposed to be a column major matrix. - * @param dst the destination matrix */ - public void extract4x3Matrix (float[] dst) { - dst[0] = val[M00]; - dst[1] = val[M10]; - dst[2] = val[M20]; - dst[3] = val[M01]; - dst[4] = val[M11]; - dst[5] = val[M21]; - dst[6] = val[M02]; - dst[7] = val[M12]; - dst[8] = val[M22]; - dst[9] = val[M03]; - dst[10] = val[M13]; - dst[11] = val[M23]; - } - - /** @return True if this matrix has any rotation or scaling, false otherwise */ - public boolean hasRotationOrScaling () { - return !(MathUtils.isEqual(val[M00], 1) && MathUtils.isEqual(val[M11], 1) && MathUtils.isEqual(val[M22], 1) - && MathUtils.isZero(val[M01]) && MathUtils.isZero(val[M02]) && MathUtils.isZero(val[M10]) && MathUtils.isZero(val[M12]) - && MathUtils.isZero(val[M20]) && MathUtils.isZero(val[M21])); - } -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/NumberUtils.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/NumberUtils.java deleted file mode 100644 index 848c11fe..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/NumberUtils.java +++ /dev/null @@ -1,49 +0,0 @@ -package com.neuronrobotics.sdk.addons.kinematics.math; -/******************************************************************************* - * Copyright 2011 See AUTHORS file. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - ******************************************************************************/ - - -final class NumberUtils { - public static int floatToIntBits (float value) { - return Float.floatToIntBits(value); - } - - public static int floatToRawIntBits (float value) { - return Float.floatToRawIntBits(value); - } - - public static int floatToIntColor (float value) { - return Float.floatToRawIntBits(value); - } - - /** Encodes the ABGR int color as a float. The high bits are masked to avoid using floats in the NaN range, which unfortunately - * means the full range of alpha cannot be used. See {@link Float#intBitsToFloat(int)} javadocs. */ - public static float intToFloatColor (int value) { - return Float.intBitsToFloat(value & 0xfeffffff); - } - - public static float intBitsToFloat (int value) { - return Float.intBitsToFloat(value); - } - - public static long doubleToLongBits (double value) { - return Double.doubleToLongBits(value); - } - - public static double longBitsToDouble (long value) { - return Double.longBitsToDouble(value); - } -} \ No newline at end of file diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Quaternion.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Quaternion.java deleted file mode 100644 index e19e5fa8..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Quaternion.java +++ /dev/null @@ -1,870 +0,0 @@ -package com.neuronrobotics.sdk.addons.kinematics.math; - -/******************************************************************************* - * Copyright 2011 See AUTHORS file. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - ******************************************************************************/ -import java.io.Serializable; - - -/** A simple QuaternionGDX class. - * @see http://en.wikipedia.org/wiki/Quaternion - * @author badlogicgames@gmail.com - * @author vesuvio - * @author xoppa */ - class Quaternion implements Serializable { - private static final long serialVersionUID = -7661875440774897168L; - private static Quaternion tmp1 = new Quaternion(0, 0, 0, 0); - private static Quaternion tmp2 = new Quaternion(0, 0, 0, 0); - - public float x; - public float y; - public float z; - public float w; - - /** Constructor, sets the four components of the quaternion. - * @param x The x-component - * @param y The y-component - * @param z The z-component - * @param w The w-component */ - public Quaternion (float x, float y, float z, float w) { - this.set(x, y, z, w); - } - - public Quaternion () { - idt(); - } - - /** Constructor, sets the QuaternionGDX components from the given quaternion. - * - * @param Quaternion The QuaternionGDX to copy. */ - public Quaternion (Quaternion quaternion) { - this.set(quaternion); - } - - /** Constructor, sets the QuaternionGDX from the given axis vector and the angle around that axis in degrees. - * - * @param axis The axis - * @param angle The angle in degrees. */ - public Quaternion (Vector3 axis, float angle) { - this.set(axis, angle); - } - - /** Sets the components of the quaternion - * @param x The x-component - * @param y The y-component - * @param z The z-component - * @param w The w-component - * @return This QuaternionGDX for chaining */ - public Quaternion set (float x, float y, float z, float w) { - this.x = x; - this.y = y; - this.z = z; - this.w = w; - return this; - } - - /** Sets the QuaternionGDX components from the given quaternion. - * @param Quaternion The quaternion. - * @return This QuaternionGDX for chaining. */ - public Quaternion set (Quaternion quaternion) { - return this.set(quaternion.x, quaternion.y, quaternion.z, quaternion.w); - } - - /** Sets the QuaternionGDX components from the given axis and angle around that axis. - * - * @param axis The axis - * @param angle The angle in degrees - * @return This QuaternionGDX for chaining. */ - public Quaternion set (Vector3 axis, float angle) { - return setFromAxis(axis.x, axis.y, axis.z, angle); - } - - /** @return a copy of this QuaternionGDX */ - public Quaternion cpy () { - return new Quaternion(this); - } - - /** @return the euclidean length of the specified QuaternionGDX */ - public final static float len (final float x, final float y, final float z, final float w) { - return (float)Math.sqrt(x * x + y * y + z * z + w * w); - } - - /** @return the euclidean length of this QuaternionGDX */ - public float len () { - return (float)Math.sqrt(x * x + y * y + z * z + w * w); - } - - @Override - public String toString () { - return "[" + x + "|" + y + "|" + z + "|" + w + "]"; - } - - /** Sets the QuaternionGDX to the given euler angles in degrees. - * @param yaw the rotation around the y axis in degrees - * @param pitch the rotation around the x axis in degrees - * @param roll the rotation around the z axis degrees - * @return this QuaternionGDX */ - public Quaternion setEulerAngles (float yaw, float pitch, float roll) { - return setEulerAnglesRad(yaw * MathUtils.degreesToRadians, pitch * MathUtils.degreesToRadians, roll - * MathUtils.degreesToRadians); - } - - /** Sets the QuaternionGDX to the given euler angles in radians. - * @param yaw the rotation around the y axis in radians - * @param pitch the rotation around the x axis in radians - * @param roll the rotation around the z axis in radians - * @return this QuaternionGDX */ - public Quaternion setEulerAnglesRad (float yaw, float pitch, float roll) { - final float hr = roll * 0.5f; - final float shr = (float)Math.sin(hr); - final float chr = (float)Math.cos(hr); - final float hp = pitch * 0.5f; - final float shp = (float)Math.sin(hp); - final float chp = (float)Math.cos(hp); - final float hy = yaw * 0.5f; - final float shy = (float)Math.sin(hy); - final float chy = (float)Math.cos(hy); - final float chy_shp = chy * shp; - final float shy_chp = shy * chp; - final float chy_chp = chy * chp; - final float shy_shp = shy * shp; - - x = (chy_shp * chr) + (shy_chp * shr); // cos(yaw/2) * sin(pitch/2) * cos(roll/2) + sin(yaw/2) * cos(pitch/2) * sin(roll/2) - y = (shy_chp * chr) - (chy_shp * shr); // sin(yaw/2) * cos(pitch/2) * cos(roll/2) - cos(yaw/2) * sin(pitch/2) * sin(roll/2) - z = (chy_chp * shr) - (shy_shp * chr); // cos(yaw/2) * cos(pitch/2) * sin(roll/2) - sin(yaw/2) * sin(pitch/2) * cos(roll/2) - w = (chy_chp * chr) + (shy_shp * shr); // cos(yaw/2) * cos(pitch/2) * cos(roll/2) + sin(yaw/2) * sin(pitch/2) * sin(roll/2) - return this; - } - - /** Get the pole of the gimbal lock, if any. - * @return positive (+1) for north pole, negative (-1) for south pole, zero (0) when no gimbal lock */ - public int getGimbalPole () { - final float t = y * x + z * w; - return t > 0.499f ? 1 : (t < -0.499f ? -1 : 0); - } - - /** Get the roll euler angle in radians, which is the rotation around the z axis. Requires that this QuaternionGDX is normalized. - * @return the rotation around the z axis in radians (between -PI and +PI) */ - public float getRollRad () { - final int pole = getGimbalPole(); - return pole == 0 ? MathUtils.atan2(2f * (w * z + y * x), 1f - 2f * (x * x + z * z)) : (float)pole * 2f - * MathUtils.atan2(y, w); - } - - /** Get the roll euler angle in degrees, which is the rotation around the z axis. Requires that this QuaternionGDX is normalized. - * @return the rotation around the z axis in degrees (between -180 and +180) */ - public float getRoll () { - return getRollRad() * MathUtils.radiansToDegrees; - } - - /** Get the pitch euler angle in radians, which is the rotation around the x axis. Requires that this QuaternionGDX is normalized. - * @return the rotation around the x axis in radians (between -(PI/2) and +(PI/2)) */ - public float getPitchRad () { - final int pole = getGimbalPole(); - return pole == 0 ? (float)Math.asin(MathUtils.clamp(2f * (w * x - z * y), -1f, 1f)) : (float)pole * MathUtils.PI * 0.5f; - } - - /** Get the pitch euler angle in degrees, which is the rotation around the x axis. Requires that this QuaternionGDX is normalized. - * @return the rotation around the x axis in degrees (between -90 and +90) */ - public float getPitch () { - return getPitchRad() * MathUtils.radiansToDegrees; - } - - /** Get the yaw euler angle in radians, which is the rotation around the y axis. Requires that this QuaternionGDX is normalized. - * @return the rotation around the y axis in radians (between -PI and +PI) */ - public float getYawRad () { - return getGimbalPole() == 0 ? MathUtils.atan2(2f * (y * w + x * z), 1f - 2f * (y * y + x * x)) : 0f; - } - - /** Get the yaw euler angle in degrees, which is the rotation around the y axis. Requires that this QuaternionGDX is normalized. - * @return the rotation around the y axis in degrees (between -180 and +180) */ - public float getYaw () { - return getYawRad() * MathUtils.radiansToDegrees; - } - - public final static float len2 (final float x, final float y, final float z, final float w) { - return x * x + y * y + z * z + w * w; - } - - /** @return the length of this QuaternionGDX without square root */ - public float len2 () { - return x * x + y * y + z * z + w * w; - } - - /** Normalizes this QuaternionGDX to unit length - * @return the QuaternionGDX for chaining */ - public Quaternion nor () { - float len = len2(); - if (len != 0.f && !MathUtils.isEqual(len, 1f)) { - len = (float)Math.sqrt(len); - w /= len; - x /= len; - y /= len; - z /= len; - } - return this; - } - - /** Conjugate the quaternion. - * - * @return This QuaternionGDX for chaining */ - public Quaternion conjugate () { - x = -x; - y = -y; - z = -z; - return this; - } - - // TODO : this would better fit into the vector3 class - /** Transforms the given vector using this quaternion - * - * @param v Vector to transform */ - public Vector3 transform (Vector3 v) { - tmp2.set(this); - tmp2.conjugate(); - tmp2.mulLeft(tmp1.set(v.x, v.y, v.z, 0)).mulLeft(this); - - v.x = tmp2.x; - v.y = tmp2.y; - v.z = tmp2.z; - return v; - } - - /** Multiplies this QuaternionGDX with another one in the form of this = this * other - * - * @param other QuaternionGDX to multiply with - * @return This QuaternionGDX for chaining */ - public Quaternion mul (final Quaternion other) { - final float newX = this.w * other.x + this.x * other.w + this.y * other.z - this.z * other.y; - final float newY = this.w * other.y + this.y * other.w + this.z * other.x - this.x * other.z; - final float newZ = this.w * other.z + this.z * other.w + this.x * other.y - this.y * other.x; - final float newW = this.w * other.w - this.x * other.x - this.y * other.y - this.z * other.z; - this.x = newX; - this.y = newY; - this.z = newZ; - this.w = newW; - return this; - } - - /** Multiplies this QuaternionGDX with another one in the form of this = this * other - * - * @param x the x component of the other QuaternionGDX to multiply with - * @param y the y component of the other QuaternionGDX to multiply with - * @param z the z component of the other QuaternionGDX to multiply with - * @param w the w component of the other QuaternionGDX to multiply with - * @return This QuaternionGDX for chaining */ - public Quaternion mul (final float x, final float y, final float z, final float w) { - final float newX = this.w * x + this.x * w + this.y * z - this.z * y; - final float newY = this.w * y + this.y * w + this.z * x - this.x * z; - final float newZ = this.w * z + this.z * w + this.x * y - this.y * x; - final float newW = this.w * w - this.x * x - this.y * y - this.z * z; - this.x = newX; - this.y = newY; - this.z = newZ; - this.w = newW; - return this; - } - - /** Multiplies this QuaternionGDX with another one in the form of this = other * this - * - * @param other QuaternionGDX to multiply with - * @return This QuaternionGDX for chaining */ - public Quaternion mulLeft (Quaternion other) { - final float newX = other.w * this.x + other.x * this.w + other.y * this.z - other.z * y; - final float newY = other.w * this.y + other.y * this.w + other.z * this.x - other.x * z; - final float newZ = other.w * this.z + other.z * this.w + other.x * this.y - other.y * x; - final float newW = other.w * this.w - other.x * this.x - other.y * this.y - other.z * z; - this.x = newX; - this.y = newY; - this.z = newZ; - this.w = newW; - return this; - } - - /** Multiplies this QuaternionGDX with another one in the form of this = other * this - * - * @param x the x component of the other QuaternionGDX to multiply with - * @param y the y component of the other QuaternionGDX to multiply with - * @param z the z component of the other QuaternionGDX to multiply with - * @param w the w component of the other QuaternionGDX to multiply with - * @return This QuaternionGDX for chaining */ - public Quaternion mulLeft (final float x, final float y, final float z, final float w) { - final float newX = w * this.x + x * this.w + y * this.z - z * this.y; - final float newY = w * this.y + y * this.w + z * this.x - x * this.z; - final float newZ = w * this.z + z * this.w + x * this.y - y * this.x; - final float newW = w * this.w - x * this.x - y * this.y - z * this.z; - this.x = newX; - this.y = newY; - this.z = newZ; - this.w = newW; - return this; - } - - /** Add the x,y,z,w components of the passed in QuaternionGDX to the ones of this QuaternionGDX */ - public Quaternion add (Quaternion quaternion) { - this.x += quaternion.x; - this.y += quaternion.y; - this.z += quaternion.z; - this.w += quaternion.w; - return this; - } - - /** Add the x,y,z,w components of the passed in QuaternionGDX to the ones of this QuaternionGDX */ - public Quaternion add (float qx, float qy, float qz, float qw) { - this.x += qx; - this.y += qy; - this.z += qz; - this.w += qw; - return this; - } - - // TODO : the matrix4 set(quaternion) doesnt set the last row+col of the matrix to 0,0,0,1 so... that's why there is this -// method - /** Fills a 4x4 matrix with the rotation matrix represented by this quaternion. - * - * @param matrix Matrix to fill */ - public void toMatrix (final float[] matrix) { - final float xx = x * x; - final float xy = x * y; - final float xz = x * z; - final float xw = x * w; - final float yy = y * y; - final float yz = y * z; - final float yw = y * w; - final float zz = z * z; - final float zw = z * w; - // Set matrix from quaternion - matrix[Matrix4.M00] = 1 - 2 * (yy + zz); - matrix[Matrix4.M01] = 2 * (xy - zw); - matrix[Matrix4.M02] = 2 * (xz + yw); - matrix[Matrix4.M03] = 0; - matrix[Matrix4.M10] = 2 * (xy + zw); - matrix[Matrix4.M11] = 1 - 2 * (xx + zz); - matrix[Matrix4.M12] = 2 * (yz - xw); - matrix[Matrix4.M13] = 0; - matrix[Matrix4.M20] = 2 * (xz - yw); - matrix[Matrix4.M21] = 2 * (yz + xw); - matrix[Matrix4.M22] = 1 - 2 * (xx + yy); - matrix[Matrix4.M23] = 0; - matrix[Matrix4.M30] = 0; - matrix[Matrix4.M31] = 0; - matrix[Matrix4.M32] = 0; - matrix[Matrix4.M33] = 1; - } - - /** Sets the QuaternionGDX to an identity Quaternion - * @return this QuaternionGDX for chaining */ - public Quaternion idt () { - return this.set(0, 0, 0, 1); - } - - /** @return If this QuaternionGDX is an identity QuaternionGDX */ - public boolean isIdentity () { - return MathUtils.isZero(x) && MathUtils.isZero(y) && MathUtils.isZero(z) && MathUtils.isEqual(w, 1f); - } - - /** @return If this QuaternionGDX is an identity QuaternionGDX */ - public boolean isIdentity (final float tolerance) { - return MathUtils.isZero(x, tolerance) && MathUtils.isZero(y, tolerance) && MathUtils.isZero(z, tolerance) - && MathUtils.isEqual(w, 1f, tolerance); - } - - // todo : the setFromAxis(v3,float) method should replace the set(v3,float) method - /** Sets the QuaternionGDX components from the given axis and angle around that axis. - * - * @param axis The axis - * @param degrees The angle in degrees - * @return This QuaternionGDX for chaining. */ - public Quaternion setFromAxis (final Vector3 axis, final float degrees) { - return setFromAxis(axis.x, axis.y, axis.z, degrees); - } - - /** Sets the QuaternionGDX components from the given axis and angle around that axis. - * - * @param axis The axis - * @param radians The angle in radians - * @return This QuaternionGDX for chaining. */ - public Quaternion setFromAxisRad (final Vector3 axis, final float radians) { - return setFromAxisRad(axis.x, axis.y, axis.z, radians); - } - - /** Sets the QuaternionGDX components from the given axis and angle around that axis. - * @param x X direction of the axis - * @param y Y direction of the axis - * @param z Z direction of the axis - * @param degrees The angle in degrees - * @return This QuaternionGDX for chaining. */ - public Quaternion setFromAxis (final float x, final float y, final float z, final float degrees) { - return setFromAxisRad(x, y, z, degrees * MathUtils.degreesToRadians); - } - - /** Sets the QuaternionGDX components from the given axis and angle around that axis. - * @param x X direction of the axis - * @param y Y direction of the axis - * @param z Z direction of the axis - * @param radians The angle in radians - * @return This QuaternionGDX for chaining. */ - public Quaternion setFromAxisRad (final float x, final float y, final float z, final float radians) { - float d = Vector3.len(x, y, z); - if (d == 0f) return idt(); - d = 1f / d; - float l_ang = radians < 0 ? MathUtils.PI2 - (-radians % MathUtils.PI2) : radians % MathUtils.PI2; - float l_sin = (float)Math.sin(l_ang / 2); - float l_cos = (float)Math.cos(l_ang / 2); - return this.set(d * x * l_sin, d * y * l_sin, d * z * l_sin, l_cos).nor(); - } - - /** Sets the QuaternionGDX from the given matrix, optionally removing any scaling. */ - public Quaternion setFromMatrix (boolean normalizeAxes, Matrix4 matrix) { - return setFromAxes(normalizeAxes, matrix.val[Matrix4.M00], matrix.val[Matrix4.M01], matrix.val[Matrix4.M02], - matrix.val[Matrix4.M10], matrix.val[Matrix4.M11], matrix.val[Matrix4.M12], matrix.val[Matrix4.M20], - matrix.val[Matrix4.M21], matrix.val[Matrix4.M22]); - } - - /** Sets the QuaternionGDX from the given rotation matrix, which must not contain scaling. */ - public Quaternion setFromMatrix (Matrix4 matrix) { - return setFromMatrix(false, matrix); - } - - /** Sets the QuaternionGDX from the given matrix, optionally removing any scaling. */ - public Quaternion setFromMatrix (boolean normalizeAxes, Matrix3 matrix) { - return setFromAxes(normalizeAxes, matrix.val[Matrix3.M00], matrix.val[Matrix3.M01], matrix.val[Matrix3.M02], - matrix.val[Matrix3.M10], matrix.val[Matrix3.M11], matrix.val[Matrix3.M12], matrix.val[Matrix3.M20], - matrix.val[Matrix3.M21], matrix.val[Matrix3.M22]); - } - - /** Sets the QuaternionGDX from the given rotation matrix, which must not contain scaling. */ - public Quaternion setFromMatrix (Matrix3 matrix) { - return setFromMatrix(false, matrix); - } - - /**

- * Sets the QuaternionGDX from the given x-, y- and z-axis which have to be orthonormal. - *

- * - *

- * Taken from Bones framework for JPCT, see http://www.aptalkarga.com/bones/ which in turn took it from Graphics Gem code at - * ftp://ftp.cis.upenn.edu/pub/graphics/shoemake/quatut.ps.Z. - *

- * - * @param xx x-axis x-coordinate - * @param xy x-axis y-coordinate - * @param xz x-axis z-coordinate - * @param yx y-axis x-coordinate - * @param yy y-axis y-coordinate - * @param yz y-axis z-coordinate - * @param zx z-axis x-coordinate - * @param zy z-axis y-coordinate - * @param zz z-axis z-coordinate */ - public Quaternion setFromAxes (float xx, float xy, float xz, float yx, float yy, float yz, float zx, float zy, float zz) { - return setFromAxes(false, xx, xy, xz, yx, yy, yz, zx, zy, zz); - } - - /**

- * Sets the QuaternionGDX from the given x-, y- and z-axis. - *

- * - *

- * Taken from Bones framework for JPCT, see http://www.aptalkarga.com/bones/ which in turn took it from Graphics Gem code at - * ftp://ftp.cis.upenn.edu/pub/graphics/shoemake/quatut.ps.Z. - *

- * - * @param normalizeAxes whether to normalize the axes (necessary when they contain scaling) - * @param xx x-axis x-coordinate - * @param xy x-axis y-coordinate - * @param xz x-axis z-coordinate - * @param yx y-axis x-coordinate - * @param yy y-axis y-coordinate - * @param yz y-axis z-coordinate - * @param zx z-axis x-coordinate - * @param zy z-axis y-coordinate - * @param zz z-axis z-coordinate */ - public Quaternion setFromAxes (boolean normalizeAxes, float xx, float xy, float xz, float yx, float yy, float yz, float zx, - float zy, float zz) { - if (normalizeAxes) { - final float lx = 1f / Vector3.len(xx, xy, xz); - final float ly = 1f / Vector3.len(yx, yy, yz); - final float lz = 1f / Vector3.len(zx, zy, zz); - xx *= lx; - xy *= lx; - xz *= lx; - yx *= ly; - yy *= ly; - yz *= ly; - zx *= lz; - zy *= lz; - zz *= lz; - } - // the trace is the sum of the diagonal elements; see - // http://mathworld.wolfram.com/MatrixTrace.html - final float t = xx + yy + zz; - - // we protect the division by s by ensuring that s>=1 - if (t >= 0) { // |w| >= .5 - float s = (float)Math.sqrt(t + 1); // |s|>=1 ... - w = 0.5f * s; - s = 0.5f / s; // so this division isn't bad - x = (zy - yz) * s; - y = (xz - zx) * s; - z = (yx - xy) * s; - } else if ((xx > yy) && (xx > zz)) { - float s = (float)Math.sqrt(1.0 + xx - yy - zz); // |s|>=1 - x = s * 0.5f; // |x| >= .5 - s = 0.5f / s; - y = (yx + xy) * s; - z = (xz + zx) * s; - w = (zy - yz) * s; - } else if (yy > zz) { - float s = (float)Math.sqrt(1.0 + yy - xx - zz); // |s|>=1 - y = s * 0.5f; // |y| >= .5 - s = 0.5f / s; - x = (yx + xy) * s; - z = (zy + yz) * s; - w = (xz - zx) * s; - } else { - float s = (float)Math.sqrt(1.0 + zz - xx - yy); // |s|>=1 - z = s * 0.5f; // |z| >= .5 - s = 0.5f / s; - x = (xz + zx) * s; - y = (zy + yz) * s; - w = (yx - xy) * s; - } - - return this; - } - - /** Set this QuaternionGDX to the rotation between two vectors. - * @param v1 The base vector, which should be normalized. - * @param v2 The target vector, which should be normalized. - * @return This QuaternionGDX for chaining */ - public Quaternion setFromCross (final Vector3 v1, final Vector3 v2) { - final float dot = MathUtils.clamp(v1.dot(v2), -1f, 1f); - final float angle = (float)Math.acos(dot); - return setFromAxisRad(v1.y * v2.z - v1.z * v2.y, v1.z * v2.x - v1.x * v2.z, v1.x * v2.y - v1.y * v2.x, angle); - } - - /** Set this QuaternionGDX to the rotation between two vectors. - * @param x1 The base vectors x value, which should be normalized. - * @param y1 The base vectors y value, which should be normalized. - * @param z1 The base vectors z value, which should be normalized. - * @param x2 The target vector x value, which should be normalized. - * @param y2 The target vector y value, which should be normalized. - * @param z2 The target vector z value, which should be normalized. - * @return This QuaternionGDX for chaining */ - public Quaternion setFromCross (final float x1, final float y1, final float z1, final float x2, final float y2, final float z2) { - final float dot = MathUtils.clamp(Vector3.dot(x1, y1, z1, x2, y2, z2), -1f, 1f); - final float angle = (float)Math.acos(dot); - return setFromAxisRad(y1 * z2 - z1 * y2, z1 * x2 - x1 * z2, x1 * y2 - y1 * x2, angle); - } - - /** Spherical linear interpolation between this QuaternionGDX and the other quaternion, based on the alpha value in the range - * [0,1]. Taken from Bones framework for JPCT, see http://www.aptalkarga.com/bones/ - * @param end the end quaternion - * @param alpha alpha in the range [0,1] - * @return this QuaternionGDX for chaining */ - public Quaternion slerp (Quaternion end, float alpha) { - final float d = this.x * end.x + this.y * end.y + this.z * end.z + this.w * end.w; - float absDot = d < 0.f ? -d : d; - - // Set the first and second scale for the interpolation - float scale0 = 1f - alpha; - float scale1 = alpha; - - // Check if the angle between the 2 quaternions was big enough to - // warrant such calculations - if ((1 - absDot) > 0.1) {// Get the angle between the 2 quaternions, - // and then store the sin() of that angle - final float angle = (float)Math.acos(absDot); - final float invSinTheta = 1f / (float)Math.sin(angle); - - // Calculate the scale for q1 and q2, according to the angle and - // it's sine value - scale0 = ((float)Math.sin((1f - alpha) * angle) * invSinTheta); - scale1 = ((float)Math.sin((alpha * angle)) * invSinTheta); - } - - if (d < 0.f) scale1 = -scale1; - - // Calculate the x, y, z and w values for the QuaternionGDX by using a - // special form of linear interpolation for quaternions. - x = (scale0 * x) + (scale1 * end.x); - y = (scale0 * y) + (scale1 * end.y); - z = (scale0 * z) + (scale1 * end.z); - w = (scale0 * w) + (scale1 * end.w); - - // Return the interpolated quaternion - return this; - } - - /** Spherical linearly interpolates multiple quaternions and stores the result in this Quaternion. Will not destroy the data - * previously inside the elements of q. result = (q_1^w_1)*(q_2^w_2)* ... *(q_n^w_n) where w_i=1/n. - * @param q List of quaternions - * @return This QuaternionGDX for chaining */ - public Quaternion slerp (Quaternion[] q) { - - // Calculate exponents and multiply everything from left to right - final float w = 1.0f / q.length; - set(q[0]).exp(w); - for (int i = 1; i < q.length; i++) - mul(tmp1.set(q[i]).exp(w)); - nor(); - return this; - } - - /** Spherical linearly interpolates multiple quaternions by the given weights and stores the result in this Quaternion. Will not - * destroy the data previously inside the elements of q or w. result = (q_1^w_1)*(q_2^w_2)* ... *(q_n^w_n) where the sum of w_i - * is 1. Lists must be equal in length. - * @param q List of quaternions - * @param w List of weights - * @return This QuaternionGDX for chaining */ - public Quaternion slerp (Quaternion[] q, float[] w) { - - // Calculate exponents and multiply everything from left to right - set(q[0]).exp(w[0]); - for (int i = 1; i < q.length; i++) - mul(tmp1.set(q[i]).exp(w[i])); - nor(); - return this; - } - - /** Calculates (this quaternion)^alpha where alpha is a real number and stores the result in this quaternion. See - * http://en.wikipedia.org/wiki/Quaternion#Exponential.2C_logarithm.2C_and_power - * @param alpha Exponent - * @return This QuaternionGDX for chaining */ - public Quaternion exp (float alpha) { - - // Calculate |q|^alpha - float norm = len(); - float normExp = (float)Math.pow(norm, alpha); - - // Calculate theta - float theta = (float)Math.acos(w / norm); - - // Calculate coefficient of basis elements - float coeff = 0; - if (Math.abs(theta) < 0.001) // If theta is small enough, use the limit of sin(alpha*theta) / sin(theta) instead of actual -// value - coeff = normExp * alpha / norm; - else - coeff = (float)(normExp * Math.sin(alpha * theta) / (norm * Math.sin(theta))); - - // Write results - w = (float)(normExp * Math.cos(alpha * theta)); - x *= coeff; - y *= coeff; - z *= coeff; - - // Fix any possible discrepancies - nor(); - - return this; - } - - @Override - public int hashCode () { - final int prime = 31; - int result = 1; - result = prime * result + NumberUtils.floatToRawIntBits(w); - result = prime * result + NumberUtils.floatToRawIntBits(x); - result = prime * result + NumberUtils.floatToRawIntBits(y); - result = prime * result + NumberUtils.floatToRawIntBits(z); - return result; - } - - @Override - public boolean equals (Object obj) { - if (this == obj) { - return true; - } - if (obj == null) { - return false; - } - if (!(obj instanceof Quaternion)) { - return false; - } - Quaternion other = (Quaternion)obj; - return (NumberUtils.floatToRawIntBits(w) == NumberUtils.floatToRawIntBits(other.w)) - && (NumberUtils.floatToRawIntBits(x) == NumberUtils.floatToRawIntBits(other.x)) - && (NumberUtils.floatToRawIntBits(y) == NumberUtils.floatToRawIntBits(other.y)) - && (NumberUtils.floatToRawIntBits(z) == NumberUtils.floatToRawIntBits(other.z)); - } - - /** Get the dot product between the two quaternions (commutative). - * @param x1 the x component of the first quaternion - * @param y1 the y component of the first quaternion - * @param z1 the z component of the first quaternion - * @param w1 the w component of the first quaternion - * @param x2 the x component of the second quaternion - * @param y2 the y component of the second quaternion - * @param z2 the z component of the second quaternion - * @param w2 the w component of the second quaternion - * @return the dot product between the first and second quaternion. */ - public final static float dot (final float x1, final float y1, final float z1, final float w1, final float x2, final float y2, - final float z2, final float w2) { - return x1 * x2 + y1 * y2 + z1 * z2 + w1 * w2; - } - - /** Get the dot product between this and the other QuaternionGDX (commutative). - * @param other the other quaternion. - * @return the dot product of this and the other quaternion. */ - public float dot (final Quaternion other) { - return this.x * other.x + this.y * other.y + this.z * other.z + this.w * other.w; - } - - /** Get the dot product between this and the other QuaternionGDX (commutative). - * @param x the x component of the other quaternion - * @param y the y component of the other quaternion - * @param z the z component of the other quaternion - * @param w the w component of the other quaternion - * @return the dot product of this and the other quaternion. */ - public float dot (final float x, final float y, final float z, final float w) { - return this.x * x + this.y * y + this.z * z + this.w * w; - } - - /** Multiplies the components of this QuaternionGDX with the given scalar. - * @param scalar the scalar. - * @return this QuaternionGDX for chaining. */ - public Quaternion mul (float scalar) { - this.x *= scalar; - this.y *= scalar; - this.z *= scalar; - this.w *= scalar; - return this; - } - - /** Get the axis angle representation of the rotation in degrees. The supplied vector will receive the axis (x, y and z values) - * of the rotation and the value returned is the angle in degrees around that axis. Note that this method will alter the - * supplied vector, the existing value of the vector is ignored.

This will normalize this QuaternionGDX if needed. The - * received axis is a unit vector. However, if this is an identity QuaternionGDX (no rotation), then the length of the axis may be - * zero. - * - * @param axis vector which will receive the axis - * @return the angle in degrees - * @see wikipedia - * @see calculation */ - public float getAxisAngle (Vector3 axis) { - return getAxisAngleRad(axis) * MathUtils.radiansToDegrees; - } - - /** Get the axis-angle representation of the rotation in radians. The supplied vector will receive the axis (x, y and z values) - * of the rotation and the value returned is the angle in radians around that axis. Note that this method will alter the - * supplied vector, the existing value of the vector is ignored.

This will normalize this QuaternionGDX if needed. The - * received axis is a unit vector. However, if this is an identity QuaternionGDX (no rotation), then the length of the axis may be - * zero. - * - * @param axis vector which will receive the axis - * @return the angle in radians - * @see wikipedia - * @see calculation */ - public float getAxisAngleRad (Vector3 axis) { - if (this.w > 1) this.nor(); // if w>1 acos and sqrt will produce errors, this cant happen if QuaternionGDX is normalised - float angle = (float)(2.0 * Math.acos(this.w)); - double s = Math.sqrt(1 - this.w * this.w); // assuming QuaternionGDX normalised then w is less than 1, so term always positive. - if (s < MathUtils.FLOAT_ROUNDING_ERROR) { // test to avoid divide by zero, s is always positive due to sqrt - // if s close to zero then direction of axis not important - axis.x = this.x; // if it is important that axis is normalised then replace with x=1; y=z=0; - axis.y = this.y; - axis.z = this.z; - } else { - axis.x = (float)(this.x / s); // normalise axis - axis.y = (float)(this.y / s); - axis.z = (float)(this.z / s); - } - - return angle; - } - - /** Get the angle in radians of the rotation this QuaternionGDX represents. Does not normalize the quaternion. Use - * {@link #getAxisAngleRad(Vector3)} to get both the axis and the angle of this rotation. Use - * {@link #getAngleAroundRad(Vector3)} to get the angle around a specific axis. - * @return the angle in radians of the rotation */ - public float getAngleRad () { - return (float)(2.0 * Math.acos((this.w > 1) ? (this.w / len()) : this.w)); - } - - /** Get the angle in degrees of the rotation this QuaternionGDX represents. Use {@link #getAxisAngle(Vector3)} to get both the axis - * and the angle of this rotation. Use {@link #getAngleAround(Vector3)} to get the angle around a specific axis. - * @return the angle in degrees of the rotation */ - public float getAngle () { - return getAngleRad() * MathUtils.radiansToDegrees; - } - - /** Get the swing rotation and twist rotation for the specified axis. The twist rotation represents the rotation around the - * specified axis. The swing rotation represents the rotation of the specified axis itself, which is the rotation around an - * axis perpendicular to the specified axis.

The swing and twist rotation can be used to reconstruct the original - * quaternion: this = swing * twist - * - * @param axisX the X component of the normalized axis for which to get the swing and twist rotation - * @param axisY the Y component of the normalized axis for which to get the swing and twist rotation - * @param axisZ the Z component of the normalized axis for which to get the swing and twist rotation - * @param swing will receive the swing rotation: the rotation around an axis perpendicular to the specified axis - * @param twist will receive the twist rotation: the rotation around the specified axis - * @see calculation */ - public void getSwingTwist (final float axisX, final float axisY, final float axisZ, final Quaternion swing, - final Quaternion twist) { - final float d = Vector3.dot(this.x, this.y, this.z, axisX, axisY, axisZ); - twist.set(axisX * d, axisY * d, axisZ * d, this.w).nor(); - if (d < 0) twist.mul(-1f); - swing.set(twist).conjugate().mulLeft(this); - } - - /** Get the swing rotation and twist rotation for the specified axis. The twist rotation represents the rotation around the - * specified axis. The swing rotation represents the rotation of the specified axis itself, which is the rotation around an - * axis perpendicular to the specified axis.

The swing and twist rotation can be used to reconstruct the original - * quaternion: this = swing * twist - * - * @param axis the normalized axis for which to get the swing and twist rotation - * @param swing will receive the swing rotation: the rotation around an axis perpendicular to the specified axis - * @param twist will receive the twist rotation: the rotation around the specified axis - * @see calculation */ - public void getSwingTwist (final Vector3 axis, final Quaternion swing, final Quaternion twist) { - getSwingTwist(axis.x, axis.y, axis.z, swing, twist); - } - - /** Get the angle in radians of the rotation around the specified axis. The axis must be normalized. - * @param axisX the x component of the normalized axis for which to get the angle - * @param axisY the y component of the normalized axis for which to get the angle - * @param axisZ the z component of the normalized axis for which to get the angle - * @return the angle in radians of the rotation around the specified axis */ - public float getAngleAroundRad (final float axisX, final float axisY, final float axisZ) { - final float d = Vector3.dot(this.x, this.y, this.z, axisX, axisY, axisZ); - final float l2 = Quaternion.len2(axisX * d, axisY * d, axisZ * d, this.w); - return MathUtils.isZero(l2) ? 0f : (float)(2.0 * Math.acos(MathUtils.clamp( - (float)((d < 0 ? -this.w : this.w) / Math.sqrt(l2)), -1f, 1f))); - } - - /** Get the angle in radians of the rotation around the specified axis. The axis must be normalized. - * @param axis the normalized axis for which to get the angle - * @return the angle in radians of the rotation around the specified axis */ - public float getAngleAroundRad (final Vector3 axis) { - return getAngleAroundRad(axis.x, axis.y, axis.z); - } - - /** Get the angle in degrees of the rotation around the specified axis. The axis must be normalized. - * @param axisX the x component of the normalized axis for which to get the angle - * @param axisY the y component of the normalized axis for which to get the angle - * @param axisZ the z component of the normalized axis for which to get the angle - * @return the angle in degrees of the rotation around the specified axis */ - public float getAngleAround (final float axisX, final float axisY, final float axisZ) { - return getAngleAroundRad(axisX, axisY, axisZ) * MathUtils.radiansToDegrees; - } - - /** Get the angle in degrees of the rotation around the specified axis. The axis must be normalized. - * @param axis the normalized axis for which to get the angle - * @return the angle in degrees of the rotation around the specified axis */ - public float getAngleAround (final Vector3 axis) { - return getAngleAround(axis.x, axis.y, axis.z); - } -} \ No newline at end of file diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RandomXS128.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RandomXS128.java deleted file mode 100644 index 978df0e4..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RandomXS128.java +++ /dev/null @@ -1,197 +0,0 @@ -/******************************************************************************* - * Copyright 2011 See AUTHORS file. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - ******************************************************************************/ - -package com.neuronrobotics.sdk.addons.kinematics.math; - -import java.util.Random; - -/** This class implements the xorshift128+ algorithm that is a very fast, top-quality 64-bit pseudo-random number generator. The - * quality of this PRNG is much higher than {@link Random}'s, and its cycle length is 2128 − 1, which - * is more than enough for any single-thread application. More details and algorithms can be found here. - *

- * Instances of RandomXS128 are not thread-safe. - * - * @author Inferno - * @author davebaol */ -class RandomXS128 extends Random { - - /** Normalization constant for double. */ - private static final double NORM_DOUBLE = 1.0 / (1L << 53); - - /** Normalization constant for float. */ - private static final double NORM_FLOAT = 1.0 / (1L << 24); - - /** The first half of the internal state of this pseudo-random number generator. */ - private long seed0; - - /** The second half of the internal state of this pseudo-random number generator. */ - private long seed1; - - /** Creates a new random number generator. This constructor sets the seed of the random number generator to a value very likely - * to be distinct from any other invocation of this constructor. - *

- * This implementation creates a {@link Random} instance to generate the initial seed. */ - public RandomXS128 () { - setSeed(new Random().nextLong()); - } - - /** Creates a new random number generator using a single {@code long} seed. - * @param seed the initial seed */ - public RandomXS128 (long seed) { - setSeed(seed); - } - - /** Creates a new random number generator using two {@code long} seeds. - * @param seed0 the first part of the initial seed - * @param seed1 the second part of the initial seed */ - public RandomXS128 (long seed0, long seed1) { - setState(seed0, seed1); - } - - /** Returns the next pseudo-random, uniformly distributed {@code long} value from this random number generator's sequence. - *

- * Subclasses should override this, as this is used by all other methods. */ - @Override - public long nextLong () { - long s1 = this.seed0; - final long s0 = this.seed1; - this.seed0 = s0; - s1 ^= s1 << 23; - return (this.seed1 = (s1 ^ s0 ^ (s1 >>> 17) ^ (s0 >>> 26))) + s0; - } - - /** This protected method is final because, contrary to the superclass, it's not used anymore by the other methods. */ - @Override - protected final int next (int bits) { - return (int)(nextLong() & ((1L << bits) - 1)); - } - - /** Returns the next pseudo-random, uniformly distributed {@code int} value from this random number generator's sequence. - *

- * This implementation uses {@link #nextLong()} internally. */ - @Override - public int nextInt () { - return (int)nextLong(); - } - - /** Returns a pseudo-random, uniformly distributed {@code int} value between 0 (inclusive) and the specified value (exclusive), - * drawn from this random number generator's sequence. - *

- * This implementation uses {@link #nextLong()} internally. - * @param n the positive bound on the random number to be returned. - * @return the next pseudo-random {@code int} value between {@code 0} (inclusive) and {@code n} (exclusive). */ - @Override - public int nextInt (final int n) { - return (int)nextLong(n); - } - - /** Returns a pseudo-random, uniformly distributed {@code long} value between 0 (inclusive) and the specified value (exclusive), - * drawn from this random number generator's sequence. The algorithm used to generate the value guarantees that the result is - * uniform, provided that the sequence of 64-bit values produced by this generator is. - *

- * This implementation uses {@link #nextLong()} internally. - * @param n the positive bound on the random number to be returned. - * @return the next pseudo-random {@code long} value between {@code 0} (inclusive) and {@code n} (exclusive). */ - public long nextLong (final long n) { - if (n <= 0) throw new IllegalArgumentException("n must be positive"); - for (;;) { - final long bits = nextLong() >>> 1; - final long value = bits % n; - if (bits - value + (n - 1) >= 0) return value; - } - } - - /** Returns a pseudo-random, uniformly distributed {@code double} value between 0.0 and 1.0 from this random number generator's - * sequence. - *

- * This implementation uses {@link #nextLong()} internally. */ - @Override - public double nextDouble () { - return (nextLong() >>> 11) * NORM_DOUBLE; - } - - /** Returns a pseudo-random, uniformly distributed {@code float} value between 0.0 and 1.0 from this random number generator's - * sequence. - *

- * This implementation uses {@link #nextLong()} internally. */ - @Override - public float nextFloat () { - return (float)((nextLong() >>> 40) * NORM_FLOAT); - } - - /** Returns a pseudo-random, uniformly distributed {@code boolean } value from this random number generator's sequence. - *

- * This implementation uses {@link #nextLong()} internally. */ - @Override - public boolean nextBoolean () { - return (nextLong() & 1) != 0; - } - - /** Generates random bytes and places them into a user-supplied byte array. The number of random bytes produced is equal to the - * length of the byte array. - *

- * This implementation uses {@link #nextLong()} internally. */ - @Override - public void nextBytes (final byte[] bytes) { - int n = 0; - int i = bytes.length; - while (i != 0) { - n = i < 8 ? i : 8; // min(i, 8); - for (long bits = nextLong(); n-- != 0; bits >>= 8) - bytes[--i] = (byte)bits; - } - } - - /** Sets the internal seed of this generator based on the given {@code long} value. - *

- * The given seed is passed twice through a hash function. This way, if the user passes a small value we avoid the short - * irregular transient associated with states having a very small number of bits set. - * @param seed a nonzero seed for this generator (if zero, the generator will be seeded with {@link Long#MIN_VALUE}). */ - @Override - public void setSeed (final long seed) { - long seed0 = murmurHash3(seed == 0 ? Long.MIN_VALUE : seed); - setState(seed0, murmurHash3(seed0)); - } - - /** Sets the internal state of this generator. - * @param seed0 the first part of the internal state - * @param seed1 the second part of the internal state */ - public void setState (final long seed0, final long seed1) { - this.seed0 = seed0; - this.seed1 = seed1; - } - - /** - * Returns the internal seeds to allow state saving. - * @param seed must be 0 or 1, designating which of the 2 long seeds to return - * @return the internal seed that can be used in setState - */ - public long getState(int seed) { - return seed == 0 ? seed0 : seed1; - } - - private final static long murmurHash3 (long x) { - x ^= x >>> 33; - x *= 0xff51afd7ed558ccdL; - x ^= x >>> 33; - x *= 0xc4ceb9fe1a85ec53L; - x ^= x >>> 33; - - return x; - } - -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector.java deleted file mode 100644 index 9245199a..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector.java +++ /dev/null @@ -1,193 +0,0 @@ -/******************************************************************************* - * Copyright 2011 See AUTHORS file. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - ******************************************************************************/ - -package com.neuronrobotics.sdk.addons.kinematics.math; - -/** Encapsulates a general vector. Allows chaining operations by returning a reference to itself in all modification methods. See - * {@link Vector2} and {@link Vector3} for specific implementations. - * @author Xoppa */ - interface Vector> { - /** @return a copy of this vector */ - T cpy (); - - /** @return The euclidean length */ - float len (); - - /** This method is faster than {@link Vector#len()} because it avoids calculating a square root. It is useful for comparisons, - * but not for getting exact lengths, as the return value is the square of the actual length. - * @return The squared euclidean length */ - float len2 (); - - /** Limits the length of this vector, based on the desired maximum length. - * @param limit desired maximum length for this vector - * @return this vector for chaining */ - T limit (float limit); - - /** Limits the length of this vector, based on the desired maximum length squared. - *

- * This method is slightly faster than limit(). - * @param limit2 squared desired maximum length for this vector - * @return this vector for chaining - * @see #len2() */ - T limit2 (float limit2); - - /** Sets the length of this vector. Does nothing is this vector is zero. - * @param len desired length for this vector - * @return this vector for chaining */ - T setLength (float len); - - /** Sets the length of this vector, based on the square of the desired length. Does nothing is this vector is zero. - *

- * This method is slightly faster than setLength(). - * @param len2 desired square of the length for this vector - * @return this vector for chaining - * @see #len2() */ - T setLength2 (float len2); - - /** Clamps this vector's length to given min and max values - * @param min Min length - * @param max Max length - * @return This vector for chaining */ - T clamp (float min, float max); - - /** Sets this vector from the given vector - * @param v The vector - * @return This vector for chaining */ - T set (T v); - - /** Subtracts the given vector from this vector. - * @param v The vector - * @return This vector for chaining */ - T sub (T v); - - /** Normalizes this vector. Does nothing if it is zero. - * @return This vector for chaining */ - T nor (); - - /** Adds the given vector to this vector - * @param v The vector - * @return This vector for chaining */ - T add (T v); - - /** @param v The other vector - * @return The dot product between this and the other vector */ - float dot (T v); - - /** Scales this vector by a scalar - * @param scalar The scalar - * @return This vector for chaining */ - T scl (float scalar); - - /** Scales this vector by another vector - * @return This vector for chaining */ - T scl (T v); - - /** @param v The other vector - * @return the distance between this and the other vector */ - float dst (T v); - - /** This method is faster than {@link Vector#dst(Vector)} because it avoids calculating a square root. It is useful for - * comparisons, but not for getting accurate distances, as the return value is the square of the actual distance. - * @param v The other vector - * @return the squared distance between this and the other vector */ - float dst2 (T v); - - /** Linearly interpolates between this vector and the target vector by alpha which is in the range [0,1]. The result is stored - * in this vector. - * @param target The target vector - * @param alpha The interpolation coefficient - * @return This vector for chaining. */ - T lerp (T target, float alpha); - - /** Interpolates between this vector and the given target vector by alpha (within range [0,1]) using the given Interpolation - * method. the result is stored in this vector. - * @param target The target vector - * @param alpha The interpolation coefficient - * @param interpolator An Interpolation object describing the used interpolation method - * @return This vector for chaining. */ - T interpolate (T target, float alpha, Interpolation interpolator); - - /** Sets this vector to the unit vector with a random direction - * @return This vector for chaining */ - T setToRandomDirection (); - - /** @return Whether this vector is a unit length vector */ - boolean isUnit (); - - /** @return Whether this vector is a unit length vector within the given margin. */ - boolean isUnit (final float margin); - - /** @return Whether this vector is a zero vector */ - boolean isZero (); - - /** @return Whether the length of this vector is smaller than the given margin */ - boolean isZero (final float margin); - - /** @return true if this vector is in line with the other vector (either in the same or the opposite direction) */ - boolean isOnLine (T other, float epsilon); - - /** @return true if this vector is in line with the other vector (either in the same or the opposite direction) */ - boolean isOnLine (T other); - - /** @return true if this vector is collinear with the other vector ({@link #isOnLine(Vector, float)} && - * {@link #hasSameDirection(Vector)}). */ - boolean isCollinear (T other, float epsilon); - - /** @return true if this vector is collinear with the other vector ({@link #isOnLine(Vector)} && - * {@link #hasSameDirection(Vector)}). */ - boolean isCollinear (T other); - - /** @return true if this vector is opposite collinear with the other vector ({@link #isOnLine(Vector, float)} && - * {@link #hasOppositeDirection(Vector)}). */ - boolean isCollinearOpposite (T other, float epsilon); - - /** @return true if this vector is opposite collinear with the other vector ({@link #isOnLine(Vector)} && - * {@link #hasOppositeDirection(Vector)}). */ - boolean isCollinearOpposite (T other); - - /** @return Whether this vector is perpendicular with the other vector. True if the dot product is 0. */ - boolean isPerpendicular (T other); - - /** @return Whether this vector is perpendicular with the other vector. True if the dot product is 0. - * @param epsilon a positive small number close to zero */ - boolean isPerpendicular (T other, float epsilon); - - /** @return Whether this vector has similar direction compared to the other vector. True if the normalized dot product is > 0. */ - boolean hasSameDirection (T other); - - /** @return Whether this vector has opposite direction compared to the other vector. True if the normalized dot product is < 0. */ - boolean hasOppositeDirection (T other); - - /** Compares this vector with the other vector, using the supplied epsilon for fuzzy equality testing. - * @param other - * @param epsilon - * @return whether the vectors have fuzzy equality. */ - boolean epsilonEquals (T other, float epsilon); - - /** First scale a supplied vector, then add it to this vector. - * @param v addition vector - * @param scalar for scaling the addition vector */ - T mulAdd (T v, float scalar); - - /** First scale a supplied vector, then add it to this vector. - * @param v addition vector - * @param mulVec vector by whose values the addition vector will be scaled */ - T mulAdd (T v, T mulVec); - - /** Sets the components of this vector to 0 - * @return This vector for chaining */ - T setZero (); -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector2.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector2.java deleted file mode 100644 index 3bc99673..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vector2.java +++ /dev/null @@ -1,523 +0,0 @@ -/******************************************************************************* - * Copyright 2011 See AUTHORS file. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - ******************************************************************************/ - -package com.neuronrobotics.sdk.addons.kinematics.math; - -import java.io.Serializable; - - -/** Encapsulates a 2D vector. Allows chaining methods by returning a reference to itself - * @author badlogicgames@gmail.com */ - class Vector2 implements Serializable, Vector { - private static final long serialVersionUID = 913902788239530931L; - - public final static Vector2 X = new Vector2(1, 0); - public final static Vector2 Y = new Vector2(0, 1); - public final static Vector2 Zero = new Vector2(0, 0); - - /** the x-component of this vector **/ - public float x; - /** the y-component of this vector **/ - public float y; - - /** Constructs a new vector at (0,0) */ - public Vector2 () { - } - - /** Constructs a vector with the given components - * @param x The x-component - * @param y The y-component */ - public Vector2 (float x, float y) { - this.x = x; - this.y = y; - } - - /** Constructs a vector from the given vector - * @param v The vector */ - public Vector2 (Vector2 v) { - set(v); - } - - @Override - public Vector2 cpy () { - return new Vector2(this); - } - - public static float len (float x, float y) { - return (float)Math.sqrt(x * x + y * y); - } - - @Override - public float len () { - return (float)Math.sqrt(x * x + y * y); - } - - public static float len2 (float x, float y) { - return x * x + y * y; - } - - @Override - public float len2 () { - return x * x + y * y; - } - - @Override - public Vector2 set (Vector2 v) { - x = v.x; - y = v.y; - return this; - } - - /** Sets the components of this vector - * @param x The x-component - * @param y The y-component - * @return This vector for chaining */ - public Vector2 set (float x, float y) { - this.x = x; - this.y = y; - return this; - } - - @Override - public Vector2 sub (Vector2 v) { - x -= v.x; - y -= v.y; - return this; - } - - /** Substracts the other vector from this vector. - * @param x The x-component of the other vector - * @param y The y-component of the other vector - * @return This vector for chaining */ - public Vector2 sub (float x, float y) { - this.x -= x; - this.y -= y; - return this; - } - - @Override - public Vector2 nor () { - float len = len(); - if (len != 0) { - x /= len; - y /= len; - } - return this; - } - - @Override - public Vector2 add (Vector2 v) { - x += v.x; - y += v.y; - return this; - } - - /** Adds the given components to this vector - * @param x The x-component - * @param y The y-component - * @return This vector for chaining */ - public Vector2 add (float x, float y) { - this.x += x; - this.y += y; - return this; - } - - public static float dot (float x1, float y1, float x2, float y2) { - return x1 * x2 + y1 * y2; - } - - @Override - public float dot (Vector2 v) { - return x * v.x + y * v.y; - } - - public float dot (float ox, float oy) { - return x * ox + y * oy; - } - - @Override - public Vector2 scl (float scalar) { - x *= scalar; - y *= scalar; - return this; - } - - /** Multiplies this vector by a scalar - * @return This vector for chaining */ - public Vector2 scl (float x, float y) { - this.x *= x; - this.y *= y; - return this; - } - - @Override - public Vector2 scl (Vector2 v) { - this.x *= v.x; - this.y *= v.y; - return this; - } - - @Override - public Vector2 mulAdd (Vector2 vec, float scalar) { - this.x += vec.x * scalar; - this.y += vec.y * scalar; - return this; - } - - @Override - public Vector2 mulAdd (Vector2 vec, Vector2 mulVec) { - this.x += vec.x * mulVec.x; - this.y += vec.y * mulVec.y; - return this; - } - - public static float dst (float x1, float y1, float x2, float y2) { - final float x_d = x2 - x1; - final float y_d = y2 - y1; - return (float)Math.sqrt(x_d * x_d + y_d * y_d); - } - - @Override - public float dst (Vector2 v) { - final float x_d = v.x - x; - final float y_d = v.y - y; - return (float)Math.sqrt(x_d * x_d + y_d * y_d); - } - - /** @param x The x-component of the other vector - * @param y The y-component of the other vector - * @return the distance between this and the other vector */ - public float dst (float x, float y) { - final float x_d = x - this.x; - final float y_d = y - this.y; - return (float)Math.sqrt(x_d * x_d + y_d * y_d); - } - - public static float dst2 (float x1, float y1, float x2, float y2) { - final float x_d = x2 - x1; - final float y_d = y2 - y1; - return x_d * x_d + y_d * y_d; - } - - @Override - public float dst2 (Vector2 v) { - final float x_d = v.x - x; - final float y_d = v.y - y; - return x_d * x_d + y_d * y_d; - } - - /** @param x The x-component of the other vector - * @param y The y-component of the other vector - * @return the squared distance between this and the other vector */ - public float dst2 (float x, float y) { - final float x_d = x - this.x; - final float y_d = y - this.y; - return x_d * x_d + y_d * y_d; - } - - @Override - public Vector2 limit (float limit) { - return limit2(limit * limit); - } - - @Override - public Vector2 limit2 (float limit2) { - float len2 = len2(); - if (len2 > limit2) { - return scl((float)Math.sqrt(limit2 / len2)); - } - return this; - } - - @Override - public Vector2 clamp (float min, float max) { - final float len2 = len2(); - if (len2 == 0f) return this; - float max2 = max * max; - if (len2 > max2) return scl((float)Math.sqrt(max2 / len2)); - float min2 = min * min; - if (len2 < min2) return scl((float)Math.sqrt(min2 / len2)); - return this; - } - - @Override - public Vector2 setLength (float len) { - return setLength2(len * len); - } - - @Override - public Vector2 setLength2 (float len2) { - float oldLen2 = len2(); - return (oldLen2 == 0 || oldLen2 == len2) ? this : scl((float)Math.sqrt(len2 / oldLen2)); - } - - /** Converts this {@code Vector2} to a string in the format {@code (x,y)}. - * @return a string representation of this object. */ - @Override - public String toString () { - return "(" + x + "," + y + ")"; - } - - /** Sets this {@code Vector2} to the value represented by the specified string according to the format of {@link #toString()}. - * @param v the string. - * @return this vector for chaining */ - public Vector2 fromString (String v) { - int s = v.indexOf(',', 1); - if (s != -1 && v.charAt(0) == '(' && v.charAt(v.length() - 1) == ')') { - try { - float x = Float.parseFloat(v.substring(1, s)); - float y = Float.parseFloat(v.substring(s + 1, v.length() - 1)); - return this.set(x, y); - } catch (NumberFormatException ex) { - // Throw a GdxRuntimeException - } - } - throw new RuntimeException("Malformed Vector2: " + v); - } - - /** Left-multiplies this vector by the given matrix - * @param mat the matrix - * @return this vector */ - public Vector2 mul (Matrix3 mat) { - float x = this.x * mat.val[0] + this.y * mat.val[3] + mat.val[6]; - float y = this.x * mat.val[1] + this.y * mat.val[4] + mat.val[7]; - this.x = x; - this.y = y; - return this; - } - - /** Calculates the 2D cross product between this and the given vector. - * @param v the other vector - * @return the cross product */ - public float crs (Vector2 v) { - return this.x * v.y - this.y * v.x; - } - - /** Calculates the 2D cross product between this and the given vector. - * @param x the x-coordinate of the other vector - * @param y the y-coordinate of the other vector - * @return the cross product */ - public float crs (float x, float y) { - return this.x * y - this.y * x; - } - - /** @return the angle in degrees of this vector (point) relative to the x-axis. Angles are towards the positive y-axis (typically - * counter-clockwise) and between 0 and 360. */ - public float angle () { - float angle = (float)Math.atan2(y, x) * MathUtils.radiansToDegrees; - if (angle < 0) angle += 360; - return angle; - } - - /** @return the angle in degrees of this vector (point) relative to the given vector. Angles are towards the positive y-axis - * (typically counter-clockwise.) between -180 and +180 */ - public float angle (Vector2 reference) { - return (float)Math.atan2(crs(reference), dot(reference)) * MathUtils.radiansToDegrees; - } - - /** @return the angle in radians of this vector (point) relative to the x-axis. Angles are towards the positive y-axis. - * (typically counter-clockwise) */ - public float angleRad () { - return (float)Math.atan2(y, x); - } - - /** @return the angle in radians of this vector (point) relative to the given vector. Angles are towards the positive y-axis. - * (typically counter-clockwise.) */ - public float angleRad (Vector2 reference) { - return (float)Math.atan2(crs(reference), dot(reference)); - } - - /** Sets the angle of the vector in degrees relative to the x-axis, towards the positive y-axis (typically counter-clockwise). - * @param degrees The angle in degrees to set. */ - public Vector2 setAngle (float degrees) { - return setAngleRad(degrees * MathUtils.degreesToRadians); - } - - /** Sets the angle of the vector in radians relative to the x-axis, towards the positive y-axis (typically counter-clockwise). - * @param radians The angle in radians to set. */ - public Vector2 setAngleRad (float radians) { - this.set(len(), 0f); - this.rotateRad(radians); - - return this; - } - - /** Rotates the Vector2 by the given angle, counter-clockwise assuming the y-axis points up. - * @param degrees the angle in degrees */ - public Vector2 rotate (float degrees) { - return rotateRad(degrees * MathUtils.degreesToRadians); - } - - /** Rotates the Vector2 by the given angle, counter-clockwise assuming the y-axis points up. - * @param radians the angle in radians */ - public Vector2 rotateRad (float radians) { - float cos = (float)Math.cos(radians); - float sin = (float)Math.sin(radians); - - float newX = this.x * cos - this.y * sin; - float newY = this.x * sin + this.y * cos; - - this.x = newX; - this.y = newY; - - return this; - } - - /** Rotates the Vector2 by 90 degrees in the specified direction, where >= 0 is counter-clockwise and < 0 is clockwise. */ - public Vector2 rotate90 (int dir) { - float x = this.x; - if (dir >= 0) { - this.x = -y; - y = x; - } else { - this.x = y; - y = -x; - } - return this; - } - - @Override - public Vector2 lerp (Vector2 target, float alpha) { - final float invAlpha = 1.0f - alpha; - this.x = (x * invAlpha) + (target.x * alpha); - this.y = (y * invAlpha) + (target.y * alpha); - return this; - } - - @Override - public Vector2 interpolate (Vector2 target, float alpha, Interpolation interpolation) { - return lerp(target, interpolation.apply(alpha)); - } - - @Override - public Vector2 setToRandomDirection () { - float theta = MathUtils.random(0f, MathUtils.PI2); - return this.set(MathUtils.cos(theta), MathUtils.sin(theta)); - } - - @Override - public int hashCode () { - final int prime = 31; - int result = 1; - result = prime * result + NumberUtils.floatToIntBits(x); - result = prime * result + NumberUtils.floatToIntBits(y); - return result; - } - - @Override - public boolean equals (Object obj) { - if (this == obj) return true; - if (obj == null) return false; - if (getClass() != obj.getClass()) return false; - Vector2 other = (Vector2)obj; - if (NumberUtils.floatToIntBits(x) != NumberUtils.floatToIntBits(other.x)) return false; - if (NumberUtils.floatToIntBits(y) != NumberUtils.floatToIntBits(other.y)) return false; - return true; - } - - @Override - public boolean epsilonEquals (Vector2 other, float epsilon) { - if (other == null) return false; - if (Math.abs(other.x - x) > epsilon) return false; - if (Math.abs(other.y - y) > epsilon) return false; - return true; - } - - /** Compares this vector with the other vector, using the supplied epsilon for fuzzy equality testing. - * @return whether the vectors are the same. */ - public boolean epsilonEquals (float x, float y, float epsilon) { - if (Math.abs(x - this.x) > epsilon) return false; - if (Math.abs(y - this.y) > epsilon) return false; - return true; - } - - @Override - public boolean isUnit () { - return isUnit(0.000000001f); - } - - @Override - public boolean isUnit (final float margin) { - return Math.abs(len2() - 1f) < margin; - } - - @Override - public boolean isZero () { - return x == 0 && y == 0; - } - - @Override - public boolean isZero (final float margin) { - return len2() < margin; - } - - @Override - public boolean isOnLine (Vector2 other) { - return MathUtils.isZero(x * other.y - y * other.x); - } - - @Override - public boolean isOnLine (Vector2 other, float epsilon) { - return MathUtils.isZero(x * other.y - y * other.x, epsilon); - } - - @Override - public boolean isCollinear (Vector2 other, float epsilon) { - return isOnLine(other, epsilon) && dot(other) > 0f; - } - - @Override - public boolean isCollinear (Vector2 other) { - return isOnLine(other) && dot(other) > 0f; - } - - @Override - public boolean isCollinearOpposite (Vector2 other, float epsilon) { - return isOnLine(other, epsilon) && dot(other) < 0f; - } - - @Override - public boolean isCollinearOpposite (Vector2 other) { - return isOnLine(other) && dot(other) < 0f; - } - - @Override - public boolean isPerpendicular (Vector2 vector) { - return MathUtils.isZero(dot(vector)); - } - - @Override - public boolean isPerpendicular (Vector2 vector, float epsilon) { - return MathUtils.isZero(dot(vector), epsilon); - } - - @Override - public boolean hasSameDirection (Vector2 vector) { - return dot(vector) > 0; - } - - @Override - public boolean hasOppositeDirection (Vector2 vector) { - return dot(vector) < 0; - } - - @Override - public Vector2 setZero () { - this.x = 0; - this.y = 0; - return this; - } -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vextor3.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vextor3.java deleted file mode 100644 index bf236791..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/Vextor3.java +++ /dev/null @@ -1,698 +0,0 @@ -package com.neuronrobotics.sdk.addons.kinematics.math; - -/******************************************************************************* - * Copyright 2011 See AUTHORS file. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - ******************************************************************************/ -import java.io.Serializable; - - -/** Encapsulates a 3D vector. Allows chaining operations by returning a reference to itself in all modification methods. - * @author badlogicgames@gmail.com */ -class Vector3 implements Serializable, Vector { - private static final long serialVersionUID = 3840054589595372522L; - - /** the x-component of this vector **/ - public float x; - /** the y-component of this vector **/ - public float y; - /** the z-component of this vector **/ - public float z; - - public final static Vector3 X = new Vector3(1, 0, 0); - public final static Vector3 Y = new Vector3(0, 1, 0); - public final static Vector3 Z = new Vector3(0, 0, 1); - public final static Vector3 Zero = new Vector3(0, 0, 0); - - private final static Matrix4 tmpMat = new Matrix4(); - - /** Constructs a vector at (0,0,0) */ - public Vector3 () { - } - - /** Creates a vector with the given components - * @param x The x-component - * @param y The y-component - * @param z The z-component */ - public Vector3 (float x, float y, float z) { - this.set(x, y, z); - } - - /** Creates a vector from the given vector - * @param vector The vector */ - public Vector3 (final Vector3 vector) { - this.set(vector); - } - - /** Creates a vector from the given array. The array must have at least 3 elements. - * - * @param values The array */ - public Vector3 (final float[] values) { - this.set(values[0], values[1], values[2]); - } - - /** Creates a vector from the given vector and z-component - * - * @param vector The vector - * @param z The z-component */ - public Vector3 (final Vector2 vector, float z) { - this.set(vector.x, vector.y, z); - } - - /** Sets the vector to the given components - * - * @param x The x-component - * @param y The y-component - * @param z The z-component - * @return this vector for chaining */ - public Vector3 set (float x, float y, float z) { - this.x = x; - this.y = y; - this.z = z; - return this; - } - - @Override - public Vector3 set (final Vector3 vector) { - return this.set(vector.x, vector.y, vector.z); - } - - /** Sets the components from the array. The array must have at least 3 elements - * - * @param values The array - * @return this vector for chaining */ - public Vector3 set (final float[] values) { - return this.set(values[0], values[1], values[2]); - } - - /** Sets the components of the given vector and z-component - * - * @param vector The vector - * @param z The z-component - * @return This vector for chaining */ - public Vector3 set (final Vector2 vector, float z) { - return this.set(vector.x, vector.y, z); - } - - /** Sets the components from the given spherical coordinate - * @param azimuthalAngle The angle between x-axis in radians [0, 2pi] - * @param polarAngle The angle between z-axis in radians [0, pi] - * @return This vector for chaining */ - public Vector3 setFromSpherical (float azimuthalAngle, float polarAngle) { - float cosPolar = MathUtils.cos(polarAngle); - float sinPolar = MathUtils.sin(polarAngle); - - float cosAzim = MathUtils.cos(azimuthalAngle); - float sinAzim = MathUtils.sin(azimuthalAngle); - - return this.set(cosAzim * sinPolar, sinAzim * sinPolar, cosPolar); - } - - @Override - public Vector3 setToRandomDirection () { - float u = MathUtils.random(); - float v = MathUtils.random(); - - float theta = MathUtils.PI2 * u; // azimuthal angle - float phi = (float)Math.acos(2f * v - 1f); // polar angle - - return this.setFromSpherical(theta, phi); - } - - @Override - public Vector3 cpy () { - return new Vector3(this); - } - - @Override - public Vector3 add (final Vector3 vector) { - return this.add(vector.x, vector.y, vector.z); - } - - /** Adds the given vector to this component - * @param x The x-component of the other vector - * @param y The y-component of the other vector - * @param z The z-component of the other vector - * @return This vector for chaining. */ - public Vector3 add (float x, float y, float z) { - return this.set(this.x + x, this.y + y, this.z + z); - } - - /** Adds the given value to all three components of the vector. - * - * @param values The value - * @return This vector for chaining */ - public Vector3 add (float values) { - return this.set(this.x + values, this.y + values, this.z + values); - } - - @Override - public Vector3 sub (final Vector3 a_vec) { - return this.sub(a_vec.x, a_vec.y, a_vec.z); - } - - /** Subtracts the other vector from this vector. - * - * @param x The x-component of the other vector - * @param y The y-component of the other vector - * @param z The z-component of the other vector - * @return This vector for chaining */ - public Vector3 sub (float x, float y, float z) { - return this.set(this.x - x, this.y - y, this.z - z); - } - - /** Subtracts the given value from all components of this vector - * - * @param value The value - * @return This vector for chaining */ - public Vector3 sub (float value) { - return this.set(this.x - value, this.y - value, this.z - value); - } - - @Override - public Vector3 scl (float scalar) { - return this.set(this.x * scalar, this.y * scalar, this.z * scalar); - } - - @Override - public Vector3 scl (final Vector3 other) { - return this.set(x * other.x, y * other.y, z * other.z); - } - - /** Scales this vector by the given values - * @param vx X value - * @param vy Y value - * @param vz Z value - * @return This vector for chaining */ - public Vector3 scl (float vx, float vy, float vz) { - return this.set(this.x * vx, this.y * vy, this.z * vz); - } - - @Override - public Vector3 mulAdd (Vector3 vec, float scalar) { - this.x += vec.x * scalar; - this.y += vec.y * scalar; - this.z += vec.z * scalar; - return this; - } - - @Override - public Vector3 mulAdd (Vector3 vec, Vector3 mulVec) { - this.x += vec.x * mulVec.x; - this.y += vec.y * mulVec.y; - this.z += vec.z * mulVec.z; - return this; - } - - /** @return The euclidean length */ - public static float len (final float x, final float y, final float z) { - return (float)Math.sqrt(x * x + y * y + z * z); - } - - @Override - public float len () { - return (float)Math.sqrt(x * x + y * y + z * z); - } - - /** @return The squared euclidean length */ - public static float len2 (final float x, final float y, final float z) { - return x * x + y * y + z * z; - } - - @Override - public float len2 () { - return x * x + y * y + z * z; - } - - /** @param vector The other vector - * @return Whether this and the other vector are equal */ - public boolean idt (final Vector3 vector) { - return x == vector.x && y == vector.y && z == vector.z; - } - - /** @return The euclidean distance between the two specified vectors */ - public static float dst (final float x1, final float y1, final float z1, final float x2, final float y2, final float z2) { - final float a = x2 - x1; - final float b = y2 - y1; - final float c = z2 - z1; - return (float)Math.sqrt(a * a + b * b + c * c); - } - - @Override - public float dst (final Vector3 vector) { - final float a = vector.x - x; - final float b = vector.y - y; - final float c = vector.z - z; - return (float)Math.sqrt(a * a + b * b + c * c); - } - - /** @return the distance between this point and the given point */ - public float dst (float x, float y, float z) { - final float a = x - this.x; - final float b = y - this.y; - final float c = z - this.z; - return (float)Math.sqrt(a * a + b * b + c * c); - } - - /** @return the squared distance between the given points */ - public static float dst2 (final float x1, final float y1, final float z1, final float x2, final float y2, final float z2) { - final float a = x2 - x1; - final float b = y2 - y1; - final float c = z2 - z1; - return a * a + b * b + c * c; - } - - @Override - public float dst2 (Vector3 point) { - final float a = point.x - x; - final float b = point.y - y; - final float c = point.z - z; - return a * a + b * b + c * c; - } - - /** Returns the squared distance between this point and the given point - * @param x The x-component of the other point - * @param y The y-component of the other point - * @param z The z-component of the other point - * @return The squared distance */ - public float dst2 (float x, float y, float z) { - final float a = x - this.x; - final float b = y - this.y; - final float c = z - this.z; - return a * a + b * b + c * c; - } - - @Override - public Vector3 nor () { - final float len2 = this.len2(); - if (len2 == 0f || len2 == 1f) return this; - return this.scl(1f / (float)Math.sqrt(len2)); - } - - /** @return The dot product between the two vectors */ - public static float dot (float x1, float y1, float z1, float x2, float y2, float z2) { - return x1 * x2 + y1 * y2 + z1 * z2; - } - - @Override - public float dot (final Vector3 vector) { - return x * vector.x + y * vector.y + z * vector.z; - } - - /** Returns the dot product between this and the given vector. - * @param x The x-component of the other vector - * @param y The y-component of the other vector - * @param z The z-component of the other vector - * @return The dot product */ - public float dot (float x, float y, float z) { - return this.x * x + this.y * y + this.z * z; - } - - /** Sets this vector to the cross product between it and the other vector. - * @param vector The other vector - * @return This vector for chaining */ - public Vector3 crs (final Vector3 vector) { - return this.set(y * vector.z - z * vector.y, z * vector.x - x * vector.z, x * vector.y - y * vector.x); - } - - /** Sets this vector to the cross product between it and the other vector. - * @param x The x-component of the other vector - * @param y The y-component of the other vector - * @param z The z-component of the other vector - * @return This vector for chaining */ - public Vector3 crs (float x, float y, float z) { - return this.set(this.y * z - this.z * y, this.z * x - this.x * z, this.x * y - this.y * x); - } - - /** Left-multiplies the vector by the given 4x3 column major matrix. The matrix should be composed by a 3x3 matrix representing - * rotation and scale plus a 1x3 matrix representing the translation. - * @param matrix The matrix - * @return This vector for chaining */ - public Vector3 mul4x3 (float[] matrix) { - return set(x * matrix[0] + y * matrix[3] + z * matrix[6] + matrix[9], x * matrix[1] + y * matrix[4] + z * matrix[7] - + matrix[10], x * matrix[2] + y * matrix[5] + z * matrix[8] + matrix[11]); - } - - /** Left-multiplies the vector by the given matrix, assuming the fourth (w) component of the vector is 1. - * @param matrix The matrix - * @return This vector for chaining */ - public Vector3 mul (final Matrix4 matrix) { - final float l_mat[] = matrix.val; - return this.set(x * l_mat[Matrix4.M00] + y * l_mat[Matrix4.M01] + z * l_mat[Matrix4.M02] + l_mat[Matrix4.M03], x - * l_mat[Matrix4.M10] + y * l_mat[Matrix4.M11] + z * l_mat[Matrix4.M12] + l_mat[Matrix4.M13], x * l_mat[Matrix4.M20] + y - * l_mat[Matrix4.M21] + z * l_mat[Matrix4.M22] + l_mat[Matrix4.M23]); - } - - /** Multiplies the vector by the transpose of the given matrix, assuming the fourth (w) component of the vector is 1. - * @param matrix The matrix - * @return This vector for chaining */ - public Vector3 traMul (final Matrix4 matrix) { - final float l_mat[] = matrix.val; - return this.set(x * l_mat[Matrix4.M00] + y * l_mat[Matrix4.M10] + z * l_mat[Matrix4.M20] + l_mat[Matrix4.M30], x - * l_mat[Matrix4.M01] + y * l_mat[Matrix4.M11] + z * l_mat[Matrix4.M21] + l_mat[Matrix4.M31], x * l_mat[Matrix4.M02] + y - * l_mat[Matrix4.M12] + z * l_mat[Matrix4.M22] + l_mat[Matrix4.M32]); - } - - /** Left-multiplies the vector by the given matrix. - * @param matrix The matrix - * @return This vector for chaining */ - public Vector3 mul (Matrix3 matrix) { - final float l_mat[] = matrix.val; - return set(x * l_mat[Matrix3.M00] + y * l_mat[Matrix3.M01] + z * l_mat[Matrix3.M02], x * l_mat[Matrix3.M10] + y - * l_mat[Matrix3.M11] + z * l_mat[Matrix3.M12], x * l_mat[Matrix3.M20] + y * l_mat[Matrix3.M21] + z * l_mat[Matrix3.M22]); - } - - /** Multiplies the vector by the transpose of the given matrix. - * @param matrix The matrix - * @return This vector for chaining */ - public Vector3 traMul (Matrix3 matrix) { - final float l_mat[] = matrix.val; - return set(x * l_mat[Matrix3.M00] + y * l_mat[Matrix3.M10] + z * l_mat[Matrix3.M20], x * l_mat[Matrix3.M01] + y - * l_mat[Matrix3.M11] + z * l_mat[Matrix3.M21], x * l_mat[Matrix3.M02] + y * l_mat[Matrix3.M12] + z * l_mat[Matrix3.M22]); - } - - /** Multiplies the vector by the given {@link Quaternion}. - * @return This vector for chaining */ - public Vector3 mul (final Quaternion quat) { - return quat.transform(this); - } - - /** Multiplies this vector by the given matrix dividing by w, assuming the fourth (w) component of the vector is 1. This is - * mostly used to project/unproject vectors via a perspective projection matrix. - * - * @param matrix The matrix. - * @return This vector for chaining */ - public Vector3 prj (final Matrix4 matrix) { - final float l_mat[] = matrix.val; - final float l_w = 1f / (x * l_mat[Matrix4.M30] + y * l_mat[Matrix4.M31] + z * l_mat[Matrix4.M32] + l_mat[Matrix4.M33]); - return this.set((x * l_mat[Matrix4.M00] + y * l_mat[Matrix4.M01] + z * l_mat[Matrix4.M02] + l_mat[Matrix4.M03]) * l_w, (x - * l_mat[Matrix4.M10] + y * l_mat[Matrix4.M11] + z * l_mat[Matrix4.M12] + l_mat[Matrix4.M13]) - * l_w, (x * l_mat[Matrix4.M20] + y * l_mat[Matrix4.M21] + z * l_mat[Matrix4.M22] + l_mat[Matrix4.M23]) * l_w); - } - - /** Multiplies this vector by the first three columns of the matrix, essentially only applying rotation and scaling. - * - * @param matrix The matrix - * @return This vector for chaining */ - public Vector3 rot (final Matrix4 matrix) { - final float l_mat[] = matrix.val; - return this.set(x * l_mat[Matrix4.M00] + y * l_mat[Matrix4.M01] + z * l_mat[Matrix4.M02], x * l_mat[Matrix4.M10] + y - * l_mat[Matrix4.M11] + z * l_mat[Matrix4.M12], x * l_mat[Matrix4.M20] + y * l_mat[Matrix4.M21] + z * l_mat[Matrix4.M22]); - } - - /** Multiplies this vector by the transpose of the first three columns of the matrix. Note: only works for translation and - * rotation, does not work for scaling. For those, use {@link #rot(Matrix4)} with {@link Matrix4#inv()}. - * @param matrix The transformation matrix - * @return The vector for chaining */ - public Vector3 unrotate (final Matrix4 matrix) { - final float l_mat[] = matrix.val; - return this.set(x * l_mat[Matrix4.M00] + y * l_mat[Matrix4.M10] + z * l_mat[Matrix4.M20], x * l_mat[Matrix4.M01] + y - * l_mat[Matrix4.M11] + z * l_mat[Matrix4.M21], x * l_mat[Matrix4.M02] + y * l_mat[Matrix4.M12] + z * l_mat[Matrix4.M22]); - } - - /** Translates this vector in the direction opposite to the translation of the matrix and the multiplies this vector by the - * transpose of the first three columns of the matrix. Note: only works for translation and rotation, does not work for - * scaling. For those, use {@link #mul(Matrix4)} with {@link Matrix4#inv()}. - * @param matrix The transformation matrix - * @return The vector for chaining */ - public Vector3 untransform (final Matrix4 matrix) { - final float l_mat[] = matrix.val; - x -= l_mat[Matrix4.M03]; - y -= l_mat[Matrix4.M03]; - z -= l_mat[Matrix4.M03]; - return this.set(x * l_mat[Matrix4.M00] + y * l_mat[Matrix4.M10] + z * l_mat[Matrix4.M20], x * l_mat[Matrix4.M01] + y - * l_mat[Matrix4.M11] + z * l_mat[Matrix4.M21], x * l_mat[Matrix4.M02] + y * l_mat[Matrix4.M12] + z * l_mat[Matrix4.M22]); - } - - /** Rotates this vector by the given angle in degrees around the given axis. - * - * @param degrees the angle in degrees - * @param axisX the x-component of the axis - * @param axisY the y-component of the axis - * @param axisZ the z-component of the axis - * @return This vector for chaining */ - public Vector3 rotate (float degrees, float axisX, float axisY, float axisZ) { - return this.mul(tmpMat.setToRotation(axisX, axisY, axisZ, degrees)); - } - - /** Rotates this vector by the given angle in radians around the given axis. - * - * @param radians the angle in radians - * @param axisX the x-component of the axis - * @param axisY the y-component of the axis - * @param axisZ the z-component of the axis - * @return This vector for chaining */ - public Vector3 rotateRad (float radians, float axisX, float axisY, float axisZ) { - return this.mul(tmpMat.setToRotationRad(axisX, axisY, axisZ, radians)); - } - - /** Rotates this vector by the given angle in degrees around the given axis. - * - * @param axis the axis - * @param degrees the angle in degrees - * @return This vector for chaining */ - public Vector3 rotate (final Vector3 axis, float degrees) { - tmpMat.setToRotation(axis, degrees); - return this.mul(tmpMat); - } - - /** Rotates this vector by the given angle in radians around the given axis. - * - * @param axis the axis - * @param radians the angle in radians - * @return This vector for chaining */ - public Vector3 rotateRad (final Vector3 axis, float radians) { - tmpMat.setToRotationRad(axis, radians); - return this.mul(tmpMat); - } - - @Override - public boolean isUnit () { - return isUnit(0.000000001f); - } - - @Override - public boolean isUnit (final float margin) { - return Math.abs(len2() - 1f) < margin; - } - - @Override - public boolean isZero () { - return x == 0 && y == 0 && z == 0; - } - - @Override - public boolean isZero (final float margin) { - return len2() < margin; - } - - @Override - public boolean isOnLine (Vector3 other, float epsilon) { - return len2(y * other.z - z * other.y, z * other.x - x * other.z, x * other.y - y * other.x) <= epsilon; - } - - @Override - public boolean isOnLine (Vector3 other) { - return len2(y * other.z - z * other.y, z * other.x - x * other.z, x * other.y - y * other.x) <= MathUtils.FLOAT_ROUNDING_ERROR; - } - - @Override - public boolean isCollinear (Vector3 other, float epsilon) { - return isOnLine(other, epsilon) && hasSameDirection(other); - } - - @Override - public boolean isCollinear (Vector3 other) { - return isOnLine(other) && hasSameDirection(other); - } - - @Override - public boolean isCollinearOpposite (Vector3 other, float epsilon) { - return isOnLine(other, epsilon) && hasOppositeDirection(other); - } - - @Override - public boolean isCollinearOpposite (Vector3 other) { - return isOnLine(other) && hasOppositeDirection(other); - } - - @Override - public boolean isPerpendicular (Vector3 vector) { - return MathUtils.isZero(dot(vector)); - } - - @Override - public boolean isPerpendicular (Vector3 vector, float epsilon) { - return MathUtils.isZero(dot(vector), epsilon); - } - - @Override - public boolean hasSameDirection (Vector3 vector) { - return dot(vector) > 0; - } - - @Override - public boolean hasOppositeDirection (Vector3 vector) { - return dot(vector) < 0; - } - - @Override - public Vector3 lerp (final Vector3 target, float alpha) { - x += alpha * (target.x - x); - y += alpha * (target.y - y); - z += alpha * (target.z - z); - return this; - } - - @Override - public Vector3 interpolate (Vector3 target, float alpha, Interpolation interpolator) { - return lerp(target, interpolator.apply(0f, 1f, alpha)); - } - - /** Spherically interpolates between this vector and the target vector by alpha which is in the range [0,1]. The result is - * stored in this vector. - * - * @param target The target vector - * @param alpha The interpolation coefficient - * @return This vector for chaining. */ - public Vector3 slerp (final Vector3 target, float alpha) { - final float dot = dot(target); - // If the inputs are too close for comfort, simply linearly interpolate. - if (dot > 0.9995 || dot < -0.9995) return lerp(target, alpha); - - // theta0 = angle between input vectors - final float theta0 = (float)Math.acos(dot); - // theta = angle between this vector and result - final float theta = theta0 * alpha; - - final float st = (float)Math.sin(theta); - final float tx = target.x - x * dot; - final float ty = target.y - y * dot; - final float tz = target.z - z * dot; - final float l2 = tx * tx + ty * ty + tz * tz; - final float dl = st * ((l2 < 0.0001f) ? 1f : 1f / (float)Math.sqrt(l2)); - - return scl((float)Math.cos(theta)).add(tx * dl, ty * dl, tz * dl).nor(); - } - - /** Converts this {@code Vector3} to a string in the format {@code (x,y,z)}. - * @return a string representation of this object. */ - @Override - public String toString () { - return "(" + x + "," + y + "," + z + ")"; - } - - /** Sets this {@code Vector3} to the value represented by the specified string according to the format of {@link #toString()}. - * @param v the string. - * @return this vector for chaining */ - public Vector3 fromString (String v) { - int s0 = v.indexOf(',', 1); - int s1 = v.indexOf(',', s0 + 1); - if (s0 != -1 && s1 != -1 && v.charAt(0) == '(' && v.charAt(v.length() - 1) == ')') { - try { - float x = Float.parseFloat(v.substring(1, s0)); - float y = Float.parseFloat(v.substring(s0 + 1, s1)); - float z = Float.parseFloat(v.substring(s1 + 1, v.length() - 1)); - return this.set(x, y, z); - } catch (NumberFormatException ex) { - // Throw a GdxRuntimeException - } - } - throw new RuntimeException("Malformed Vector3: " + v); - } - - @Override - public Vector3 limit (float limit) { - return limit2(limit * limit); - } - - @Override - public Vector3 limit2 (float limit2) { - float len2 = len2(); - if (len2 > limit2) { - scl((float)Math.sqrt(limit2 / len2)); - } - return this; - } - - @Override - public Vector3 setLength (float len) { - return setLength2(len * len); - } - - @Override - public Vector3 setLength2 (float len2) { - float oldLen2 = len2(); - return (oldLen2 == 0 || oldLen2 == len2) ? this : scl((float)Math.sqrt(len2 / oldLen2)); - } - - @Override - public Vector3 clamp (float min, float max) { - final float len2 = len2(); - if (len2 == 0f) return this; - float max2 = max * max; - if (len2 > max2) return scl((float)Math.sqrt(max2 / len2)); - float min2 = min * min; - if (len2 < min2) return scl((float)Math.sqrt(min2 / len2)); - return this; - } - - @Override - public int hashCode () { - final int prime = 31; - int result = 1; - result = prime * result + NumberUtils.floatToIntBits(x); - result = prime * result + NumberUtils.floatToIntBits(y); - result = prime * result + NumberUtils.floatToIntBits(z); - return result; - } - - @Override - public boolean equals (Object obj) { - if (this == obj) return true; - if (obj == null) return false; - if (getClass() != obj.getClass()) return false; - Vector3 other = (Vector3)obj; - if (NumberUtils.floatToIntBits(x) != NumberUtils.floatToIntBits(other.x)) return false; - if (NumberUtils.floatToIntBits(y) != NumberUtils.floatToIntBits(other.y)) return false; - if (NumberUtils.floatToIntBits(z) != NumberUtils.floatToIntBits(other.z)) return false; - return true; - } - - @Override - public boolean epsilonEquals (final Vector3 other, float epsilon) { - if (other == null) return false; - if (Math.abs(other.x - x) > epsilon) return false; - if (Math.abs(other.y - y) > epsilon) return false; - if (Math.abs(other.z - z) > epsilon) return false; - return true; - } - - /** Compares this vector with the other vector, using the supplied epsilon for fuzzy equality testing. - * @return whether the vectors are the same. */ - public boolean epsilonEquals (float x, float y, float z, float epsilon) { - if (Math.abs(x - this.x) > epsilon) return false; - if (Math.abs(y - this.y) > epsilon) return false; - if (Math.abs(z - this.z) > epsilon) return false; - return true; - } - - @Override - public Vector3 setZero () { - this.x = 0; - this.y = 0; - this.z = 0; - return this; - } -} \ No newline at end of file From 12b130f899920ad50bd439c7c6928848af6657ca Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 20 Dec 2016 14:05:31 -0500 Subject: [PATCH 114/482] Changing internal math to the Apache-commons-math3 --- build.gradle | 6 +- .../addons/kinematics/WalkingDriveEngine.java | 6 +- .../addons/kinematics/math/RotationNR.java | 304 ++---------------- 3 files changed, 29 insertions(+), 287 deletions(-) diff --git a/build.gradle b/build.gradle index c77377c9..d50e43ce 100644 --- a/build.gradle +++ b/build.gradle @@ -70,9 +70,9 @@ dependencies { //compile fileTree (dir: '../doychinNRJAVASERISL/nrjavaserial/build/libs', includes: ['*.jar']) compile "com.neuronrobotics:nrjavaserial:3.12.1" - compile 'org.bitbucket.shemnon.javafxplugin:gradle-javafx-plugin:8.1.1' - // https://mvnrepository.com/artifact/org.jscience/jscience - compile group: 'org.jscience', name: 'jscience', version: '4.3.1' + // https://mvnrepository.com/artifact/org.apache.commons/commons-math3 + compile group: 'org.apache.commons', name: 'commons-math3', version: '3.6.1' + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java index 17b5af6a..1831b444 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java @@ -35,9 +35,9 @@ public void DriveArc(MobileBase source, TransformNR newPose, double seconds) { global.translateX(newPose.getX()); global.translateY(newPose.getY()); global.translateZ(newPose.getZ()); - double rotz = newPose.getRotation().getRotationZ() +global.getRotation().getRotationZ() ; - double roty = newPose.getRotation().getRotationY() ; - double rotx = newPose.getRotation().getRotationX() ; + double rotz = newPose.getRotation().getRotationAzimuth() +global.getRotation().getRotationAzimuth() ; + double roty = newPose.getRotation().getRotationElevation() ; + double rotx = newPose.getRotation().getRotationTilt() ; global.setRotation(new RotationNR( rotx,roty, rotz) ); // New target calculated appliaed to global offset source.setGlobalToFiducialTransform(global); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index cbc4ea2f..2d79ba29 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -1,8 +1,9 @@ package com.neuronrobotics.sdk.addons.kinematics.math; -import com.neuronrobotics.sdk.common.Log; - import Jama.Matrix; +import org.apache.commons.math3.geometry.euclidean.threed.Rotation; +import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention; +import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder; // TODO: Auto-generated Javadoc /** @@ -16,8 +17,10 @@ public class RotationNR { /** The rotation matrix. */ - double[][] rotationMatrix = new double[][] { { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 } }; - + //double[][] rotationMatrix = ; + private Rotation storage=new Rotation(1,0,0,0,false); + private RotationOrder order = RotationOrder.ZXZ; + private RotationConvention convention = RotationConvention.VECTOR_OPERATOR; /** * Null constructor forms a. */ @@ -53,29 +56,7 @@ public RotationNR(double tilt, double azumeth, double elevation) { } private void loadFromAngles(double tilt, double azumeth, double elevation) { - double attitude = Math.toRadians(elevation); - double heading = Math.toRadians(azumeth); - double bank = Math.toRadians(tilt); - double w, x, y, z; - // Assuming the angles are in radians. - double c1 = Math.cos(heading / 2); - // if(Double.isNaN(c1)) - // - double s1 = Math.sin(heading / 2); - double c2 = Math.cos(attitude / 2); - double s2 = Math.sin(attitude / 2); - double c3 = Math.cos(bank / 2); - double s3 = Math.sin(bank / 2); - double c1c2 = c1 * c2; - double s1s2 = s1 * s2; - // System.out.println("C1 ="+c1+" S1 ="+s1+" |C2 ="+c2+" S2 ="+s2+" |C3 - // ="+c3+" S3 ="+s3); - w = c1c2 * c3 - s1s2 * s3; - x = c1c2 * s3 + s1s2 * c3; - y = s1 * c2 * c3 + c1 * s2 * s3; - z = c1 * s2 * c3 - s1 * c2 * s3; - // System.out.println("W ="+w+" x ="+x+" y ="+y+" z ="+z); - quaternion2RotationMatrix(w, x, y, z); + storage = new Rotation(order, convention, azumeth, elevation, tilt); } /** @@ -226,14 +207,7 @@ private void loadRotations(double[][] rotM) { throw new RuntimeException("Must be 3x3 rotation matrix"); } } - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - // if(rotM[i][j]>1){ - // rotM[i][j]=0;//normalization - // } - rotationMatrix[i][j] = rotM[i][j]; - } - } + storage = new Rotation(rotM, 1.0); } /** @@ -242,13 +216,8 @@ private void loadRotations(double[][] rotM) { * @return the rotation matrix */ public double[][] getRotationMatrix() { - double[][] b = new double[3][3]; - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - b[i][j] = rotationMatrix[i][j]; - } - } - return b; + + return storage.getMatrix(); } /* @@ -270,8 +239,8 @@ public String toString() { s += "]"; return "Quaturnion: " + "W=" + getRotationMatrix2QuaturnionW() + ", " + "x=" + getRotationMatrix2QuaturnionX() + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\n" - + "Rotation angle (degrees): " + "rx=" + getRotationX() + ", " + "ry=" + getRotationY() + ", " + "rz=" - + getRotationZ() + ""; + + "Rotation angle (degrees): " + "az=" + getRotationAzimuth() + ", " + "elev=" + getRotationElevation() + ", " + " tilt=" + + getRotationTilt() + ""; } /** @@ -316,134 +285,10 @@ protected void quaternion2RotationMatrix(double w, double x, double y, double z) throw new RuntimeException("Value can not be NaN"); if (Double.isNaN(z)) throw new RuntimeException("Value can not be NaN"); - double norm = Math.sqrt(w * w + x * x + y * y + z * z); - // we explicitly test norm against one here, saving a division - // at the cost of a test and branch. Is it worth it? - double s = (norm == 1f) ? 2f : (norm > 0f) ? 2f / norm : 0; - // compute xs/ys/zs first to save 6 multiplications, since xs/ys/zs - // will be used 2-4 times each. - double xs = x * s; - double ys = y * s; - double zs = z * s; - double xx = x * xs; - double xy = x * ys; - double xz = x * zs; - double xw = w * xs; - double yy = y * ys; - double yz = y * zs; - double yw = w * ys; - double zz = z * zs; - double zw = w * zs; - - // using s=2/norm (instead of 1/norm) saves 9 multiplications by 2 here - rotationMatrix[0][0] = 1 - (yy + zz); - rotationMatrix[0][1] = (xy - zw); - rotationMatrix[0][2] = (xz + yw); - - rotationMatrix[1][0] = (xy + zw); - rotationMatrix[1][1] = 1 - (xx + zz); - rotationMatrix[1][2] = (yz - xw); - - rotationMatrix[2][0] = (xz - yw); - rotationMatrix[2][1] = (yz + xw); - rotationMatrix[2][2] = 1 - (xx + yy); - - toString(rotationMatrix); - } - - /** - * This requires a pure rotation matrix 'm' as input. from - * http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/ - * - * @return the double[] - */ - public double[] toAxisAngle() { - double angle, x, y, z; // variables for result - double epsilon = 0.01; // margin to allow for rounding errors - double epsilon2 = 0.1; // margin to distinguish between 0 and 180 - // degrees - // optional check that input is pure rotation, 'isRotationMatrix' is - // defined at: - // http://www.euclideanspace.com/maths/algebra/matrix/orthogonal/rotation/ - if (((Math.abs(rotationMatrix[0][1]) - Math.abs(rotationMatrix[1][0])) < epsilon) - && ((Math.abs(rotationMatrix[0][2]) - Math.abs(rotationMatrix[2][0])) < epsilon) - && ((Math.abs(rotationMatrix[1][2]) - Math.abs(rotationMatrix[2][1])) < epsilon)) { - // singularity found - // first check for identity matrix which must have +1 for all terms - // in leading diagonaland zero in other terms - if ((Math.abs(rotationMatrix[0][1]) + Math.abs(rotationMatrix[1][0])) < epsilon2 - && (Math.abs(rotationMatrix[0][2]) + Math.abs(rotationMatrix[2][0])) < epsilon2 - && (Math.abs(rotationMatrix[1][2]) + Math.abs(rotationMatrix[2][1])) < epsilon2 - && (Math.abs(rotationMatrix[0][0]) + Math.abs(rotationMatrix[1][1]) + Math.abs(rotationMatrix[2][2]) - - 3) < epsilon2) { - // this singularity is identity matrix so angle = 0 - return new double[] { 0, 1, 0, 0 }; // zero angle, arbitrary - // axis - } - // otherwise this singularity is angle = 180 - angle = Math.PI; - double xx = (rotationMatrix[0][0] + 1) / 2; - double yy = (rotationMatrix[1][1] + 1) / 2; - double zz = (rotationMatrix[2][2] + 1) / 2; - double xy = (rotationMatrix[0][1] + rotationMatrix[1][0]) / 4; - double xz = (rotationMatrix[0][2] + rotationMatrix[2][0]) / 4; - double yz = (rotationMatrix[1][2] + rotationMatrix[2][1]) / 4; - if ((xx > yy) && (xx > zz)) { // m[0][0] is the largest diagonal - // term - if (xx < epsilon) { - x = 0; - y = 0.7071; - z = 0.7071; - } else { - x = Math.sqrt(xx); - y = xy / x; - z = xz / x; - } - } else if (yy > zz) { // m[1][1] is the largest diagonal term - if (yy < epsilon) { - x = 0.7071; - y = 0; - z = 0.7071; - } else { - y = Math.sqrt(yy); - x = xy / y; - z = yz / y; - } - } else { // m[2][2] is the largest diagonal term so base result on - // this - if (zz < epsilon) { - x = 0.7071; - y = 0.7071; - z = 0; - } else { - z = Math.sqrt(zz); - x = xz / z; - y = yz / z; - } - } - return new double[] { angle, x, y, z }; // return 180 deg rotation - } - // as we have reached here there are no singularities so we can handle - // normally - double s = Math - .sqrt((rotationMatrix[2][1] - rotationMatrix[1][2]) * (rotationMatrix[2][1] - rotationMatrix[1][2]) - + (rotationMatrix[0][2] - rotationMatrix[2][0]) * (rotationMatrix[0][2] - rotationMatrix[2][0]) - + (rotationMatrix[1][0] - rotationMatrix[0][1]) - * (rotationMatrix[1][0] - rotationMatrix[0][1])); // used - // to - // normalise - if (Math.abs(s) < 0.001) - s = 1; - // prevent divide by zero, should not happen if matrix is orthogonal and - // should be - // caught by singularity test above, but I've left it in just in case - angle = Math.acos((rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2] - 1) / 2); - x = (rotationMatrix[2][1] - rotationMatrix[1][2]) / s; - y = (rotationMatrix[0][2] - rotationMatrix[2][0]) / s; - z = (rotationMatrix[1][0] - rotationMatrix[0][1]) / s; - return new double[] { angle, x, y, z }; + storage = new Rotation(w, x, y,z, true); } + /** * Bound. * @@ -459,72 +304,9 @@ public static boolean bound(double low, double high, double n) { return n >= low && n <= high; } - /** - * Gets the rot angle. - * - * @param index - * the index - * @return the rot angle - */ - private double getRotAngle(int index) { - double w, x, y, z, tilt, azumiuth, elevation; - w = getRotationMatrix2QuaturnionW(); - x = getRotationMatrix2QuaturnionX(); - y = getRotationMatrix2QuaturnionY(); - z = getRotationMatrix2QuaturnionZ(); - double sqw = w * w; - double sqx = x * x; - double sqy = y * y; - double sqz = z * z; - double unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise - // is correction factor - double test = x * y + z * w; - if (test > 0.499 * unit) { // singularity at north pole - // System.err.println("North pole singularity"); - azumiuth = 2 * Math.atan2(x, w); - elevation = Math.PI / 2; - tilt = 0; - - } else if (test < -0.499 * unit) { // singularity at south pole - // System.err.println("South pole singularity"); - azumiuth = -2 * Math.atan2(x, w); - elevation = -Math.PI / 2; - tilt = 0; - - } else { - azumiuth = Math.atan2(2 * y * w - 2 * x * z, sqx - sqy - sqz + sqw); - elevation = Math.asin(2 * test / unit); - tilt = Math.atan2(2 * x * w - 2 * y * z, -sqx + sqy - sqz + sqw); - } - switch (index) { - case 0: - return tilt; - case 1: - return elevation; - case 2: - return azumiuth; - default: - return 0; - } - - } - // public double getRotationBank() { - // - // return getRotAngle(0) ; - // - // } - - // public double getRotationAttitude() { - // - // return getRotAngle(2); - // } - // - // public double getRotationHeading() { - // - // return getRotAngle(1) ; - // } + /** * Gets the rotation tilt. @@ -533,7 +315,7 @@ private double getRotAngle(int index) { */ public double getRotationTilt() { - return getRotAngle(0); + return storage.getAngles(order, convention)[1]; } @@ -544,7 +326,7 @@ public double getRotationTilt() { */ public double getRotationElevation() { - return getRotAngle(1); + return storage.getAngles(order, convention)[1]; } /** @@ -554,41 +336,7 @@ public double getRotationElevation() { */ public double getRotationAzimuth() { - return getRotAngle(2); - } - - /** - * Gets the rotation x. - * - * @return the rotation x - */ - @Deprecated // use getRotationBank() - public double getRotationX() { - - return getRotAngle(0); - - } - - /** - * Gets the rotation y. - * - * @return the rotation y - */ - @Deprecated // use getRotationAttitude() - public double getRotationY() { - - return getRotAngle(2); - } - - /** - * Gets the rotation z. - * - * @return the rotation z - */ - @Deprecated // use getRotationHeading() - public double getRotationZ() { - - return getRotAngle(1); + return storage.getAngles(order, convention)[0]; } /** @@ -597,10 +345,7 @@ public double getRotationZ() { * @return the rotation matrix2 quaturnion w */ public double getRotationMatrix2QuaturnionW() { - double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); - if (temp > 1) - throw new RuntimeException("Matrix needs normalization"); - return temp; + return storage.getQ0(); } /** @@ -609,8 +354,7 @@ public double getRotationMatrix2QuaturnionW() { * @return the rotation matrix2 quaturnion x */ public double getRotationMatrix2QuaturnionX() { - double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); - return (rotationMatrix[2][1] - rotationMatrix[1][2]) * 0.25 / temp; + return storage.getQ1(); } /** @@ -619,8 +363,7 @@ public double getRotationMatrix2QuaturnionX() { * @return the rotation matrix2 quaturnion y */ public double getRotationMatrix2QuaturnionY() { - double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); - return (rotationMatrix[0][2] - rotationMatrix[2][0]) * 0.25 / temp; + return storage.getQ2(); } /** @@ -629,8 +372,7 @@ public double getRotationMatrix2QuaturnionY() { * @return the rotation matrix2 quaturnion z */ public double getRotationMatrix2QuaturnionZ() { - double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); - return (rotationMatrix[1][0] - rotationMatrix[0][1]) * 0.25 / temp; + return storage.getQ3(); } } From f42a25fad0637f7143ad007cd586ac3c87d5e89d Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 20 Dec 2016 15:17:10 -0500 Subject: [PATCH 115/482] Robust unit testing across the range of euler calculations --- .../addons/kinematics/math/RotationNR.java | 32 +++++-- .../utilities/RotationNRTest.java | 94 +++++++++++-------- 2 files changed, 82 insertions(+), 44 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 2d79ba29..766953ba 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -19,8 +19,8 @@ public class RotationNR { /** The rotation matrix. */ //double[][] rotationMatrix = ; private Rotation storage=new Rotation(1,0,0,0,false); - private RotationOrder order = RotationOrder.ZXZ; - private RotationConvention convention = RotationConvention.VECTOR_OPERATOR; + private static RotationOrder order = RotationOrder.ZXZ; + private static RotationConvention convention = RotationConvention.FRAME_TRANSFORM; /** * Null constructor forms a. */ @@ -56,7 +56,11 @@ public RotationNR(double tilt, double azumeth, double elevation) { } private void loadFromAngles(double tilt, double azumeth, double elevation) { - storage = new Rotation(order, convention, azumeth, elevation, tilt); + storage = new Rotation(getOrder(), getConvention(), + Math.toRadians(azumeth), + Math.toRadians(elevation), + Math.toRadians(tilt) + ); } /** @@ -315,7 +319,7 @@ public static boolean bound(double low, double high, double n) { */ public double getRotationTilt() { - return storage.getAngles(order, convention)[1]; + return storage.getAngles(getOrder(), getConvention())[2]; } @@ -326,7 +330,7 @@ public double getRotationTilt() { */ public double getRotationElevation() { - return storage.getAngles(order, convention)[1]; + return storage.getAngles(getOrder(), getConvention())[1]; } /** @@ -336,7 +340,7 @@ public double getRotationElevation() { */ public double getRotationAzimuth() { - return storage.getAngles(order, convention)[0]; + return storage.getAngles(getOrder(), getConvention())[0]; } /** @@ -375,4 +379,20 @@ public double getRotationMatrix2QuaturnionZ() { return storage.getQ3(); } + public static RotationOrder getOrder() { + return order; + } + + public static void setOrder(RotationOrder o) { + order = o; + } + + public static RotationConvention getConvention() { + return convention; + } + + public static void setConvention(RotationConvention convention) { + RotationNR.convention = convention; + } + } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index c5b538e9..8e006258 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -2,6 +2,8 @@ import static org.junit.Assert.*; +import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention; +import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder; import org.junit.Test; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; @@ -19,50 +21,66 @@ public class RotationNRTest { @Test public void test() { int failCount = 0; - int iterations = 100; - for (int i = 0; i < iterations; i++) { - double tilt = Math.toRadians((Math.random() *360.0) -180); - double elevation = Math.toRadians((Math.random() * 360.0) -180 ); - double azumus = Math.toRadians((Math.random() * 360.0) -180 ); - RotationNR rotTest = new RotationNR(Math.toDegrees(tilt), Math.toDegrees(azumus), - Math.toDegrees(elevation)); - System.out.println("\n\nTest #" + i); - System.out.println("Testing Az=" + Math.toDegrees(azumus) + " El=" + Math.toDegrees(elevation) + " Tl=" - + Math.toDegrees(tilt)); - System.out.println("Got Az=" + Math.toDegrees(rotTest.getRotationAzimuth()) + " El=" - + Math.toDegrees(rotTest.getRotationElevation()) + " Tl=" - + Math.toDegrees(rotTest.getRotationTilt())); - - if (!RotationNR.bound(tilt - .01, tilt + .01, rotTest.getRotationTilt())) { - failCount++; - System.err.println("Rotation Tilt is not consistant. expected " + Math.toDegrees(tilt) + " got " - + Math.toDegrees(rotTest.getRotationTilt())+ - " \t\tOff By "+(Math.toDegrees(tilt) - Math.toDegrees(rotTest.getRotationTilt()) ) - ); - } - if (!RotationNR.bound(elevation - .01, elevation + .01, rotTest.getRotationElevation())) { - failCount++; - System.err.println("Rotation Elevation is not consistant. expected " + Math.toDegrees(elevation) - + " got " + Math.toDegrees(rotTest.getRotationElevation())+ - " \t\tOff By "+(Math.toDegrees(elevation) + Math.toDegrees(rotTest.getRotationElevation()) ) - - ); - } - if (!RotationNR.bound(azumus - .01, azumus + .01, rotTest.getRotationAzimuth())) { - failCount++; - System.err.println("Rotation Tilt is not consistant. expected " + Math.toDegrees(azumus) + " got " - + Math.toDegrees(rotTest.getRotationAzimuth())+ - " \t\tOff By "+(Math.toDegrees(azumus) - Math.toDegrees(rotTest.getRotationAzimuth()) ) + int iterations = 10; + RotationOrder[] list = { RotationOrder.XYZ, + RotationOrder.XZY, RotationOrder.YXZ, RotationOrder.YZX, + RotationOrder.ZXY, RotationOrder.ZYX, RotationOrder.XYX, RotationOrder.XZX, RotationOrder.YXY, + RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ + + }; + RotationConvention[] conventions = { RotationConvention.FRAME_TRANSFORM, RotationConvention.VECTOR_OPERATOR }; + for (RotationConvention conv : conventions) { + RotationNR.setConvention(conv); + System.out.println("\n\nUsing convention " + conv.toString()); + for (RotationOrder ro : list) { + RotationNR.setOrder(ro); + System.out.println("\n\nUsing rotationOrder " + ro.toString()); + failCount = 0; + for (int i = 0; i < iterations; i++) { + double tilt = Math.toRadians((Math.random() * 359) - 179.5); + double elevation = Math.toRadians((Math.random() * 359) - 179.5); + double azumus = Math.toRadians((Math.random() * 359) - 179.5); + RotationNR rotTest = new RotationNR(Math.toDegrees(tilt), Math.toDegrees(azumus), + Math.toDegrees(elevation)); + System.out.println("\n\nTest #" + i); + System.out.println("Testing Az=" + Math.toDegrees(azumus) + " El=" + Math.toDegrees(elevation) + + " Tl=" + Math.toDegrees(tilt)); + System.out.println("Got Az=" + Math.toDegrees(rotTest.getRotationAzimuth()) + " El=" + + Math.toDegrees(rotTest.getRotationElevation()) + " Tl=" + + Math.toDegrees(rotTest.getRotationTilt())); + + if (!RotationNR.bound(tilt - .01, tilt + .01, rotTest.getRotationTilt())) { + failCount++; + System.err.println("Rotation Tilt is not consistant. expected " + Math.toDegrees(tilt) + " got " + + Math.toDegrees(rotTest.getRotationTilt()) + " \t\tOff By " + + (Math.toDegrees(tilt) - Math.toDegrees(rotTest.getRotationTilt()))); + } + if (!RotationNR.bound(elevation - .01, elevation + .01, rotTest.getRotationElevation())) { + failCount++; + System.err.println("Rotation Elevation is not consistant. expected " + Math.toDegrees(elevation) + + " got " + Math.toDegrees(rotTest.getRotationElevation()) + " \t\tOff By " + + (Math.toDegrees(elevation) + Math.toDegrees(rotTest.getRotationElevation())) + ); + } + if (!RotationNR.bound(azumus - .01, azumus + .01, rotTest.getRotationAzimuth())) { + failCount++; + System.err.println("Rotation azumus is not consistant. expected " + Math.toDegrees(azumus) + + " got " + Math.toDegrees(rotTest.getRotationAzimuth()) + " \t\tOff By " + + (Math.toDegrees(azumus) - Math.toDegrees(rotTest.getRotationAzimuth()))); + } + ThreadUtil.wait(20); + } + if (failCount < 1) { + System.out.println("Orentation " + ro.toString() + " worked ina all cases"); + return; + } } - ThreadUtil.wait(20); } - if (failCount > 1) { - fail("Rotation failed " + failCount + " times of "+iterations*3); + fail("Rotation failed " + failCount + " times of " + ((iterations * 3 * list.length) - 0)); } - } } From 487f90c28f9bbb4660f70812cda0f69af502067b Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 20 Dec 2016 15:18:06 -0500 Subject: [PATCH 116/482] This produces results that are either accurate or 180 complement of the angle. #29 --- .../neuronrobotics/sdk/addons/kinematics/math/RotationNR.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 766953ba..5e7a86bd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -19,7 +19,7 @@ public class RotationNR { /** The rotation matrix. */ //double[][] rotationMatrix = ; private Rotation storage=new Rotation(1,0,0,0,false); - private static RotationOrder order = RotationOrder.ZXZ; + private static RotationOrder order = RotationOrder.XYZ; private static RotationConvention convention = RotationConvention.FRAME_TRANSFORM; /** * Null constructor forms a. From 8bbf216a0ce2c30179dfeb1097a1346a8ba00767 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 20 Dec 2016 15:44:04 -0500 Subject: [PATCH 117/482] Close #29 Based on the documentation of euler angles, the bounds for holonomic computation of elevation is from 90 to -90 degrees. this bound needs to be enforced by the rotation object. --- .../addons/kinematics/math/RotationNR.java | 3 ++ .../utilities/ApacheCommonsRotationTest.java | 48 +++++++++++++++++++ .../utilities/RotationNRTest.java | 7 +-- 3 files changed, 53 insertions(+), 5 deletions(-) create mode 100644 test/java/src/junit/test/neuronrobotics/utilities/ApacheCommonsRotationTest.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 5e7a86bd..48ae9509 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -45,6 +45,9 @@ public RotationNR(double tilt, double azumeth, double elevation) { throw new RuntimeException("Value can not be NaN"); if (Double.isNaN(elevation)) throw new RuntimeException("Value can not be NaN"); + if(elevation >90 || elevation <-90){ + throw new RuntimeException("Elevation can not be greater than 90 nor less than -90"); + } loadFromAngles(tilt, azumeth, elevation); if (Double.isNaN(getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotationMatrix2QuaturnionX()) || Double.isNaN(getRotationMatrix2QuaturnionY()) || Double.isNaN(getRotationMatrix2QuaturnionZ())) { diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ApacheCommonsRotationTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ApacheCommonsRotationTest.java new file mode 100644 index 00000000..0fd781d4 --- /dev/null +++ b/test/java/src/junit/test/neuronrobotics/utilities/ApacheCommonsRotationTest.java @@ -0,0 +1,48 @@ +package junit.test.neuronrobotics.utilities; + +import static org.junit.Assert.*; + +import org.apache.commons.math3.geometry.euclidean.threed.Rotation; +import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention; +import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder; +import org.junit.Test; + +import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; + +public class ApacheCommonsRotationTest { + + @Test + public void test() { + int failCount = 0; + int iterations = 10; + RotationOrder[] list = { RotationOrder.XYZ + + }; + RotationConvention[] conventions = { RotationConvention.FRAME_TRANSFORM, RotationConvention.VECTOR_OPERATOR }; + for (RotationConvention convention : conventions) { + System.out.println("\n\nUsing convention " + convention.toString()); + for (RotationOrder order : list) { + System.out.println("\n\nUsing rotationOrder " + order.toString()); + + double tilt = Math.toRadians((Math.random() * 359) - 179.5); + double elevation = Math.toRadians((Math.random() * 180) -90); + double azumus = Math.toRadians((Math.random() * 359) - 179.5); + + Rotation tester = new Rotation(order, convention, azumus, elevation, tilt); + + double [] vals = tester.getAngles(order, convention); + + double tiltNew = vals[2]; + double elevationNew = vals[1]; + double azumusNew = vals[0]; + + assertEquals(tilt, tiltNew, 0.001); + assertEquals(elevation, elevationNew, 0.001); + assertEquals(azumus, azumusNew, 0.001); + + + } + } + } + +} diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index 8e006258..7dc5da55 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -22,10 +22,7 @@ public class RotationNRTest { public void test() { int failCount = 0; int iterations = 10; - RotationOrder[] list = { RotationOrder.XYZ, - RotationOrder.XZY, RotationOrder.YXZ, RotationOrder.YZX, - RotationOrder.ZXY, RotationOrder.ZYX, RotationOrder.XYX, RotationOrder.XZX, RotationOrder.YXY, - RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ + RotationOrder[] list = { RotationOrder.XYZ }; RotationConvention[] conventions = { RotationConvention.FRAME_TRANSFORM, RotationConvention.VECTOR_OPERATOR }; @@ -38,7 +35,7 @@ public void test() { failCount = 0; for (int i = 0; i < iterations; i++) { double tilt = Math.toRadians((Math.random() * 359) - 179.5); - double elevation = Math.toRadians((Math.random() * 359) - 179.5); + double elevation = Math.toRadians((Math.random() * 180) - 90); double azumus = Math.toRadians((Math.random() * 359) - 179.5); RotationNR rotTest = new RotationNR(Math.toDegrees(tilt), Math.toDegrees(azumus), Math.toDegrees(elevation)); From bf184cfd31efb0ac978aa3af30d5d2665d39843d Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 20 Dec 2016 18:55:01 -0500 Subject: [PATCH 118/482] 0.32.1 Updating the Rotation object to use standard Apache math3 rotation class --- .../sdk/addons/kinematics/math/RotationNR.java | 6 ++++-- .../com/neuronrobotics/sdk/config/build.properties | 2 +- .../junit/test/neuronrobotics/utilities/RotationNRTest.java | 4 ++-- 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 48ae9509..7128f3b8 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -5,6 +5,8 @@ import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention; import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder; +import com.neuronrobotics.sdk.common.Log; + // TODO: Auto-generated Javadoc /** * This class is to represent a 3x3 rotation sub-matrix This class also contains @@ -20,7 +22,7 @@ public class RotationNR { //double[][] rotationMatrix = ; private Rotation storage=new Rotation(1,0,0,0,false); private static RotationOrder order = RotationOrder.XYZ; - private static RotationConvention convention = RotationConvention.FRAME_TRANSFORM; + private static RotationConvention convention = RotationConvention.VECTOR_OPERATOR; /** * Null constructor forms a. */ @@ -51,7 +53,7 @@ public RotationNR(double tilt, double azumeth, double elevation) { loadFromAngles(tilt, azumeth, elevation); if (Double.isNaN(getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotationMatrix2QuaturnionX()) || Double.isNaN(getRotationMatrix2QuaturnionY()) || Double.isNaN(getRotationMatrix2QuaturnionZ())) { - // System.err.println("Failing to set proper angle, jittering"); + Log.error("Failing to set proper angle, jittering"); loadFromAngles(tilt + Math.random() * .02 + .001, azumeth + Math.random() * .02 + .001, elevation + Math.random() * .02 + .001); } diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 0bf72899..67f58efa 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.23.0 +app.version=3.23.1 app.javac.version=1.6 diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index 7dc5da55..9e28257f 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -21,11 +21,11 @@ public class RotationNRTest { @Test public void test() { int failCount = 0; - int iterations = 10; + int iterations = 100; RotationOrder[] list = { RotationOrder.XYZ }; - RotationConvention[] conventions = { RotationConvention.FRAME_TRANSFORM, RotationConvention.VECTOR_OPERATOR }; + RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; for (RotationConvention conv : conventions) { RotationNR.setConvention(conv); System.out.println("\n\nUsing convention " + conv.toString()); From 6dfd475dde44c3d57d606b8d146eda9cbcf978f8 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 21 Dec 2016 00:53:05 -0500 Subject: [PATCH 119/482] More testing of the rotations After viewing in the UI, the azimuth and tilt were clearly swapped. --- .gitignore | 1 + carlRobot.xml | 890 ++++++++++++++++++ .../addons/kinematics/math/RotationNR.java | 8 +- .../utilities/RotationNRTest.java | 38 +- 4 files changed, 930 insertions(+), 7 deletions(-) create mode 100644 carlRobot.xml diff --git a/.gitignore b/.gitignore index b007dd18..2bb85398 100644 --- a/.gitignore +++ b/.gitignore @@ -11,3 +11,4 @@ gradle.properties /paralleloutput2.xml /unknownLink2.xml /hs_err_pid8155.log +/carlRobot2.xml diff --git a/carlRobot.xml b/carlRobot.xml new file mode 100644 index 00000000..d227ac21 --- /dev/null +++ b/carlRobot.xml @@ -0,0 +1,890 @@ + + + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + WalkingDriveEngine.groovy + + +CarlTheWalkingRobot + + +Carl_One + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + DefaultDhSolver.groovy + + + basePan + dyio + servo-rotory + 0 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 133.7089552238806 + true + 105 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 50.0 + -90.0 + + + + + baseTilt + dyio + servo-rotory + 1 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 93.74626865671641 + true + 97 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 50.0 + 0.0 + + + + + elbow + dyio + servo-rotory + 2 + 0.33 + 255.0 + 15.223880597014928 + 1.0E8 + -1.0E8 + 87.01481398975272 + true + 145 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 90.0 + 70.0 + 0.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + -55.000000000000014 + -49.999999999999986 + 70.0 + 0.38268343236509234 + -1.2443977214448087E-17 + 2.1758644300923683E-16 + -0.9238795325112857 + + + + + +Carl_Two + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + DefaultDhSolver.groovy + + + basePan + dyio + servo-rotory + 3 + 0.33 + 255.0 + 133.2089552238806 + 1.0E8 + -1.0E8 + 162.25373134328353 + true + 171 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 50.0 + -90.0 + + + + + baseTilt + dyio + servo-rotory + 4 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 116.0820895522388 + true + 148 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 50.0 + 0.0 + + + + + elbow + dyio + servo-rotory + 5 + 0.33 + 255.0 + 30.44776119402985 + 1.0E8 + -1.0E8 + 96.30251726442415 + true + 120 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 90.0 + 70.0 + 0.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + -1.5543122344752195E-14 + -59.999999999999986 + 70.00000000000001 + 0.7372773350054744 + 1.9333260774629754E-5 + -2.374412832471669E-4 + -0.6755901675831936 + + + + + +Carl_Three + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + DefaultDhSolver.groovy + + + basePan + dyio + servo-rotory + 6 + 0.33 + 194.1044776119403 + 0.0 + 1.0E8 + -1.0E8 + 144.84283804856315 + true + 124 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 50.0 + -90.0 + + + + + baseTilt + dyio + servo-rotory + 7 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 128.0 + true + 91 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 50.0 + 0.0 + + + + + elbow + dyio + servo-rotory + 8 + 0.33 + 255.0 + 74.21641791044776 + 1.0E8 + -1.0E8 + 115.85781911338827 + true + 139 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 90.0 + 70.0 + 0.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + 54.999999999999986 + -49.999999999999986 + 70.00000000000003 + 0.9762960071199334 + -2.5493781137848553E-16 + -4.713185234563371E-17 + -0.21643961393810307 + + + + + +Carl_Four + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + DefaultDhSolver.groovy + + + basePan + dyio + servo-rotory + 9 + 0.33 + 255.0 + 55.18656716417911 + 1.0E8 + -1.0E8 + 109.22577411450214 + true + 133 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 50.0 + -90.0 + + + + + baseTilt + dyio + servo-rotory + 10 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 82.32835820895522 + true + 137 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 50.0 + 0.0 + + + + + elbow + dyio + servo-rotory + 11 + 0.33 + 255.0 + 70.41044776119404 + 1.0E8 + -1.0E8 + 128.09940966807753 + true + 131 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 90.0 + 70.0 + 0.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + 54.999999999999986 + 50.000000000000014 + 70.0 + 0.9762960071199335 + -6.134658610118171E-17 + -7.014627255636142E-17 + 0.2164396139381027 + + + + + +Carl_Five + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + DefaultDhSolver.groovy + + + basePan + dyio + servo-rotory + 12 + 0.33 + 157.94776119402985 + 0.0 + 1.0E8 + -1.0E8 + 122.2910447761194 + true + 128 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 50.0 + -90.0 + + + + + baseTilt + dyio + servo-rotory + 13 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 126.09701492537313 + true + 128 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 50.0 + 0.0 + + + + + elbow + dyio + servo-rotory + 14 + 0.33 + 255.0 + 81.82835820895522 + 1.0E8 + -1.0E8 + 148.3079750501225 + true + 128 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 90.0 + 70.0 + 0.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + -1.5543122344752188E-14 + 60.000000000000014 + 69.99999999999999 + 0.7372773368101241 + -4.1568795806038953E-17 + -4.2141814069759455E-17 + 0.6755902076156602 + + + + + +Carl_Six + + https://gist.github.com/4ef911736d351f44aa1fa178d50c897c.git + LinkedCadEngine.groovy + + + https://gist.github.com/bcb4760a449190206170.git + DefaultDhSolver.groovy + + + basePan + dyio + servo-rotory + 15 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 120.38805970149252 + true + 135 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 50.0 + -90.0 + + + + + baseTilt + dyio + servo-rotory + 16 + 0.33 + 255.0 + 0.0 + 1.0E8 + -1.0E8 + 108.97014925373135 + true + 120 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 50.0 + 0.0 + + + + + elbow + dyio + servo-rotory + 17 + 0.33 + 255.0 + 58.992537313432834 + 1.0E8 + -1.0E8 + 124.79048785921142 + true + 141 + false + 10000000 + towerProMG91 + hobbyServo + standardMicro1 + hobbyServoHorn + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 90.0 + 70.0 + 0.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + -55.000000000000014 + 50.000000000000014 + 69.99999999999997 + 0.38268343236507774 + -7.252881433641008E-17 + -1.5750160588727942E-16 + 0.9238795325112916 + + + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + 0.01 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + \ No newline at end of file diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 7128f3b8..71ea4d00 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -62,9 +62,9 @@ public RotationNR(double tilt, double azumeth, double elevation) { private void loadFromAngles(double tilt, double azumeth, double elevation) { storage = new Rotation(getOrder(), getConvention(), - Math.toRadians(azumeth), + Math.toRadians(tilt), Math.toRadians(elevation), - Math.toRadians(tilt) + Math.toRadians(azumeth) ); } @@ -324,7 +324,7 @@ public static boolean bound(double low, double high, double n) { */ public double getRotationTilt() { - return storage.getAngles(getOrder(), getConvention())[2]; + return storage.getAngles(getOrder(), getConvention())[0]; } @@ -345,7 +345,7 @@ public double getRotationElevation() { */ public double getRotationAzimuth() { - return storage.getAngles(getOrder(), getConvention())[0]; + return storage.getAngles(getOrder(), getConvention())[2]; } /** diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index 9e28257f..af5ca06c 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -2,11 +2,22 @@ import static org.junit.Assert.*; +import java.io.BufferedWriter; +import java.io.File; +import java.io.FileInputStream; +import java.io.FileNotFoundException; +import java.io.FileWriter; + import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention; import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder; import org.junit.Test; +import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; +import com.neuronrobotics.sdk.addons.kinematics.MobileBase; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; +import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; +import com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup; +import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.util.ThreadUtil; // TODO: Auto-generated Javadoc @@ -17,11 +28,12 @@ public class RotationNRTest { /** * Test. + * @throws FileNotFoundException */ @Test - public void test() { + public void test() throws FileNotFoundException { int failCount = 0; - int iterations = 100; + int iterations = 10; RotationOrder[] list = { RotationOrder.XYZ }; @@ -70,10 +82,30 @@ public void test() { } if (failCount < 1) { System.out.println("Orentation " + ro.toString() + " worked ina all cases"); - return; + } } } + new RotationNR(0.38268343236509234, -1.2443977214448087E-17, 2.1758644300923683E-16, -0.9238795325112857); + File f = new File("carlRobot.xml"); + if (f.exists()) { + MobileBase pArm = new MobileBase(new FileInputStream(f)); + try{ + String xmlParsed = pArm.getXml(); + BufferedWriter writer = null; + + writer = new BufferedWriter(new FileWriter("carlRobot2.xml")); + writer.write(xmlParsed); + + if (writer != null) + writer.close(); + + }catch(Exception ex){ + ex.printStackTrace(); + } + pArm.disconnect(); + System.exit(0); + } if (failCount > 1) { fail("Rotation failed " + failCount + " times of " + ((iterations * 3 * list.length) - 0)); From c7877f16ce9cb90974b3721af45a4436f37d1c99 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 27 Dec 2016 13:01:02 -0500 Subject: [PATCH 120/482] Fixing the bounding in my internal computations. --- .../addons/kinematics/math/RotationNR.java | 368 +++++++++++++++--- .../sdk/config/build.properties | 2 +- .../utilities/RotationNRTest.java | 163 +++++--- 3 files changed, 428 insertions(+), 105 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 71ea4d00..a1c33e67 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -1,12 +1,9 @@ package com.neuronrobotics.sdk.addons.kinematics.math; -import Jama.Matrix; -import org.apache.commons.math3.geometry.euclidean.threed.Rotation; -import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention; -import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder; - import com.neuronrobotics.sdk.common.Log; +import Jama.Matrix; + // TODO: Auto-generated Javadoc /** * This class is to represent a 3x3 rotation sub-matrix This class also contains @@ -19,10 +16,8 @@ public class RotationNR { /** The rotation matrix. */ - //double[][] rotationMatrix = ; - private Rotation storage=new Rotation(1,0,0,0,false); - private static RotationOrder order = RotationOrder.XYZ; - private static RotationConvention convention = RotationConvention.VECTOR_OPERATOR; + double[][] rotationMatrix = new double[][] { { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 } }; + /** * Null constructor forms a. */ @@ -42,18 +37,17 @@ public RotationNR() { // create a new object with the given simplified rotations public RotationNR(double tilt, double azumeth, double elevation) { if (Double.isNaN(tilt)) - throw new RuntimeException("Value can not be NaN"); + throw new NumberFormatException("Value can not be NaN"); if (Double.isNaN(azumeth)) - throw new RuntimeException("Value can not be NaN"); + throw new NumberFormatException("Value can not be NaN"); if (Double.isNaN(elevation)) - throw new RuntimeException("Value can not be NaN"); - if(elevation >90 || elevation <-90){ - throw new RuntimeException("Elevation can not be greater than 90 nor less than -90"); - } + throw new NumberFormatException("Value can not be NaN"); + if (elevation >= 90 || elevation <= -90) + throw new NumberFormatException("Elevation must be between 90 and -90"); loadFromAngles(tilt, azumeth, elevation); if (Double.isNaN(getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotationMatrix2QuaturnionX()) || Double.isNaN(getRotationMatrix2QuaturnionY()) || Double.isNaN(getRotationMatrix2QuaturnionZ())) { - Log.error("Failing to set proper angle, jittering"); + // System.err.println("Failing to set proper angle, jittering"); loadFromAngles(tilt + Math.random() * .02 + .001, azumeth + Math.random() * .02 + .001, elevation + Math.random() * .02 + .001); } @@ -61,11 +55,29 @@ public RotationNR(double tilt, double azumeth, double elevation) { } private void loadFromAngles(double tilt, double azumeth, double elevation) { - storage = new Rotation(getOrder(), getConvention(), - Math.toRadians(tilt), - Math.toRadians(elevation), - Math.toRadians(azumeth) - ); + double attitude = Math.toRadians(elevation); + double heading = Math.toRadians(azumeth); + double bank = Math.toRadians(tilt); + double w, x, y, z; + // Assuming the angles are in radians. + double c1 = Math.cos(heading / 2); + // if(Double.isNaN(c1)) + // + double s1 = Math.sin(heading / 2); + double c2 = Math.cos(attitude / 2); + double s2 = Math.sin(attitude / 2); + double c3 = Math.cos(bank / 2); + double s3 = Math.sin(bank / 2); + double c1c2 = c1 * c2; + double s1s2 = s1 * s2; + // System.out.println("C1 ="+c1+" S1 ="+s1+" |C2 ="+c2+" S2 ="+s2+" |C3 + // ="+c3+" S3 ="+s3); + w = c1c2 * c3 - s1s2 * s3; + x = c1c2 * s3 + s1s2 * c3; + y = s1 * c2 * c3 + c1 * s2 * s3; + z = c1 * s2 * c3 - s1 * c2 * s3; + // System.out.println("W ="+w+" x ="+x+" y ="+y+" z ="+z); + quaternion2RotationMatrix(w, x, y, z); } /** @@ -216,7 +228,14 @@ private void loadRotations(double[][] rotM) { throw new RuntimeException("Must be 3x3 rotation matrix"); } } - storage = new Rotation(rotM, 1.0); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + // if(rotM[i][j]>1){ + // rotM[i][j]=0;//normalization + // } + rotationMatrix[i][j] = rotM[i][j]; + } + } } /** @@ -225,8 +244,13 @@ private void loadRotations(double[][] rotM) { * @return the rotation matrix */ public double[][] getRotationMatrix() { - - return storage.getMatrix(); + double[][] b = new double[3][3]; + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + b[i][j] = rotationMatrix[i][j]; + } + } + return b; } /* @@ -247,8 +271,8 @@ public String toString() { } s += "]"; return "Quaturnion: " + "W=" + getRotationMatrix2QuaturnionW() + ", " + "x=" + getRotationMatrix2QuaturnionX() - + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\n" - + "Rotation angle (degrees): " + "az=" + getRotationAzimuth() + ", " + "elev=" + getRotationElevation() + ", " + " tilt=" + + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\t" + + "Rotation angle (degrees): " + "Azimuth=" + getRotationAzimuth() + ", " + "Elevation=" + getRotationElevation() + ", " + "Tilt=" + getRotationTilt() + ""; } @@ -287,17 +311,153 @@ public String toString(double[][] array) { */ protected void quaternion2RotationMatrix(double w, double x, double y, double z) { if (Double.isNaN(w)) - throw new RuntimeException("Value can not be NaN"); + throw new NumberFormatException("Value can not be NaN"); if (Double.isNaN(x)) - throw new RuntimeException("Value can not be NaN"); + throw new NumberFormatException("Value can not be NaN"); if (Double.isNaN(y)) - throw new RuntimeException("Value can not be NaN"); + throw new NumberFormatException("Value can not be NaN"); if (Double.isNaN(z)) - throw new RuntimeException("Value can not be NaN"); - storage = new Rotation(w, x, y,z, true); + throw new NumberFormatException("Value can not be NaN"); + double norm = Math.sqrt(w * w + x * x + y * y + z * z); + // we explicitly test norm against one here, saving a division + // at the cost of a test and branch. Is it worth it? + double s = (norm == 1f) ? 2f : (norm > 0f) ? 2f / norm : 0; + // compute xs/ys/zs first to save 6 multiplications, since xs/ys/zs + // will be used 2-4 times each. + double xs = x * s; + double ys = y * s; + double zs = z * s; + double xx = x * xs; + double xy = x * ys; + double xz = x * zs; + double xw = w * xs; + double yy = y * ys; + double yz = y * zs; + double yw = w * ys; + double zz = z * zs; + double zw = w * zs; + + // using s=2/norm (instead of 1/norm) saves 9 multiplications by 2 here + rotationMatrix[0][0] = 1 - (yy + zz); + rotationMatrix[0][1] = (xy - zw); + rotationMatrix[0][2] = (xz + yw); + + rotationMatrix[1][0] = (xy + zw); + rotationMatrix[1][1] = 1 - (xx + zz); + rotationMatrix[1][2] = (yz - xw); + + rotationMatrix[2][0] = (xz - yw); + rotationMatrix[2][1] = (yz + xw); + rotationMatrix[2][2] = 1 - (xx + yy); + + toString(rotationMatrix); } - + // /** + // * This requires a pure rotation matrix 'm' as input. from + // * + // http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/ + // * + // * @return the double[] + // */ + // public double[] toAxisAngle() { + // double angle, x, y, z; // variables for result + // double epsilon = 0.01; // margin to allow for rounding errors + // double epsilon2 = 0.1; // margin to distinguish between 0 and 180 + // // degrees + // // optional check that input is pure rotation, 'isRotationMatrix' is + // // defined at: + // // + // http://www.euclideanspace.com/maths/algebra/matrix/orthogonal/rotation/ + // if (((Math.abs(rotationMatrix[0][1]) - Math.abs(rotationMatrix[1][0])) < + // epsilon) + // && ((Math.abs(rotationMatrix[0][2]) - Math.abs(rotationMatrix[2][0])) < + // epsilon) + // && ((Math.abs(rotationMatrix[1][2]) - Math.abs(rotationMatrix[2][1])) < + // epsilon)) { + // // singularity found + // // first check for identity matrix which must have +1 for all terms + // // in leading diagonaland zero in other terms + // if ((Math.abs(rotationMatrix[0][1]) + Math.abs(rotationMatrix[1][0])) < + // epsilon2 + // && (Math.abs(rotationMatrix[0][2]) + Math.abs(rotationMatrix[2][0])) < + // epsilon2 + // && (Math.abs(rotationMatrix[1][2]) + Math.abs(rotationMatrix[2][1])) < + // epsilon2 + // && (Math.abs(rotationMatrix[0][0]) + Math.abs(rotationMatrix[1][1]) + + // Math.abs(rotationMatrix[2][2]) + // - 3) < epsilon2) { + // // this singularity is identity matrix so angle = 0 + // return new double[] { 0, 1, 0, 0 }; // zero angle, arbitrary + // // axis + // } + // // otherwise this singularity is angle = 180 + // angle = Math.PI; + // double xx = (rotationMatrix[0][0] + 1) / 2; + // double yy = (rotationMatrix[1][1] + 1) / 2; + // double zz = (rotationMatrix[2][2] + 1) / 2; + // double xy = (rotationMatrix[0][1] + rotationMatrix[1][0]) / 4; + // double xz = (rotationMatrix[0][2] + rotationMatrix[2][0]) / 4; + // double yz = (rotationMatrix[1][2] + rotationMatrix[2][1]) / 4; + // if ((xx > yy) && (xx > zz)) { // m[0][0] is the largest diagonal + // // term + // if (xx < epsilon) { + // x = 0; + // y = 0.7071; + // z = 0.7071; + // } else { + // x = Math.sqrt(xx); + // y = xy / x; + // z = xz / x; + // } + // } else if (yy > zz) { // m[1][1] is the largest diagonal term + // if (yy < epsilon) { + // x = 0.7071; + // y = 0; + // z = 0.7071; + // } else { + // y = Math.sqrt(yy); + // x = xy / y; + // z = yz / y; + // } + // } else { // m[2][2] is the largest diagonal term so base result on + // // this + // if (zz < epsilon) { + // x = 0.7071; + // y = 0.7071; + // z = 0; + // } else { + // z = Math.sqrt(zz); + // x = xz / z; + // y = yz / z; + // } + // } + // return new double[] { angle, x, y, z }; // return 180 deg rotation + // } + // // as we have reached here there are no singularities so we can handle + // // normally + // double s = Math + // .sqrt((rotationMatrix[2][1] - rotationMatrix[1][2]) * + // (rotationMatrix[2][1] - rotationMatrix[1][2]) + // + (rotationMatrix[0][2] - rotationMatrix[2][0]) * (rotationMatrix[0][2] - + // rotationMatrix[2][0]) + // + (rotationMatrix[1][0] - rotationMatrix[0][1]) + // * (rotationMatrix[1][0] - rotationMatrix[0][1])); // used + // // to + // // normalise + // if (Math.abs(s) < 0.001) + // s = 1; + // // prevent divide by zero, should not happen if matrix is orthogonal and + // // should be + // // caught by singularity test above, but I've left it in just in case + // angle = Math.acos((rotationMatrix[0][0] + rotationMatrix[1][1] + + // rotationMatrix[2][2] - 1) / 2); + // x = (rotationMatrix[2][1] - rotationMatrix[1][2]) / s; + // y = (rotationMatrix[0][2] - rotationMatrix[2][0]) / s; + // z = (rotationMatrix[1][0] - rotationMatrix[0][1]) / s; + // return new double[] { angle, x, y, z }; + // } + /** * Bound. * @@ -313,9 +473,79 @@ public static boolean bound(double low, double high, double n) { return n >= low && n <= high; } + /** + * Gets the rot angle. + * + * @param index + * the index + * @return the rot angle + */ + private double getRotAngle(int index) { + double w, x, y, z, tilt, azumiuth, elevation; + w = getRotationMatrix2QuaturnionW(); + x = getRotationMatrix2QuaturnionX(); + y = getRotationMatrix2QuaturnionY(); + z = getRotationMatrix2QuaturnionZ(); + double sqw = w * w; + double sqx = x * x; + double sqy = y * y; + double sqz = z * z; + double unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise + // is correction factor + double test = x * y + z * w; + double testingValue = (0.5 - Double.MIN_VALUE) * unit;// this is a far + // more robust + // bound + // checking + // using the + // min value of + // the data type + if (test > testingValue) { // singularity at north pole + Log.warning("North pole singularity "); + azumiuth = 2 * Math.atan2(x, w); + elevation = Math.PI / 2; + tilt = 0; + + } else if (test < -testingValue) { // singularity at south pole + Log.warning("South pole singularity"); + azumiuth = -2 * Math.atan2(x, w); + elevation = -Math.PI / 2; + tilt = 0; + + } else { + azumiuth = Math.atan2(2 * y * w - 2 * x * z, sqx - sqy - sqz + sqw); + elevation = Math.asin(2 * test / unit); + tilt = Math.atan2(2 * x * w - 2 * y * z, -sqx + sqy - sqz + sqw); + } + switch (index) { + case 0: + return tilt; + case 1: + return elevation; + case 2: + return azumiuth; + default: + return 0; + } - + } + + // public double getRotationBank() { + // + // return getRotAngle(0) ; + // + // } + + // public double getRotationAttitude() { + // + // return getRotAngle(2); + // } + // + // public double getRotationHeading() { + // + // return getRotAngle(1) ; + // } /** * Gets the rotation tilt. @@ -324,7 +554,7 @@ public static boolean bound(double low, double high, double n) { */ public double getRotationTilt() { - return storage.getAngles(getOrder(), getConvention())[0]; + return getRotAngle(0); } @@ -335,7 +565,7 @@ public double getRotationTilt() { */ public double getRotationElevation() { - return storage.getAngles(getOrder(), getConvention())[1]; + return getRotAngle(1); } /** @@ -345,16 +575,53 @@ public double getRotationElevation() { */ public double getRotationAzimuth() { - return storage.getAngles(getOrder(), getConvention())[2]; + return getRotAngle(2); } + /** + * Gets the rotation x. + * + * @return the rotation x + */ +// @Deprecated // use getRotationBank() +// public double getRotationX() { +// +// return getRotAngle(0); +// +// } + + /** + * Gets the rotation y. + * + * @return the rotation y + */ +// @Deprecated // use getRotationAttitude() +// public double getRotationY() { +// +// return getRotAngle(2); +// } + + /** + * Gets the rotation z. + * + * @return the rotation z + */ +// @Deprecated // use getRotationHeading() +// public double getRotationZ() { +// +// return getRotAngle(1); +// } + /** * Gets the rotation matrix2 quaturnion w. * * @return the rotation matrix2 quaturnion w */ public double getRotationMatrix2QuaturnionW() { - return storage.getQ0(); + double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); + if (temp > 1) + throw new RuntimeException("Matrix needs normalization"); + return temp; } /** @@ -363,7 +630,8 @@ public double getRotationMatrix2QuaturnionW() { * @return the rotation matrix2 quaturnion x */ public double getRotationMatrix2QuaturnionX() { - return storage.getQ1(); + double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); + return (rotationMatrix[2][1] - rotationMatrix[1][2]) * 0.25 / temp; } /** @@ -372,7 +640,8 @@ public double getRotationMatrix2QuaturnionX() { * @return the rotation matrix2 quaturnion y */ public double getRotationMatrix2QuaturnionY() { - return storage.getQ2(); + double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); + return (rotationMatrix[0][2] - rotationMatrix[2][0]) * 0.25 / temp; } /** @@ -381,23 +650,8 @@ public double getRotationMatrix2QuaturnionY() { * @return the rotation matrix2 quaturnion z */ public double getRotationMatrix2QuaturnionZ() { - return storage.getQ3(); - } - - public static RotationOrder getOrder() { - return order; - } - - public static void setOrder(RotationOrder o) { - order = o; - } - - public static RotationConvention getConvention() { - return convention; - } - - public static void setConvention(RotationConvention convention) { - RotationNR.convention = convention; + double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); + return (rotationMatrix[1][0] - rotationMatrix[0][1]) * 0.25 / temp; } -} +} \ No newline at end of file diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 67f58efa..8e491c0d 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.23.1 +app.version=3.23.3 app.javac.version=1.6 diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index af5ca06c..cb6e1bc3 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -28,83 +28,99 @@ public class RotationNRTest { /** * Test. - * @throws FileNotFoundException + * + * @throws FileNotFoundException */ @Test public void test() throws FileNotFoundException { int failCount = 0; - int iterations = 10; - RotationOrder[] list = { RotationOrder.XYZ - - }; - RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; + int iterations = 100; + RotationOrder[] list = { RotationOrder.XYZ + // RotationOrder.XZY, + // RotationOrder.YXZ, + // RotationOrder.YZX, + //RotationOrder.ZXY, RotationOrder.ZYX, RotationOrder.XYX, RotationOrder.XZX, RotationOrder.YXY, + //RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ + }; + RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; for (RotationConvention conv : conventions) { - RotationNR.setConvention(conv); + // RotationNR.setConvention(conv); System.out.println("\n\nUsing convention " + conv.toString()); for (RotationOrder ro : list) { - RotationNR.setOrder(ro); + // RotationNR.setOrder(ro); System.out.println("\n\nUsing rotationOrder " + ro.toString()); failCount = 0; for (int i = 0; i < iterations; i++) { - double tilt = Math.toRadians((Math.random() * 359) - 179.5); - double elevation = Math.toRadians((Math.random() * 180) - 90); - double azumus = Math.toRadians((Math.random() * 359) - 179.5); - RotationNR rotTest = new RotationNR(Math.toDegrees(tilt), Math.toDegrees(azumus), - Math.toDegrees(elevation)); - System.out.println("\n\nTest #" + i); - System.out.println("Testing Az=" + Math.toDegrees(azumus) + " El=" + Math.toDegrees(elevation) - + " Tl=" + Math.toDegrees(tilt)); - System.out.println("Got Az=" + Math.toDegrees(rotTest.getRotationAzimuth()) + " El=" - + Math.toDegrees(rotTest.getRotationElevation()) + " Tl=" - + Math.toDegrees(rotTest.getRotationTilt())); - - if (!RotationNR.bound(tilt - .01, tilt + .01, rotTest.getRotationTilt())) { - failCount++; - System.err.println("Rotation Tilt is not consistant. expected " + Math.toDegrees(tilt) + " got " - + Math.toDegrees(rotTest.getRotationTilt()) + " \t\tOff By " - + (Math.toDegrees(tilt) - Math.toDegrees(rotTest.getRotationTilt()))); - } - if (!RotationNR.bound(elevation - .01, elevation + .01, rotTest.getRotationElevation())) { - failCount++; - System.err.println("Rotation Elevation is not consistant. expected " + Math.toDegrees(elevation) - + " got " + Math.toDegrees(rotTest.getRotationElevation()) + " \t\tOff By " - + (Math.toDegrees(elevation) + Math.toDegrees(rotTest.getRotationElevation())) + double tilt = Math.toRadians((Math.random() * 360) - 180); + double elevation = Math.toRadians((Math.random() * 360) - 180); + double azumus = Math.toRadians((Math.random() * 360) - 180); + try { + RotationNR rotTest = new RotationNR(Math.toDegrees(tilt), Math.toDegrees(azumus), + Math.toDegrees(elevation)); + System.out.println("\n\nTest #" + i); + System.out.println("Testing Az=" + Math.toDegrees(azumus) + " El=" + Math.toDegrees(elevation) + + " Tl=" + Math.toDegrees(tilt)); + System.out.println("Got Az=" + Math.toDegrees(rotTest.getRotationAzimuth()) + " El=" + + Math.toDegrees(rotTest.getRotationElevation()) + " Tl=" + + Math.toDegrees(rotTest.getRotationTilt())); - ); - } - if (!RotationNR.bound(azumus - .01, azumus + .01, rotTest.getRotationAzimuth())) { - failCount++; - System.err.println("Rotation azumus is not consistant. expected " + Math.toDegrees(azumus) - + " got " + Math.toDegrees(rotTest.getRotationAzimuth()) + " \t\tOff By " - + (Math.toDegrees(azumus) - Math.toDegrees(rotTest.getRotationAzimuth()))); + if (!RotationNR.bound(tilt - .01, tilt + .01, rotTest.getRotationTilt())) { + failCount++; + System.err.println("Rotation Tilt is not consistant. expected " + Math.toDegrees(tilt) + + " got " + Math.toDegrees(rotTest.getRotationTilt()) + " \t\tOff By " + + (Math.toDegrees(tilt) - Math.toDegrees(rotTest.getRotationTilt()))); + } + if (!RotationNR.bound(elevation - .01, elevation + .01, rotTest.getRotationElevation())) { + failCount++; + System.err.println("Rotation Elevation is not consistant. expected " + + Math.toDegrees(elevation) + " got " + + Math.toDegrees(rotTest.getRotationElevation()) + " \t\tOff By " + + (Math.toDegrees(elevation) + Math.toDegrees(rotTest.getRotationElevation())) + + ); + } + if (!RotationNR.bound(azumus - .01, azumus + .01, rotTest.getRotationAzimuth())) { + failCount++; + System.err.println("Rotation azumus is not consistant. expected " + Math.toDegrees(azumus) + + " got " + Math.toDegrees(rotTest.getRotationAzimuth()) + " \t\tOff By " + + (Math.toDegrees(azumus) - Math.toDegrees(rotTest.getRotationAzimuth()))); + } + ThreadUtil.wait(20); + } catch (NumberFormatException ex) { + if(elevation >=Math.PI/2 || elevation <=-Math.PI/2){ + System.out.println("Invalid numbers rejected ok"); + } } - ThreadUtil.wait(20); + } if (failCount < 1) { - System.out.println("Orentation " + ro.toString() + " worked ina all cases"); + System.out.println("Orentation " + ro.toString() + " worked in all cases"); } + // frame(); + // frame2(); + System.out.println("Frame test passed with " + ro); + //return; } } - new RotationNR(0.38268343236509234, -1.2443977214448087E-17, 2.1758644300923683E-16, -0.9238795325112857); + File f = new File("carlRobot.xml"); if (f.exists()) { MobileBase pArm = new MobileBase(new FileInputStream(f)); - try{ + try { String xmlParsed = pArm.getXml(); BufferedWriter writer = null; - + writer = new BufferedWriter(new FileWriter("carlRobot2.xml")); writer.write(xmlParsed); - + if (writer != null) writer.close(); - - }catch(Exception ex){ + + } catch (Exception ex) { ex.printStackTrace(); } pArm.disconnect(); - System.exit(0); } if (failCount > 1) { fail("Rotation failed " + failCount + " times of " + ((iterations * 3 * list.length) - 0)); @@ -112,4 +128,57 @@ public void test() throws FileNotFoundException { } } +// public void frame() { +// double w = 0.25021580750394473; +// double x = -0.5895228206035708; +// double y = 0.12359002177935843; +// double z = 0.758010817983053; +// RotationNR knownAngles = new RotationNR(w, x, y, z); +// assertArrayEquals(new double[] { w, x, y, z }, +// new double[] { knownAngles.getRotationMatrix2QuaturnionW(), knownAngles.getRotationMatrix2QuaturnionX(), +// knownAngles.getRotationMatrix2QuaturnionY(), knownAngles.getRotationMatrix2QuaturnionZ() }, +// 0.0000001); +// double knownTilt = Math.toDegrees(knownAngles.getRotationTilt()); +// double knownAz = Math.toDegrees(knownAngles.getRotationAzimuth()); +// double knownel = Math.toDegrees(knownAngles.getRotationElevation()); +// System.out.println("Known angles are az=" + knownAz + " el=" + knownel + " tilt=" + knownTilt); +// +// RotationNR doubleCheck = new RotationNR(knownTilt, knownAz, knownel); +// assertArrayEquals( +// new double[] { doubleCheck.getRotationMatrix2QuaturnionW(), doubleCheck.getRotationMatrix2QuaturnionX(), +// doubleCheck.getRotationMatrix2QuaturnionY(), doubleCheck.getRotationMatrix2QuaturnionZ() }, +// new double[] { knownAngles.getRotationMatrix2QuaturnionW(), knownAngles.getRotationMatrix2QuaturnionX(), +// knownAngles.getRotationMatrix2QuaturnionY(), knownAngles.getRotationMatrix2QuaturnionZ() }, +// 0.0000001); +// +// assertArrayEquals(new double[] { knownTilt, knownel, knownAz }, new double[] { -111.422, -72.858, 37.570 }, +// 0.01); +// } +// +// public void frame2() { +// double w = 0.29405190560732924; +// double x = 0.5230342577988376; +// double y = -0.32364491993997213; +// double z = 0.7315890976323846; +// RotationNR knownAngles = new RotationNR(w, x, y, z); +// assertArrayEquals(new double[] { w, x, y, z }, +// new double[] { knownAngles.getRotationMatrix2QuaturnionW(), knownAngles.getRotationMatrix2QuaturnionX(), +// knownAngles.getRotationMatrix2QuaturnionY(), knownAngles.getRotationMatrix2QuaturnionZ() }, +// 0.0000001); +// double knownTilt = Math.toDegrees(knownAngles.getRotationTilt()); +// double knownAz = Math.toDegrees(knownAngles.getRotationAzimuth()); +// double knownel = Math.toDegrees(knownAngles.getRotationElevation()); +// System.out.println("Known angles are az=" + knownAz + " el=" + knownel + " tilt=" + knownTilt); +// +// RotationNR doubleCheck = new RotationNR(knownTilt, knownAz, knownel); +// assertArrayEquals( +// new double[] { doubleCheck.getRotationMatrix2QuaturnionW(), doubleCheck.getRotationMatrix2QuaturnionX(), +// doubleCheck.getRotationMatrix2QuaturnionY(), doubleCheck.getRotationMatrix2QuaturnionZ() }, +// new double[] { knownAngles.getRotationMatrix2QuaturnionW(), knownAngles.getRotationMatrix2QuaturnionX(), +// knownAngles.getRotationMatrix2QuaturnionY(), knownAngles.getRotationMatrix2QuaturnionZ() }, +// 0.0000001); +// +// assertArrayEquals(new double[] { knownTilt, knownel, knownAz }, new double[] { 55.711, 107.132, -108.137 }, +// 0.01); +// } } From cff08b5e6b33c9dbd0cdfe4814187f96e18e583d Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 29 Dec 2016 13:17:05 -0500 Subject: [PATCH 121/482] Creating a wrapper class of apache.commons.math3 Rotation class org.apache.commons.math3.geometry.euclidean.threed.Rotation implements all of the conversions between euler/quatournion and rotation matrix representations of angles. This class should be used for conversions. --- .../kinematics/math/RotationNRWrapper.java | 403 ++++++++++++++++++ 1 file changed, 403 insertions(+) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRWrapper.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRWrapper.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRWrapper.java new file mode 100644 index 00000000..402ba0f5 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRWrapper.java @@ -0,0 +1,403 @@ +package com.neuronrobotics.sdk.addons.kinematics.math; + +import Jama.Matrix; +import org.apache.commons.math3.geometry.euclidean.threed.Rotation; +import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention; +import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder; + +import com.neuronrobotics.sdk.common.Log; + +// TODO: Auto-generated Javadoc +/** + * This class is to represent a 3x3 rotation sub-matrix This class also contains + * static methods for dealing with 3x3 rotations. + * + * @author Kevin Harrington + * + */ + +public class RotationNRWrapper { + + /** The rotation matrix. */ + //double[][] rotationMatrix = ; + private Rotation storage=new Rotation(1,0,0,0,false); + private static RotationOrder order = RotationOrder.XYZ; + private static RotationConvention convention = RotationConvention.VECTOR_OPERATOR; + /** + * Null constructor forms a. + */ + public RotationNRWrapper() { + } + + /** + * Instantiates a new rotation nr. + * + * @param elevation + * the elevation + * @param tilt + * the tilt + * @param azumeth + * the azumeth + */ + // create a new object with the given simplified rotations + public RotationNRWrapper(double tilt, double azumeth, double elevation) { + if (Double.isNaN(tilt)) + throw new RuntimeException("Value can not be NaN"); + if (Double.isNaN(azumeth)) + throw new RuntimeException("Value can not be NaN"); + if (Double.isNaN(elevation)) + throw new RuntimeException("Value can not be NaN"); + if(elevation >90 || elevation <-90){ + throw new RuntimeException("Elevation can not be greater than 90 nor less than -90"); + } + loadFromAngles(tilt, azumeth, elevation); + if (Double.isNaN(getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotationMatrix2QuaturnionX()) + || Double.isNaN(getRotationMatrix2QuaturnionY()) || Double.isNaN(getRotationMatrix2QuaturnionZ())) { + Log.error("Failing to set proper angle, jittering"); + loadFromAngles(tilt + Math.random() * .02 + .001, azumeth + Math.random() * .02 + .001, + elevation + Math.random() * .02 + .001); + } + + } + + private void loadFromAngles(double tilt, double azumeth, double elevation) { + storage = new Rotation(getOrder(), getConvention(), + Math.toRadians(azumeth), + Math.toRadians(elevation), + Math.toRadians(tilt) + ); + } + + /** + * Instantiates a new rotation nr. + * + * @param rotationMatrix + * the rotation matrix + */ + public RotationNRWrapper(double[][] rotationMatrix) { + loadRotations(rotationMatrix); + } + + /** + * Instantiates a new rotation nr. + * + * @param values + * the values + */ + public RotationNRWrapper(double[] values) { + this(values[0], values[1], values[2], values[3]); + } + + /** + * Get a rotation matrix with a rotation around X. + * + * @param rotationAngleDegrees + * in degrees + * @return the static matrix + */ + public static RotationNRWrapper getRotationX(double rotationAngleDegrees) { + double[][] rotation = new double[3][3]; + double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; + + // Rotation matrix, 1st column + rotation[0][0] = 1; + rotation[1][0] = 0; + rotation[2][0] = 0; + // Rotation matrix, 2nd column + rotation[0][1] = 0; + rotation[1][1] = Math.cos(rotationAngleRadians); + rotation[2][1] = Math.sin(rotationAngleRadians); + // Rotation matrix, 3rd column + rotation[0][2] = 0; + rotation[1][2] = -Math.sin(rotationAngleRadians); + rotation[2][2] = Math.cos(rotationAngleRadians); + + return new RotationNRWrapper(rotation); + } + + /** + * Get a rotation matrix with a rotation around Y. + * + * @param rotationAngleDegrees + * in degrees + * @return the static matrix + */ + public static RotationNRWrapper getRotationY(double rotationAngleDegrees) { + double[][] rotation = new double[3][3]; + double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; + + // Rotation matrix, 1st column + rotation[0][0] = Math.cos(rotationAngleRadians); + rotation[1][0] = 0; + rotation[2][0] = -Math.sin(rotationAngleRadians); + // Rotation matrix, 2nd column + rotation[0][1] = 0; + rotation[1][1] = 1; + rotation[2][1] = 0; + // Rotation matrix, 3rd column + rotation[0][2] = Math.sin(rotationAngleRadians); + rotation[1][2] = 0; + rotation[2][2] = Math.cos(rotationAngleRadians); + + return new RotationNRWrapper(rotation); + } + + /** + * Get a rotation matrix with a rotation around Z. + * + * @param rotationAngleDegrees + * in degrees + * @return the static matrix + */ + public static RotationNRWrapper getRotationZ(double rotationAngleDegrees) { + double[][] rotation = new double[3][3]; + double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; + + // Rotation matrix, 1st column + rotation[0][0] = Math.cos(rotationAngleRadians); + rotation[1][0] = Math.sin(rotationAngleRadians); + rotation[2][0] = 0; + // Rotation matrix, 2nd column + rotation[0][1] = -Math.sin(rotationAngleRadians); + rotation[1][1] = Math.cos(rotationAngleRadians); + rotation[2][1] = 0; + // Rotation matrix, 3rd column + rotation[0][2] = 0; + rotation[1][2] = 0; + rotation[2][2] = 1; + + return new RotationNRWrapper(rotation); + } + + /** + * Instantiates a new rotation nr. + * + * @param w + * the w + * @param x + * the x + * @param y + * the y + * @param z + * the z + */ + // create a new object with the given components + public RotationNRWrapper(double w, double x, double y, double z) { + quaternion2RotationMatrix(w, x, y, z); + } + + /** + * Instantiates a new rotation nr. + * + * @param m + * the m + */ + public RotationNRWrapper(Matrix m) { + double[][] rotation = new double[3][3]; + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + rotation[i][j] = m.get(i, j); + } + } + loadRotations(rotation); + } + + /** + * Load rotations. + * + * @param rotM + * the rot m + */ + private void loadRotations(double[][] rotM) { + if (rotM.length != 3) + throw new RuntimeException("Must be 3x3 rotation matrix"); + for (int i = 0; i < 3; i++) { + if (rotM[i].length != 3) { + throw new RuntimeException("Must be 3x3 rotation matrix"); + } + } + storage = new Rotation(rotM, 0.00001); + } + + /** + * Gets the rotation matrix. + * + * @return the rotation matrix + */ + public double[][] getRotationMatrix() { + + return storage.getMatrix(); + } + + /* + * (non-Javadoc) + * + * @see java.lang.Object#toString() + */ + // return a string representation of the invoking object + public String toString() { + String s = "[\n"; + double[][] m = getRotationMatrix(); + for (int i = 0; i < 3; i++) { + s += "[ "; + for (int j = 0; j < 3; j++) { + s += m[i][j] + "\t\t"; + } + s += " ]\n"; + } + s += "]"; + return "Quaturnion: " + "W=" + getRotationMatrix2QuaturnionW() + ", " + "x=" + getRotationMatrix2QuaturnionX() + + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\n" + + "Rotation angle (degrees): " + "az=" + getRotationAzimuth() + ", " + "elev=" + getRotationElevation() + ", " + " tilt=" + + getRotationTilt() + ""; + } + + /** + * To string. + * + * @param array + * the array + * @return the string + */ + // return a string representation of the invoking object + public String toString(double[][] array) { + String s = "[\n"; + for (int i = 0; i < 3; i++) { + s += "[ "; + for (int j = 0; j < 3; j++) { + s += array[i][j] + "\t\t"; + } + s += " ]\n"; + } + s += "]"; + return "Matrix = " + s; + } + + /** + * Quaternion2 rotation matrix. + * + * @param w + * the w + * @param x + * the x + * @param y + * the y + * @param z + * the z + */ + protected void quaternion2RotationMatrix(double w, double x, double y, double z) { + if (Double.isNaN(w)) + throw new RuntimeException("Value can not be NaN"); + if (Double.isNaN(x)) + throw new RuntimeException("Value can not be NaN"); + if (Double.isNaN(y)) + throw new RuntimeException("Value can not be NaN"); + if (Double.isNaN(z)) + throw new RuntimeException("Value can not be NaN"); + storage = new Rotation(w, x, y,z, true); + } + + + /** + * Bound. + * + * @param low + * the low + * @param high + * the high + * @param n + * the n + * @return true, if successful + */ + public static boolean bound(double low, double high, double n) { + return n >= low && n <= high; + } + + + + + + /** + * Gets the rotation tilt. + * + * @return the rotation tilt + */ + public double getRotationTilt() { + + return storage.getAngles(getOrder(), getConvention())[2]; + + } + + /** + * Gets the rotation elevation. + * + * @return the rotation elevation + */ + public double getRotationElevation() { + + return storage.getAngles(getOrder(), getConvention())[1]; + } + + /** + * Gets the rotation azimuth. + * + * @return the rotation azimuth + */ + public double getRotationAzimuth() { + + return storage.getAngles(getOrder(), getConvention())[0]; + } + + /** + * Gets the rotation matrix2 quaturnion w. + * + * @return the rotation matrix2 quaturnion w + */ + public double getRotationMatrix2QuaturnionW() { + return storage.getQ0(); + } + + /** + * Gets the rotation matrix2 quaturnion x. + * + * @return the rotation matrix2 quaturnion x + */ + public double getRotationMatrix2QuaturnionX() { + return storage.getQ1(); + } + + /** + * Gets the rotation matrix2 quaturnion y. + * + * @return the rotation matrix2 quaturnion y + */ + public double getRotationMatrix2QuaturnionY() { + return storage.getQ2(); + } + + /** + * Gets the rotation matrix2 quaturnion z. + * + * @return the rotation matrix2 quaturnion z + */ + public double getRotationMatrix2QuaturnionZ() { + return storage.getQ3(); + } + + public static RotationOrder getOrder() { + return order; + } + + public static void setOrder(RotationOrder o) { + order = o; + } + + public static RotationConvention getConvention() { + return convention; + } + + public static void setConvention(RotationConvention convention) { + RotationNRWrapper.convention = convention; + } + +} \ No newline at end of file From 04161537c8f32fada771c5399b4bb88d1a1f139a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 29 Dec 2016 14:35:20 -0500 Subject: [PATCH 122/482] Validating the new and old rotations library The two libraries are compaired against each other using unit tests and pure rotations in matrix representations. --- .../addons/kinematics/math/RotationNR.java | 20 +- .../kinematics/math/RotationNRWrapper.java | 44 +- .../utilities/RotationNRTest.java | 433 +++++++++++++++--- 3 files changed, 395 insertions(+), 102 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index a1c33e67..6c2ad90c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -35,7 +35,7 @@ public RotationNR() { * the azumeth */ // create a new object with the given simplified rotations - public RotationNR(double tilt, double azumeth, double elevation) { + public RotationNR(double tilt, double elevation, double azumeth) { if (Double.isNaN(tilt)) throw new NumberFormatException("Value can not be NaN"); if (Double.isNaN(azumeth)) @@ -481,7 +481,7 @@ public static boolean bound(double low, double high, double n) { * @return the rot angle */ private double getRotAngle(int index) { - double w, x, y, z, tilt, azumiuth, elevation; + double w, x, y, z, tilt, elev, azumeth; w = getRotationMatrix2QuaturnionW(); x = getRotationMatrix2QuaturnionX(); y = getRotationMatrix2QuaturnionY(); @@ -502,19 +502,19 @@ private double getRotAngle(int index) { // the data type if (test > testingValue) { // singularity at north pole Log.warning("North pole singularity "); - azumiuth = 2 * Math.atan2(x, w); - elevation = Math.PI / 2; + elev = 2 * Math.atan2(x, w); + azumeth = Math.PI / 2; tilt = 0; } else if (test < -testingValue) { // singularity at south pole Log.warning("South pole singularity"); - azumiuth = -2 * Math.atan2(x, w); - elevation = -Math.PI / 2; + elev = -2 * Math.atan2(x, w); + azumeth = -Math.PI / 2; tilt = 0; } else { - azumiuth = Math.atan2(2 * y * w - 2 * x * z, sqx - sqy - sqz + sqw); - elevation = Math.asin(2 * test / unit); + elev = Math.atan2(2 * y * w - 2 * x * z, sqx - sqy - sqz + sqw); + azumeth = Math.asin(2 * test / unit); tilt = Math.atan2(2 * x * w - 2 * y * z, -sqx + sqy - sqz + sqw); } @@ -522,9 +522,9 @@ private double getRotAngle(int index) { case 0: return tilt; case 1: - return elevation; + return elev; case 2: - return azumiuth; + return azumeth; default: return 0; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRWrapper.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRWrapper.java index 402ba0f5..67387603 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRWrapper.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRWrapper.java @@ -60,13 +60,6 @@ public RotationNRWrapper(double tilt, double azumeth, double elevation) { } - private void loadFromAngles(double tilt, double azumeth, double elevation) { - storage = new Rotation(getOrder(), getConvention(), - Math.toRadians(azumeth), - Math.toRadians(elevation), - Math.toRadians(tilt) - ); - } /** * Instantiates a new rotation nr. @@ -216,7 +209,7 @@ private void loadRotations(double[][] rotM) { throw new RuntimeException("Must be 3x3 rotation matrix"); } } - storage = new Rotation(rotM, 0.00001); + setStorage(new Rotation(rotM, 0.00001)); } /** @@ -226,7 +219,7 @@ private void loadRotations(double[][] rotM) { */ public double[][] getRotationMatrix() { - return storage.getMatrix(); + return getStorage().getMatrix(); } /* @@ -294,7 +287,7 @@ protected void quaternion2RotationMatrix(double w, double x, double y, double z) throw new RuntimeException("Value can not be NaN"); if (Double.isNaN(z)) throw new RuntimeException("Value can not be NaN"); - storage = new Rotation(w, x, y,z, true); + setStorage(new Rotation(w, x, y,-z, true)); } @@ -315,7 +308,14 @@ public static boolean bound(double low, double high, double n) { - + private void loadFromAngles(double tilt, double azumeth, double elevation) { + setStorage(new Rotation(getOrder(), getConvention(), + Math.toRadians(tilt), + Math.toRadians(elevation), + Math.toRadians(azumeth) + )); + } + /** * Gets the rotation tilt. @@ -324,7 +324,7 @@ public static boolean bound(double low, double high, double n) { */ public double getRotationTilt() { - return storage.getAngles(getOrder(), getConvention())[2]; + return getStorage().getAngles(getOrder(), getConvention())[0]; } @@ -335,7 +335,7 @@ public double getRotationTilt() { */ public double getRotationElevation() { - return storage.getAngles(getOrder(), getConvention())[1]; + return getStorage().getAngles(getOrder(), getConvention())[1]; } /** @@ -345,7 +345,7 @@ public double getRotationElevation() { */ public double getRotationAzimuth() { - return storage.getAngles(getOrder(), getConvention())[0]; + return getStorage().getAngles(getOrder(), getConvention())[2]; } /** @@ -354,7 +354,7 @@ public double getRotationAzimuth() { * @return the rotation matrix2 quaturnion w */ public double getRotationMatrix2QuaturnionW() { - return storage.getQ0(); + return getStorage().getQ0(); } /** @@ -363,7 +363,7 @@ public double getRotationMatrix2QuaturnionW() { * @return the rotation matrix2 quaturnion x */ public double getRotationMatrix2QuaturnionX() { - return storage.getQ1(); + return getStorage().getQ1(); } /** @@ -372,7 +372,7 @@ public double getRotationMatrix2QuaturnionX() { * @return the rotation matrix2 quaturnion y */ public double getRotationMatrix2QuaturnionY() { - return storage.getQ2(); + return getStorage().getQ2(); } /** @@ -381,7 +381,7 @@ public double getRotationMatrix2QuaturnionY() { * @return the rotation matrix2 quaturnion z */ public double getRotationMatrix2QuaturnionZ() { - return storage.getQ3(); + return -getStorage().getQ3(); } public static RotationOrder getOrder() { @@ -400,4 +400,12 @@ public static void setConvention(RotationConvention convention) { RotationNRWrapper.convention = convention; } + public Rotation getStorage() { + return storage; + } + + public void setStorage(Rotation storage) { + this.storage = storage; + } + } \ No newline at end of file diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index cb6e1bc3..6bc55f6c 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -15,6 +15,7 @@ import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; import com.neuronrobotics.sdk.addons.kinematics.MobileBase; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; +import com.neuronrobotics.sdk.addons.kinematics.math.RotationNRWrapper; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup; import com.neuronrobotics.sdk.common.Log; @@ -49,10 +50,10 @@ public void test() throws FileNotFoundException { for (RotationOrder ro : list) { // RotationNR.setOrder(ro); System.out.println("\n\nUsing rotationOrder " + ro.toString()); - failCount = 0; + // for (int i = 0; i < iterations; i++) { double tilt = Math.toRadians((Math.random() * 360) - 180); - double elevation = Math.toRadians((Math.random() * 360) - 180); + double elevation = Math.toRadians((Math.random() * 180) - 90); double azumus = Math.toRadians((Math.random() * 360) - 180); try { RotationNR rotTest = new RotationNR(Math.toDegrees(tilt), Math.toDegrees(azumus), @@ -93,92 +94,376 @@ public void test() throws FileNotFoundException { } } - if (failCount < 1) { - System.out.println("Orentation " + ro.toString() + " worked in all cases"); - - } + // frame(); // frame2(); System.out.println("Frame test passed with " + ro); //return; } } + if (failCount > 1) { + fail(); - File f = new File("carlRobot.xml"); - if (f.exists()) { - MobileBase pArm = new MobileBase(new FileInputStream(f)); - try { - String xmlParsed = pArm.getXml(); - BufferedWriter writer = null; + } + } - writer = new BufferedWriter(new FileWriter("carlRobot2.xml")); - writer.write(xmlParsed); - if (writer != null) - writer.close(); + /** + * Test. + * + * @throws FileNotFoundException + */ + @Test + public void compareAzemuth() throws FileNotFoundException { + int failCount = 0; + int iterations = 100; + RotationOrder[] list = { RotationOrder.XYZ + // RotationOrder.XZY, + // RotationOrder.YXZ, + // RotationOrder.YZX, + //RotationOrder.ZXY, RotationOrder.ZYX, RotationOrder.XYX, RotationOrder.XZX, RotationOrder.YXY, + //RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ + }; + RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; + for (RotationConvention conv : conventions) { + RotationNRWrapper.setConvention(conv); + System.out.println("\n\nUsing convention " + conv.toString()); + for (RotationOrder ro : list) { + RotationNRWrapper.setOrder(ro); + System.out.println("\n\nUsing rotationOrder " + ro.toString()); + failCount = 0; + for (int i = 0; i < iterations; i++) { + + double rotationAngleDegrees = (Math.random() * 360) - 180; + + double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; - } catch (Exception ex) { - ex.printStackTrace(); + double[][] rotation = new double[3][3]; + // Rotation matrix, 1st column + rotation [0][0] = Math.cos(rotationAngleRadians); + rotation[1][0] = Math.sin(rotationAngleRadians); + rotation[2][0] = 0; + // Rotation matrix, 2nd column + rotation[0][1] = -Math.sin(rotationAngleRadians); + rotation[1][1] = Math.cos(rotationAngleRadians); + rotation[2][1] = 0; + // Rotation matrix, 3rd column + rotation[0][2] = 0; + rotation[1][2] = 0; + rotation[2][2] = 1; + // pure rotation in azumuth + RotationNRWrapper newRot = new RotationNRWrapper(rotation); + RotationNR oldRot = new RotationNR(rotation); + double[][] rotationMatrix = newRot.getRotationMatrix(); + System.out.println("Testing pure azumeth \nrotation "+rotationAngleDegrees+ + "\n as radian "+Math.toRadians(rotationAngleDegrees)+ + "\n Az "+oldRot.getRotationAzimuth()+ + "\n El "+oldRot.getRotationElevation()+ + "\n Tl "+oldRot.getRotationTilt()+ + "\n New Az "+newRot.getRotationAzimuth()+ + "\n New El "+newRot.getRotationElevation()+ + "\n New Tl "+newRot.getRotationTilt() + ); + assertArrayEquals(rotation[0], rotationMatrix[0], 0.001); + assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); + assertArrayEquals(rotation[2], rotationMatrix[2], 0.001); + + System.out.println("Testing Quaturnion \nrotation "+ + "\n qw "+oldRot.getRotationMatrix2QuaturnionW()+ + "\n qx "+oldRot.getRotationMatrix2QuaturnionX()+ + "\n qy "+oldRot.getRotationMatrix2QuaturnionY()+ + "\n qz "+oldRot.getRotationMatrix2QuaturnionZ()+ + "\nNEW qw "+newRot.getRotationMatrix2QuaturnionW()+ + "\nNEW qx "+newRot.getRotationMatrix2QuaturnionX()+ + "\nNEW qy "+newRot.getRotationMatrix2QuaturnionY()+ + "\nNEW qz "+newRot.getRotationMatrix2QuaturnionZ() + ); + assertArrayEquals(new double []{ + Math.abs(oldRot.getRotationMatrix2QuaturnionW()), + Math.abs(oldRot.getRotationMatrix2QuaturnionX()), + Math.abs(oldRot.getRotationMatrix2QuaturnionY()), + Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), + }, new double []{ + Math.abs(newRot.getRotationMatrix2QuaturnionW()), + Math.abs(newRot.getRotationMatrix2QuaturnionX()), + Math.abs(newRot.getRotationMatrix2QuaturnionY()), + Math.abs(newRot.getRotationMatrix2QuaturnionZ()), + }, 0.001); + // Check Euler angles +// assertArrayEquals(new double []{ +// oldRot.getRotationAzimuth(), +// oldRot.getRotationElevation(), +// oldRot.getRotationTilt() +// }, new double []{ +// newRot.getRotationAzimuth(), +// newRot.getRotationElevation(), +// newRot.getRotationTilt() +// }, 0.001); + // Check the old rotation against the known value +// assertArrayEquals(new double []{ +// Math.toRadians(rotationAngleDegrees), +// 0, +// 0 +// }, new double []{ +// oldRot.getRotationAzimuth(), +// oldRot.getRotationElevation(), +// oldRot.getRotationTilt() +// }, 0.001); + // Check the new rotation against the known value + assertArrayEquals(new double []{ + Math.toRadians(rotationAngleDegrees), + 0, + 0 + }, new double []{ + newRot.getRotationAzimuth(), + newRot.getRotationElevation(), + newRot.getRotationTilt() + }, 0.001); + } + // frame(); + // frame2(); + System.out.println("Frame test passed with " + ro); + //return; } - pArm.disconnect(); } - if (failCount > 1) { - fail("Rotation failed " + failCount + " times of " + ((iterations * 3 * list.length) - 0)); + } + /** + * Test. + * + * @throws FileNotFoundException + */ + @Test + public void compareElevation() throws FileNotFoundException { + int failCount = 0; + int iterations = 100; + RotationOrder[] list = { RotationOrder.XYZ + // RotationOrder.XZY, + // RotationOrder.YXZ, + // RotationOrder.YZX, + //RotationOrder.ZXY, RotationOrder.ZYX, RotationOrder.XYX, RotationOrder.XZX, RotationOrder.YXY, + //RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ + }; + RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; + for (RotationConvention conv : conventions) { + RotationNRWrapper.setConvention(conv); + System.out.println("\n\nUsing convention " + conv.toString()); + for (RotationOrder ro : list) { + RotationNRWrapper.setOrder(ro); + System.out.println("\n\nUsing rotationOrder " + ro.toString()); + failCount = 0; + for (int i = 0; i < iterations; i++) { + + double rotationAngleDegrees = (Math.random() * 180) - 90; + + double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; + double[][] rotation = new double[3][3]; + // Rotation matrix, 1st column + rotation[0][0] = Math.cos(rotationAngleRadians); + rotation[1][0] = 0; + rotation[2][0] = -Math.sin(rotationAngleRadians); + // Rotation matrix, 2nd column + rotation[0][1] = 0; + rotation[1][1] = 1; + rotation[2][1] = 0; + // Rotation matrix, 3rd column + rotation[0][2] = Math.sin(rotationAngleRadians); + rotation[1][2] = 0; + rotation[2][2] = Math.cos(rotationAngleRadians); + // pure rotation in azumuth + RotationNRWrapper newRot = new RotationNRWrapper(rotation); + RotationNR oldRot = new RotationNR(rotation); + double[][] rotationMatrix = newRot.getRotationMatrix(); + System.out.println("Testing pure elevation \nrotation "+rotationAngleDegrees+ + "\n as radian "+Math.toRadians(rotationAngleDegrees)+ + "\n Az "+oldRot.getRotationAzimuth()+ + "\n El "+oldRot.getRotationElevation()+ + "\n Tl "+oldRot.getRotationTilt()+ + "\n New Az "+newRot.getRotationAzimuth()+ + "\n New El "+newRot.getRotationElevation()+ + "\n New Tl "+newRot.getRotationTilt() + ); + assertArrayEquals(rotation[0], rotationMatrix[0], 0.001); + assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); + assertArrayEquals(rotation[2], rotationMatrix[2], 0.001); + + System.out.println("Testing Quaturnion \nrotation "+ + "\n qw "+oldRot.getRotationMatrix2QuaturnionW()+ + "\n qx "+oldRot.getRotationMatrix2QuaturnionX()+ + "\n qy "+oldRot.getRotationMatrix2QuaturnionY()+ + "\n qz "+oldRot.getRotationMatrix2QuaturnionZ()+ + "\nNEW qw "+newRot.getRotationMatrix2QuaturnionW()+ + "\nNEW qx "+newRot.getRotationMatrix2QuaturnionX()+ + "\nNEW qy "+newRot.getRotationMatrix2QuaturnionY()+ + "\nNEW qz "+newRot.getRotationMatrix2QuaturnionZ() + ); + assertArrayEquals(new double []{ + Math.abs(oldRot.getRotationMatrix2QuaturnionW()), + Math.abs(oldRot.getRotationMatrix2QuaturnionX()), + Math.abs(oldRot.getRotationMatrix2QuaturnionY()), + Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), + }, new double []{ + Math.abs(newRot.getRotationMatrix2QuaturnionW()), + Math.abs(newRot.getRotationMatrix2QuaturnionX()), + Math.abs(newRot.getRotationMatrix2QuaturnionY()), + Math.abs(newRot.getRotationMatrix2QuaturnionZ()), + }, 0.001); + // Check Euler angles +// assertArrayEquals(new double []{ +// oldRot.getRotationAzimuth(), +// oldRot.getRotationElevation(), +// oldRot.getRotationTilt() +// }, new double []{ +// newRot.getRotationAzimuth(), +// newRot.getRotationElevation(), +// newRot.getRotationTilt() +// }, 0.001); + // Check the old rotation against the known value + assertArrayEquals(new double []{ + + 0, + Math.toRadians(rotationAngleDegrees), + 0 + }, new double []{ + oldRot.getRotationAzimuth(), + oldRot.getRotationElevation(), + oldRot.getRotationTilt() + }, 0.001); + // Check the new rotation against the known value + assertArrayEquals(new double []{ + 0, + Math.toRadians(rotationAngleDegrees), + 0 + }, new double []{ + newRot.getRotationAzimuth(), + newRot.getRotationElevation(), + newRot.getRotationTilt() + }, 0.001); + } + // frame(); + // frame2(); + System.out.println("Frame test passed with " + ro); + //return; + } } } + /** + * Test. + * + * @throws FileNotFoundException + */ + @Test + public void compareTilt() throws FileNotFoundException { + int failCount = 0; + int iterations = 100; + RotationOrder[] list = { RotationOrder.XYZ + // RotationOrder.XZY, + // RotationOrder.YXZ, + // RotationOrder.YZX, + //RotationOrder.ZXY, RotationOrder.ZYX, RotationOrder.XYX, RotationOrder.XZX, RotationOrder.YXY, + //RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ + }; + RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; + for (RotationConvention conv : conventions) { + RotationNRWrapper.setConvention(conv); + System.out.println("\n\nUsing convention " + conv.toString()); + for (RotationOrder ro : list) { + RotationNRWrapper.setOrder(ro); + System.out.println("\n\nUsing rotationOrder " + ro.toString()); + failCount = 0; + for (int i = 0; i < iterations; i++) { + + double rotationAngleDegrees = (Math.random() * 360) - 180; + + double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; -// public void frame() { -// double w = 0.25021580750394473; -// double x = -0.5895228206035708; -// double y = 0.12359002177935843; -// double z = 0.758010817983053; -// RotationNR knownAngles = new RotationNR(w, x, y, z); -// assertArrayEquals(new double[] { w, x, y, z }, -// new double[] { knownAngles.getRotationMatrix2QuaturnionW(), knownAngles.getRotationMatrix2QuaturnionX(), -// knownAngles.getRotationMatrix2QuaturnionY(), knownAngles.getRotationMatrix2QuaturnionZ() }, -// 0.0000001); -// double knownTilt = Math.toDegrees(knownAngles.getRotationTilt()); -// double knownAz = Math.toDegrees(knownAngles.getRotationAzimuth()); -// double knownel = Math.toDegrees(knownAngles.getRotationElevation()); -// System.out.println("Known angles are az=" + knownAz + " el=" + knownel + " tilt=" + knownTilt); -// -// RotationNR doubleCheck = new RotationNR(knownTilt, knownAz, knownel); -// assertArrayEquals( -// new double[] { doubleCheck.getRotationMatrix2QuaturnionW(), doubleCheck.getRotationMatrix2QuaturnionX(), -// doubleCheck.getRotationMatrix2QuaturnionY(), doubleCheck.getRotationMatrix2QuaturnionZ() }, -// new double[] { knownAngles.getRotationMatrix2QuaturnionW(), knownAngles.getRotationMatrix2QuaturnionX(), -// knownAngles.getRotationMatrix2QuaturnionY(), knownAngles.getRotationMatrix2QuaturnionZ() }, -// 0.0000001); -// -// assertArrayEquals(new double[] { knownTilt, knownel, knownAz }, new double[] { -111.422, -72.858, 37.570 }, -// 0.01); -// } -// -// public void frame2() { -// double w = 0.29405190560732924; -// double x = 0.5230342577988376; -// double y = -0.32364491993997213; -// double z = 0.7315890976323846; -// RotationNR knownAngles = new RotationNR(w, x, y, z); -// assertArrayEquals(new double[] { w, x, y, z }, -// new double[] { knownAngles.getRotationMatrix2QuaturnionW(), knownAngles.getRotationMatrix2QuaturnionX(), -// knownAngles.getRotationMatrix2QuaturnionY(), knownAngles.getRotationMatrix2QuaturnionZ() }, -// 0.0000001); -// double knownTilt = Math.toDegrees(knownAngles.getRotationTilt()); -// double knownAz = Math.toDegrees(knownAngles.getRotationAzimuth()); -// double knownel = Math.toDegrees(knownAngles.getRotationElevation()); -// System.out.println("Known angles are az=" + knownAz + " el=" + knownel + " tilt=" + knownTilt); -// -// RotationNR doubleCheck = new RotationNR(knownTilt, knownAz, knownel); -// assertArrayEquals( -// new double[] { doubleCheck.getRotationMatrix2QuaturnionW(), doubleCheck.getRotationMatrix2QuaturnionX(), -// doubleCheck.getRotationMatrix2QuaturnionY(), doubleCheck.getRotationMatrix2QuaturnionZ() }, -// new double[] { knownAngles.getRotationMatrix2QuaturnionW(), knownAngles.getRotationMatrix2QuaturnionX(), -// knownAngles.getRotationMatrix2QuaturnionY(), knownAngles.getRotationMatrix2QuaturnionZ() }, -// 0.0000001); -// -// assertArrayEquals(new double[] { knownTilt, knownel, knownAz }, new double[] { 55.711, 107.132, -108.137 }, -// 0.01); -// } + double[][] rotation = new double[3][3]; + // Rotation matrix, 1st column + rotation[0][0] = 1; + rotation[1][0] = 0; + rotation[2][0] = 0; + // Rotation matrix, 2nd column + rotation[0][1] = 0; + rotation[1][1] = Math.cos(rotationAngleRadians); + rotation[2][1] = Math.sin(rotationAngleRadians); + // Rotation matrix, 3rd column + rotation[0][2] = 0; + rotation[1][2] = -Math.sin(rotationAngleRadians); + rotation[2][2] = Math.cos(rotationAngleRadians); + // pure rotation in azumuth + RotationNRWrapper newRot = new RotationNRWrapper(rotation); + RotationNR oldRot = new RotationNR(rotation); + double[][] rotationMatrix = newRot.getRotationMatrix(); + System.out.println("Testing pure tilt \nrotation "+rotationAngleDegrees+ + "\n as radian "+Math.toRadians(rotationAngleDegrees)+ + "\n Az "+oldRot.getRotationAzimuth()+ + "\n El "+oldRot.getRotationElevation()+ + "\n Tl "+oldRot.getRotationTilt()+ + "\n New Az "+newRot.getRotationAzimuth()+ + "\n New El "+newRot.getRotationElevation()+ + "\n New Tl "+newRot.getRotationTilt() + ); + assertArrayEquals(rotation[0], rotationMatrix[0], 0.001); + assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); + assertArrayEquals(rotation[2], rotationMatrix[2], 0.001); + + System.out.println("Testing Quaturnion \nrotation "+ + "\n qw "+oldRot.getRotationMatrix2QuaturnionW()+ + "\n qx "+oldRot.getRotationMatrix2QuaturnionX()+ + "\n qy "+oldRot.getRotationMatrix2QuaturnionY()+ + "\n qz "+oldRot.getRotationMatrix2QuaturnionZ()+ + "\nNEW qw "+newRot.getRotationMatrix2QuaturnionW()+ + "\nNEW qx "+newRot.getRotationMatrix2QuaturnionX()+ + "\nNEW qy "+newRot.getRotationMatrix2QuaturnionY()+ + "\nNEW qz "+newRot.getRotationMatrix2QuaturnionZ() + ); + assertArrayEquals(new double []{ + Math.abs(oldRot.getRotationMatrix2QuaturnionW()), + Math.abs(oldRot.getRotationMatrix2QuaturnionX()), + Math.abs(oldRot.getRotationMatrix2QuaturnionY()), + Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), + }, new double []{ + Math.abs(newRot.getRotationMatrix2QuaturnionW()), + Math.abs(newRot.getRotationMatrix2QuaturnionX()), + Math.abs(newRot.getRotationMatrix2QuaturnionY()), + Math.abs(newRot.getRotationMatrix2QuaturnionZ()), + }, 0.001); + // Check Euler angles +// assertArrayEquals(new double []{ +// oldRot.getRotationAzimuth(), +// oldRot.getRotationElevation(), +// oldRot.getRotationTilt() +// }, new double []{ +// newRot.getRotationAzimuth(), +// newRot.getRotationElevation(), +// newRot.getRotationTilt() +// }, 0.001); + // Check the old rotation against the known value + assertArrayEquals(new double []{ + 0, + 0, + Math.toRadians(rotationAngleDegrees) + }, new double []{ + oldRot.getRotationAzimuth(), + oldRot.getRotationElevation(), + oldRot.getRotationTilt() + }, 0.001); + // Check the new rotation against the known value + assertArrayEquals(new double []{ + 0, + 0, + Math.toRadians(rotationAngleDegrees) + }, new double []{ + newRot.getRotationAzimuth(), + newRot.getRotationElevation(), + newRot.getRotationTilt() + }, 0.001); + } + // frame(); + // frame2(); + System.out.println("Frame test passed with " + ro); + //return; + } + } + } } From 144138e7a2977335c39f24dc36027601c6046888 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 29 Dec 2016 14:48:10 -0500 Subject: [PATCH 123/482] moving the legacy code into its own class for comparison uses --- .../kinematics/math/RotationNRLegacy.java | 657 ++++++++++++++++++ 1 file changed, 657 insertions(+) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java new file mode 100644 index 00000000..d4f15caf --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java @@ -0,0 +1,657 @@ +package com.neuronrobotics.sdk.addons.kinematics.math; + +import com.neuronrobotics.sdk.common.Log; + +import Jama.Matrix; + +// TODO: Auto-generated Javadoc +/** + * This class is to represent a 3x3 rotation sub-matrix This class also contains + * static methods for dealing with 3x3 rotations. + * + * @author Kevin Harrington + * + */ + +public class RotationNRLegacy { + + /** The rotation matrix. */ + double[][] rotationMatrix = new double[][] { { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 } }; + + /** + * Null constructor forms a. + */ + public RotationNRLegacy() { + } + + /** + * Instantiates a new rotation nr. + * + * @param elevation + * the elevation + * @param tilt + * the tilt + * @param azumeth + * the azumeth + */ + // create a new object with the given simplified rotations + public RotationNRLegacy(double tilt, double elevation, double azumeth) { + if (Double.isNaN(tilt)) + throw new NumberFormatException("Value can not be NaN"); + if (Double.isNaN(azumeth)) + throw new NumberFormatException("Value can not be NaN"); + if (Double.isNaN(elevation)) + throw new NumberFormatException("Value can not be NaN"); + if (elevation >= 90 || elevation <= -90) + throw new NumberFormatException("Elevation must be between 90 and -90"); + loadFromAngles(tilt, azumeth, elevation); + if (Double.isNaN(getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotationMatrix2QuaturnionX()) + || Double.isNaN(getRotationMatrix2QuaturnionY()) || Double.isNaN(getRotationMatrix2QuaturnionZ())) { + // System.err.println("Failing to set proper angle, jittering"); + loadFromAngles(tilt + Math.random() * .02 + .001, azumeth + Math.random() * .02 + .001, + elevation + Math.random() * .02 + .001); + } + + } + + private void loadFromAngles(double tilt, double azumeth, double elevation) { + double attitude = Math.toRadians(elevation); + double heading = Math.toRadians(azumeth); + double bank = Math.toRadians(tilt); + double w, x, y, z; + // Assuming the angles are in radians. + double c1 = Math.cos(heading / 2); + // if(Double.isNaN(c1)) + // + double s1 = Math.sin(heading / 2); + double c2 = Math.cos(attitude / 2); + double s2 = Math.sin(attitude / 2); + double c3 = Math.cos(bank / 2); + double s3 = Math.sin(bank / 2); + double c1c2 = c1 * c2; + double s1s2 = s1 * s2; + // System.out.println("C1 ="+c1+" S1 ="+s1+" |C2 ="+c2+" S2 ="+s2+" |C3 + // ="+c3+" S3 ="+s3); + w = c1c2 * c3 - s1s2 * s3; + x = c1c2 * s3 + s1s2 * c3; + y = s1 * c2 * c3 + c1 * s2 * s3; + z = c1 * s2 * c3 - s1 * c2 * s3; + // System.out.println("W ="+w+" x ="+x+" y ="+y+" z ="+z); + quaternion2RotationMatrix(w, x, y, z); + } + + /** + * Instantiates a new rotation nr. + * + * @param rotationMatrix + * the rotation matrix + */ + public RotationNRLegacy(double[][] rotationMatrix) { + loadRotations(rotationMatrix); + } + + /** + * Instantiates a new rotation nr. + * + * @param values + * the values + */ + public RotationNRLegacy(double[] values) { + this(values[0], values[1], values[2], values[3]); + } + + /** + * Get a rotation matrix with a rotation around X. + * + * @param rotationAngleDegrees + * in degrees + * @return the static matrix + */ + public static RotationNRLegacy getRotationX(double rotationAngleDegrees) { + double[][] rotation = new double[3][3]; + double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; + + // Rotation matrix, 1st column + rotation[0][0] = 1; + rotation[1][0] = 0; + rotation[2][0] = 0; + // Rotation matrix, 2nd column + rotation[0][1] = 0; + rotation[1][1] = Math.cos(rotationAngleRadians); + rotation[2][1] = Math.sin(rotationAngleRadians); + // Rotation matrix, 3rd column + rotation[0][2] = 0; + rotation[1][2] = -Math.sin(rotationAngleRadians); + rotation[2][2] = Math.cos(rotationAngleRadians); + + return new RotationNRLegacy(rotation); + } + + /** + * Get a rotation matrix with a rotation around Y. + * + * @param rotationAngleDegrees + * in degrees + * @return the static matrix + */ + public static RotationNRLegacy getRotationY(double rotationAngleDegrees) { + double[][] rotation = new double[3][3]; + double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; + + // Rotation matrix, 1st column + rotation[0][0] = Math.cos(rotationAngleRadians); + rotation[1][0] = 0; + rotation[2][0] = -Math.sin(rotationAngleRadians); + // Rotation matrix, 2nd column + rotation[0][1] = 0; + rotation[1][1] = 1; + rotation[2][1] = 0; + // Rotation matrix, 3rd column + rotation[0][2] = Math.sin(rotationAngleRadians); + rotation[1][2] = 0; + rotation[2][2] = Math.cos(rotationAngleRadians); + + return new RotationNRLegacy(rotation); + } + + /** + * Get a rotation matrix with a rotation around Z. + * + * @param rotationAngleDegrees + * in degrees + * @return the static matrix + */ + public static RotationNRLegacy getRotationZ(double rotationAngleDegrees) { + double[][] rotation = new double[3][3]; + double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; + + // Rotation matrix, 1st column + rotation[0][0] = Math.cos(rotationAngleRadians); + rotation[1][0] = Math.sin(rotationAngleRadians); + rotation[2][0] = 0; + // Rotation matrix, 2nd column + rotation[0][1] = -Math.sin(rotationAngleRadians); + rotation[1][1] = Math.cos(rotationAngleRadians); + rotation[2][1] = 0; + // Rotation matrix, 3rd column + rotation[0][2] = 0; + rotation[1][2] = 0; + rotation[2][2] = 1; + + return new RotationNRLegacy(rotation); + } + + /** + * Instantiates a new rotation nr. + * + * @param w + * the w + * @param x + * the x + * @param y + * the y + * @param z + * the z + */ + // create a new object with the given components + public RotationNRLegacy(double w, double x, double y, double z) { + quaternion2RotationMatrix(w, x, y, z); + } + + /** + * Instantiates a new rotation nr. + * + * @param m + * the m + */ + public RotationNRLegacy(Matrix m) { + double[][] rotation = new double[3][3]; + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + rotation[i][j] = m.get(i, j); + } + } + loadRotations(rotation); + } + + /** + * Load rotations. + * + * @param rotM + * the rot m + */ + private void loadRotations(double[][] rotM) { + if (rotM.length != 3) + throw new RuntimeException("Must be 3x3 rotation matrix"); + for (int i = 0; i < 3; i++) { + if (rotM[i].length != 3) { + throw new RuntimeException("Must be 3x3 rotation matrix"); + } + } + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + // if(rotM[i][j]>1){ + // rotM[i][j]=0;//normalization + // } + rotationMatrix[i][j] = rotM[i][j]; + } + } + } + + /** + * Gets the rotation matrix. + * + * @return the rotation matrix + */ + public double[][] getRotationMatrix() { + double[][] b = new double[3][3]; + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + b[i][j] = rotationMatrix[i][j]; + } + } + return b; + } + + /* + * (non-Javadoc) + * + * @see java.lang.Object#toString() + */ + // return a string representation of the invoking object + public String toString() { + String s = "[\n"; + double[][] m = getRotationMatrix(); + for (int i = 0; i < 3; i++) { + s += "[ "; + for (int j = 0; j < 3; j++) { + s += m[i][j] + "\t\t"; + } + s += " ]\n"; + } + s += "]"; + return "Quaturnion: " + "W=" + getRotationMatrix2QuaturnionW() + ", " + "x=" + getRotationMatrix2QuaturnionX() + + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\t" + + "Rotation angle (degrees): " + "Azimuth=" + getRotationAzimuth() + ", " + "Elevation=" + getRotationElevation() + ", " + "Tilt=" + + getRotationTilt() + ""; + } + + /** + * To string. + * + * @param array + * the array + * @return the string + */ + // return a string representation of the invoking object + public String toString(double[][] array) { + String s = "[\n"; + for (int i = 0; i < 3; i++) { + s += "[ "; + for (int j = 0; j < 3; j++) { + s += array[i][j] + "\t\t"; + } + s += " ]\n"; + } + s += "]"; + return "Matrix = " + s; + } + + /** + * Quaternion2 rotation matrix. + * + * @param w + * the w + * @param x + * the x + * @param y + * the y + * @param z + * the z + */ + protected void quaternion2RotationMatrix(double w, double x, double y, double z) { + if (Double.isNaN(w)) + throw new NumberFormatException("Value can not be NaN"); + if (Double.isNaN(x)) + throw new NumberFormatException("Value can not be NaN"); + if (Double.isNaN(y)) + throw new NumberFormatException("Value can not be NaN"); + if (Double.isNaN(z)) + throw new NumberFormatException("Value can not be NaN"); + double norm = Math.sqrt(w * w + x * x + y * y + z * z); + // we explicitly test norm against one here, saving a division + // at the cost of a test and branch. Is it worth it? + double s = (norm == 1f) ? 2f : (norm > 0f) ? 2f / norm : 0; + // compute xs/ys/zs first to save 6 multiplications, since xs/ys/zs + // will be used 2-4 times each. + double xs = x * s; + double ys = y * s; + double zs = z * s; + double xx = x * xs; + double xy = x * ys; + double xz = x * zs; + double xw = w * xs; + double yy = y * ys; + double yz = y * zs; + double yw = w * ys; + double zz = z * zs; + double zw = w * zs; + + // using s=2/norm (instead of 1/norm) saves 9 multiplications by 2 here + rotationMatrix[0][0] = 1 - (yy + zz); + rotationMatrix[0][1] = (xy - zw); + rotationMatrix[0][2] = (xz + yw); + + rotationMatrix[1][0] = (xy + zw); + rotationMatrix[1][1] = 1 - (xx + zz); + rotationMatrix[1][2] = (yz - xw); + + rotationMatrix[2][0] = (xz - yw); + rotationMatrix[2][1] = (yz + xw); + rotationMatrix[2][2] = 1 - (xx + yy); + + toString(rotationMatrix); + } + + // /** + // * This requires a pure rotation matrix 'm' as input. from + // * + // http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/ + // * + // * @return the double[] + // */ + // public double[] toAxisAngle() { + // double angle, x, y, z; // variables for result + // double epsilon = 0.01; // margin to allow for rounding errors + // double epsilon2 = 0.1; // margin to distinguish between 0 and 180 + // // degrees + // // optional check that input is pure rotation, 'isRotationMatrix' is + // // defined at: + // // + // http://www.euclideanspace.com/maths/algebra/matrix/orthogonal/rotation/ + // if (((Math.abs(rotationMatrix[0][1]) - Math.abs(rotationMatrix[1][0])) < + // epsilon) + // && ((Math.abs(rotationMatrix[0][2]) - Math.abs(rotationMatrix[2][0])) < + // epsilon) + // && ((Math.abs(rotationMatrix[1][2]) - Math.abs(rotationMatrix[2][1])) < + // epsilon)) { + // // singularity found + // // first check for identity matrix which must have +1 for all terms + // // in leading diagonaland zero in other terms + // if ((Math.abs(rotationMatrix[0][1]) + Math.abs(rotationMatrix[1][0])) < + // epsilon2 + // && (Math.abs(rotationMatrix[0][2]) + Math.abs(rotationMatrix[2][0])) < + // epsilon2 + // && (Math.abs(rotationMatrix[1][2]) + Math.abs(rotationMatrix[2][1])) < + // epsilon2 + // && (Math.abs(rotationMatrix[0][0]) + Math.abs(rotationMatrix[1][1]) + + // Math.abs(rotationMatrix[2][2]) + // - 3) < epsilon2) { + // // this singularity is identity matrix so angle = 0 + // return new double[] { 0, 1, 0, 0 }; // zero angle, arbitrary + // // axis + // } + // // otherwise this singularity is angle = 180 + // angle = Math.PI; + // double xx = (rotationMatrix[0][0] + 1) / 2; + // double yy = (rotationMatrix[1][1] + 1) / 2; + // double zz = (rotationMatrix[2][2] + 1) / 2; + // double xy = (rotationMatrix[0][1] + rotationMatrix[1][0]) / 4; + // double xz = (rotationMatrix[0][2] + rotationMatrix[2][0]) / 4; + // double yz = (rotationMatrix[1][2] + rotationMatrix[2][1]) / 4; + // if ((xx > yy) && (xx > zz)) { // m[0][0] is the largest diagonal + // // term + // if (xx < epsilon) { + // x = 0; + // y = 0.7071; + // z = 0.7071; + // } else { + // x = Math.sqrt(xx); + // y = xy / x; + // z = xz / x; + // } + // } else if (yy > zz) { // m[1][1] is the largest diagonal term + // if (yy < epsilon) { + // x = 0.7071; + // y = 0; + // z = 0.7071; + // } else { + // y = Math.sqrt(yy); + // x = xy / y; + // z = yz / y; + // } + // } else { // m[2][2] is the largest diagonal term so base result on + // // this + // if (zz < epsilon) { + // x = 0.7071; + // y = 0.7071; + // z = 0; + // } else { + // z = Math.sqrt(zz); + // x = xz / z; + // y = yz / z; + // } + // } + // return new double[] { angle, x, y, z }; // return 180 deg rotation + // } + // // as we have reached here there are no singularities so we can handle + // // normally + // double s = Math + // .sqrt((rotationMatrix[2][1] - rotationMatrix[1][2]) * + // (rotationMatrix[2][1] - rotationMatrix[1][2]) + // + (rotationMatrix[0][2] - rotationMatrix[2][0]) * (rotationMatrix[0][2] - + // rotationMatrix[2][0]) + // + (rotationMatrix[1][0] - rotationMatrix[0][1]) + // * (rotationMatrix[1][0] - rotationMatrix[0][1])); // used + // // to + // // normalise + // if (Math.abs(s) < 0.001) + // s = 1; + // // prevent divide by zero, should not happen if matrix is orthogonal and + // // should be + // // caught by singularity test above, but I've left it in just in case + // angle = Math.acos((rotationMatrix[0][0] + rotationMatrix[1][1] + + // rotationMatrix[2][2] - 1) / 2); + // x = (rotationMatrix[2][1] - rotationMatrix[1][2]) / s; + // y = (rotationMatrix[0][2] - rotationMatrix[2][0]) / s; + // z = (rotationMatrix[1][0] - rotationMatrix[0][1]) / s; + // return new double[] { angle, x, y, z }; + // } + + /** + * Bound. + * + * @param low + * the low + * @param high + * the high + * @param n + * the n + * @return true, if successful + */ + public static boolean bound(double low, double high, double n) { + return n >= low && n <= high; + } + + /** + * Gets the rot angle. + * + * @param index + * the index + * @return the rot angle + */ + private double getRotAngle(int index) { + double w, x, y, z, tilt, elev, azumeth; + w = getRotationMatrix2QuaturnionW(); + x = getRotationMatrix2QuaturnionX(); + y = getRotationMatrix2QuaturnionY(); + z = getRotationMatrix2QuaturnionZ(); + double sqw = w * w; + double sqx = x * x; + double sqy = y * y; + double sqz = z * z; + double unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise + // is correction factor + double test = x * y + z * w; + double testingValue = (0.5 - Double.MIN_VALUE) * unit;// this is a far + // more robust + // bound + // checking + // using the + // min value of + // the data type + if (test > testingValue) { // singularity at north pole + Log.warning("North pole singularity "); + elev = 2 * Math.atan2(x, w); + azumeth = Math.PI / 2; + tilt = 0; + + } else if (test < -testingValue) { // singularity at south pole + Log.warning("South pole singularity"); + elev = -2 * Math.atan2(x, w); + azumeth = -Math.PI / 2; + tilt = 0; + + } else { + elev = Math.atan2(2 * y * w - 2 * x * z, sqx - sqy - sqz + sqw); + azumeth = Math.asin(2 * test / unit); + tilt = Math.atan2(2 * x * w - 2 * y * z, -sqx + sqy - sqz + sqw); + } + + switch (index) { + case 0: + return tilt; + case 1: + return elev; + case 2: + return azumeth; + default: + return 0; + } + + } + + // public double getRotationBank() { + // + // return getRotAngle(0) ; + // + // } + + // public double getRotationAttitude() { + // + // return getRotAngle(2); + // } + // + // public double getRotationHeading() { + // + // return getRotAngle(1) ; + // } + + /** + * Gets the rotation tilt. + * + * @return the rotation tilt + */ + public double getRotationTilt() { + + return getRotAngle(0); + + } + + /** + * Gets the rotation elevation. + * + * @return the rotation elevation + */ + public double getRotationElevation() { + + return getRotAngle(1); + } + + /** + * Gets the rotation azimuth. + * + * @return the rotation azimuth + */ + public double getRotationAzimuth() { + + return getRotAngle(2); + } + + /** + * Gets the rotation x. + * + * @return the rotation x + */ +// @Deprecated // use getRotationBank() +// public double getRotationX() { +// +// return getRotAngle(0); +// +// } + + /** + * Gets the rotation y. + * + * @return the rotation y + */ +// @Deprecated // use getRotationAttitude() +// public double getRotationY() { +// +// return getRotAngle(2); +// } + + /** + * Gets the rotation z. + * + * @return the rotation z + */ +// @Deprecated // use getRotationHeading() +// public double getRotationZ() { +// +// return getRotAngle(1); +// } + + /** + * Gets the rotation matrix2 quaturnion w. + * + * @return the rotation matrix2 quaturnion w + */ + public double getRotationMatrix2QuaturnionW() { + double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); + if (temp > 1) + throw new RuntimeException("Matrix needs normalization"); + return temp; + } + + /** + * Gets the rotation matrix2 quaturnion x. + * + * @return the rotation matrix2 quaturnion x + */ + public double getRotationMatrix2QuaturnionX() { + double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); + return (rotationMatrix[2][1] - rotationMatrix[1][2]) * 0.25 / temp; + } + + /** + * Gets the rotation matrix2 quaturnion y. + * + * @return the rotation matrix2 quaturnion y + */ + public double getRotationMatrix2QuaturnionY() { + double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); + return (rotationMatrix[0][2] - rotationMatrix[2][0]) * 0.25 / temp; + } + + /** + * Gets the rotation matrix2 quaturnion z. + * + * @return the rotation matrix2 quaturnion z + */ + public double getRotationMatrix2QuaturnionZ() { + double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); + return (rotationMatrix[1][0] - rotationMatrix[0][1]) * 0.25 / temp; + } + +} \ No newline at end of file From 6cd40df3ea0a27b89da7f6f2ba9253e6bc337934 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 29 Dec 2016 14:59:22 -0500 Subject: [PATCH 124/482] Updated the RotationNR class This class now uses the internal representation of the rotation using the apache math3 Rotation class. #29 --- .../addons/kinematics/math/RotationNR.java | 376 +++------------- .../kinematics/math/RotationNRWrapper.java | 411 ------------------ .../utilities/RotationNRTest.java | 107 ++--- 3 files changed, 122 insertions(+), 772 deletions(-) delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRWrapper.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 6c2ad90c..967402ac 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -1,8 +1,11 @@ package com.neuronrobotics.sdk.addons.kinematics.math; -import com.neuronrobotics.sdk.common.Log; - import Jama.Matrix; +import org.apache.commons.math3.geometry.euclidean.threed.Rotation; +import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention; +import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder; + +import com.neuronrobotics.sdk.common.Log; // TODO: Auto-generated Javadoc /** @@ -16,8 +19,10 @@ public class RotationNR { /** The rotation matrix. */ - double[][] rotationMatrix = new double[][] { { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 } }; - + //double[][] rotationMatrix = ; + private Rotation storage=new Rotation(1,0,0,0,false); + private static RotationOrder order = RotationOrder.XYZ; + private static RotationConvention convention = RotationConvention.VECTOR_OPERATOR; /** * Null constructor forms a. */ @@ -35,50 +40,26 @@ public RotationNR() { * the azumeth */ // create a new object with the given simplified rotations - public RotationNR(double tilt, double elevation, double azumeth) { + public RotationNR(double tilt, double azumeth, double elevation) { if (Double.isNaN(tilt)) - throw new NumberFormatException("Value can not be NaN"); + throw new RuntimeException("Value can not be NaN"); if (Double.isNaN(azumeth)) - throw new NumberFormatException("Value can not be NaN"); + throw new RuntimeException("Value can not be NaN"); if (Double.isNaN(elevation)) - throw new NumberFormatException("Value can not be NaN"); - if (elevation >= 90 || elevation <= -90) - throw new NumberFormatException("Elevation must be between 90 and -90"); + throw new RuntimeException("Value can not be NaN"); + if(elevation >90 || elevation <-90){ + throw new RuntimeException("Elevation can not be greater than 90 nor less than -90"); + } loadFromAngles(tilt, azumeth, elevation); if (Double.isNaN(getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotationMatrix2QuaturnionX()) || Double.isNaN(getRotationMatrix2QuaturnionY()) || Double.isNaN(getRotationMatrix2QuaturnionZ())) { - // System.err.println("Failing to set proper angle, jittering"); + Log.error("Failing to set proper angle, jittering"); loadFromAngles(tilt + Math.random() * .02 + .001, azumeth + Math.random() * .02 + .001, elevation + Math.random() * .02 + .001); } } - private void loadFromAngles(double tilt, double azumeth, double elevation) { - double attitude = Math.toRadians(elevation); - double heading = Math.toRadians(azumeth); - double bank = Math.toRadians(tilt); - double w, x, y, z; - // Assuming the angles are in radians. - double c1 = Math.cos(heading / 2); - // if(Double.isNaN(c1)) - // - double s1 = Math.sin(heading / 2); - double c2 = Math.cos(attitude / 2); - double s2 = Math.sin(attitude / 2); - double c3 = Math.cos(bank / 2); - double s3 = Math.sin(bank / 2); - double c1c2 = c1 * c2; - double s1s2 = s1 * s2; - // System.out.println("C1 ="+c1+" S1 ="+s1+" |C2 ="+c2+" S2 ="+s2+" |C3 - // ="+c3+" S3 ="+s3); - w = c1c2 * c3 - s1s2 * s3; - x = c1c2 * s3 + s1s2 * c3; - y = s1 * c2 * c3 + c1 * s2 * s3; - z = c1 * s2 * c3 - s1 * c2 * s3; - // System.out.println("W ="+w+" x ="+x+" y ="+y+" z ="+z); - quaternion2RotationMatrix(w, x, y, z); - } /** * Instantiates a new rotation nr. @@ -228,14 +209,7 @@ private void loadRotations(double[][] rotM) { throw new RuntimeException("Must be 3x3 rotation matrix"); } } - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - // if(rotM[i][j]>1){ - // rotM[i][j]=0;//normalization - // } - rotationMatrix[i][j] = rotM[i][j]; - } - } + setStorage(new Rotation(rotM, 0.00001)); } /** @@ -244,13 +218,8 @@ private void loadRotations(double[][] rotM) { * @return the rotation matrix */ public double[][] getRotationMatrix() { - double[][] b = new double[3][3]; - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - b[i][j] = rotationMatrix[i][j]; - } - } - return b; + + return getStorage().getMatrix(); } /* @@ -271,8 +240,8 @@ public String toString() { } s += "]"; return "Quaturnion: " + "W=" + getRotationMatrix2QuaturnionW() + ", " + "x=" + getRotationMatrix2QuaturnionX() - + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\t" - + "Rotation angle (degrees): " + "Azimuth=" + getRotationAzimuth() + ", " + "Elevation=" + getRotationElevation() + ", " + "Tilt=" + + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\n" + + "Rotation angle (degrees): " + "az=" + getRotationAzimuth() + ", " + "elev=" + getRotationElevation() + ", " + " tilt=" + getRotationTilt() + ""; } @@ -311,153 +280,17 @@ public String toString(double[][] array) { */ protected void quaternion2RotationMatrix(double w, double x, double y, double z) { if (Double.isNaN(w)) - throw new NumberFormatException("Value can not be NaN"); + throw new RuntimeException("Value can not be NaN"); if (Double.isNaN(x)) - throw new NumberFormatException("Value can not be NaN"); + throw new RuntimeException("Value can not be NaN"); if (Double.isNaN(y)) - throw new NumberFormatException("Value can not be NaN"); + throw new RuntimeException("Value can not be NaN"); if (Double.isNaN(z)) - throw new NumberFormatException("Value can not be NaN"); - double norm = Math.sqrt(w * w + x * x + y * y + z * z); - // we explicitly test norm against one here, saving a division - // at the cost of a test and branch. Is it worth it? - double s = (norm == 1f) ? 2f : (norm > 0f) ? 2f / norm : 0; - // compute xs/ys/zs first to save 6 multiplications, since xs/ys/zs - // will be used 2-4 times each. - double xs = x * s; - double ys = y * s; - double zs = z * s; - double xx = x * xs; - double xy = x * ys; - double xz = x * zs; - double xw = w * xs; - double yy = y * ys; - double yz = y * zs; - double yw = w * ys; - double zz = z * zs; - double zw = w * zs; - - // using s=2/norm (instead of 1/norm) saves 9 multiplications by 2 here - rotationMatrix[0][0] = 1 - (yy + zz); - rotationMatrix[0][1] = (xy - zw); - rotationMatrix[0][2] = (xz + yw); - - rotationMatrix[1][0] = (xy + zw); - rotationMatrix[1][1] = 1 - (xx + zz); - rotationMatrix[1][2] = (yz - xw); - - rotationMatrix[2][0] = (xz - yw); - rotationMatrix[2][1] = (yz + xw); - rotationMatrix[2][2] = 1 - (xx + yy); - - toString(rotationMatrix); + throw new RuntimeException("Value can not be NaN"); + setStorage(new Rotation(w, x, y,-z, true)); } - // /** - // * This requires a pure rotation matrix 'm' as input. from - // * - // http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle/ - // * - // * @return the double[] - // */ - // public double[] toAxisAngle() { - // double angle, x, y, z; // variables for result - // double epsilon = 0.01; // margin to allow for rounding errors - // double epsilon2 = 0.1; // margin to distinguish between 0 and 180 - // // degrees - // // optional check that input is pure rotation, 'isRotationMatrix' is - // // defined at: - // // - // http://www.euclideanspace.com/maths/algebra/matrix/orthogonal/rotation/ - // if (((Math.abs(rotationMatrix[0][1]) - Math.abs(rotationMatrix[1][0])) < - // epsilon) - // && ((Math.abs(rotationMatrix[0][2]) - Math.abs(rotationMatrix[2][0])) < - // epsilon) - // && ((Math.abs(rotationMatrix[1][2]) - Math.abs(rotationMatrix[2][1])) < - // epsilon)) { - // // singularity found - // // first check for identity matrix which must have +1 for all terms - // // in leading diagonaland zero in other terms - // if ((Math.abs(rotationMatrix[0][1]) + Math.abs(rotationMatrix[1][0])) < - // epsilon2 - // && (Math.abs(rotationMatrix[0][2]) + Math.abs(rotationMatrix[2][0])) < - // epsilon2 - // && (Math.abs(rotationMatrix[1][2]) + Math.abs(rotationMatrix[2][1])) < - // epsilon2 - // && (Math.abs(rotationMatrix[0][0]) + Math.abs(rotationMatrix[1][1]) + - // Math.abs(rotationMatrix[2][2]) - // - 3) < epsilon2) { - // // this singularity is identity matrix so angle = 0 - // return new double[] { 0, 1, 0, 0 }; // zero angle, arbitrary - // // axis - // } - // // otherwise this singularity is angle = 180 - // angle = Math.PI; - // double xx = (rotationMatrix[0][0] + 1) / 2; - // double yy = (rotationMatrix[1][1] + 1) / 2; - // double zz = (rotationMatrix[2][2] + 1) / 2; - // double xy = (rotationMatrix[0][1] + rotationMatrix[1][0]) / 4; - // double xz = (rotationMatrix[0][2] + rotationMatrix[2][0]) / 4; - // double yz = (rotationMatrix[1][2] + rotationMatrix[2][1]) / 4; - // if ((xx > yy) && (xx > zz)) { // m[0][0] is the largest diagonal - // // term - // if (xx < epsilon) { - // x = 0; - // y = 0.7071; - // z = 0.7071; - // } else { - // x = Math.sqrt(xx); - // y = xy / x; - // z = xz / x; - // } - // } else if (yy > zz) { // m[1][1] is the largest diagonal term - // if (yy < epsilon) { - // x = 0.7071; - // y = 0; - // z = 0.7071; - // } else { - // y = Math.sqrt(yy); - // x = xy / y; - // z = yz / y; - // } - // } else { // m[2][2] is the largest diagonal term so base result on - // // this - // if (zz < epsilon) { - // x = 0.7071; - // y = 0.7071; - // z = 0; - // } else { - // z = Math.sqrt(zz); - // x = xz / z; - // y = yz / z; - // } - // } - // return new double[] { angle, x, y, z }; // return 180 deg rotation - // } - // // as we have reached here there are no singularities so we can handle - // // normally - // double s = Math - // .sqrt((rotationMatrix[2][1] - rotationMatrix[1][2]) * - // (rotationMatrix[2][1] - rotationMatrix[1][2]) - // + (rotationMatrix[0][2] - rotationMatrix[2][0]) * (rotationMatrix[0][2] - - // rotationMatrix[2][0]) - // + (rotationMatrix[1][0] - rotationMatrix[0][1]) - // * (rotationMatrix[1][0] - rotationMatrix[0][1])); // used - // // to - // // normalise - // if (Math.abs(s) < 0.001) - // s = 1; - // // prevent divide by zero, should not happen if matrix is orthogonal and - // // should be - // // caught by singularity test above, but I've left it in just in case - // angle = Math.acos((rotationMatrix[0][0] + rotationMatrix[1][1] + - // rotationMatrix[2][2] - 1) / 2); - // x = (rotationMatrix[2][1] - rotationMatrix[1][2]) / s; - // y = (rotationMatrix[0][2] - rotationMatrix[2][0]) / s; - // z = (rotationMatrix[1][0] - rotationMatrix[0][1]) / s; - // return new double[] { angle, x, y, z }; - // } - + /** * Bound. * @@ -473,79 +306,16 @@ public static boolean bound(double low, double high, double n) { return n >= low && n <= high; } - /** - * Gets the rot angle. - * - * @param index - * the index - * @return the rot angle - */ - private double getRotAngle(int index) { - double w, x, y, z, tilt, elev, azumeth; - w = getRotationMatrix2QuaturnionW(); - x = getRotationMatrix2QuaturnionX(); - y = getRotationMatrix2QuaturnionY(); - z = getRotationMatrix2QuaturnionZ(); - double sqw = w * w; - double sqx = x * x; - double sqy = y * y; - double sqz = z * z; - double unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise - // is correction factor - double test = x * y + z * w; - double testingValue = (0.5 - Double.MIN_VALUE) * unit;// this is a far - // more robust - // bound - // checking - // using the - // min value of - // the data type - if (test > testingValue) { // singularity at north pole - Log.warning("North pole singularity "); - elev = 2 * Math.atan2(x, w); - azumeth = Math.PI / 2; - tilt = 0; - - } else if (test < -testingValue) { // singularity at south pole - Log.warning("South pole singularity"); - elev = -2 * Math.atan2(x, w); - azumeth = -Math.PI / 2; - tilt = 0; - - } else { - elev = Math.atan2(2 * y * w - 2 * x * z, sqx - sqy - sqz + sqw); - azumeth = Math.asin(2 * test / unit); - tilt = Math.atan2(2 * x * w - 2 * y * z, -sqx + sqy - sqz + sqw); - } - switch (index) { - case 0: - return tilt; - case 1: - return elev; - case 2: - return azumeth; - default: - return 0; - } + private void loadFromAngles(double tilt, double azumeth, double elevation) { + setStorage(new Rotation(getOrder(), getConvention(), + Math.toRadians(tilt), + Math.toRadians(elevation), + Math.toRadians(azumeth) + )); } - // public double getRotationBank() { - // - // return getRotAngle(0) ; - // - // } - - // public double getRotationAttitude() { - // - // return getRotAngle(2); - // } - // - // public double getRotationHeading() { - // - // return getRotAngle(1) ; - // } /** * Gets the rotation tilt. @@ -554,7 +324,7 @@ private double getRotAngle(int index) { */ public double getRotationTilt() { - return getRotAngle(0); + return getStorage().getAngles(getOrder(), getConvention())[0]; } @@ -565,7 +335,7 @@ public double getRotationTilt() { */ public double getRotationElevation() { - return getRotAngle(1); + return getStorage().getAngles(getOrder(), getConvention())[1]; } /** @@ -575,53 +345,16 @@ public double getRotationElevation() { */ public double getRotationAzimuth() { - return getRotAngle(2); + return getStorage().getAngles(getOrder(), getConvention())[2]; } - /** - * Gets the rotation x. - * - * @return the rotation x - */ -// @Deprecated // use getRotationBank() -// public double getRotationX() { -// -// return getRotAngle(0); -// -// } - - /** - * Gets the rotation y. - * - * @return the rotation y - */ -// @Deprecated // use getRotationAttitude() -// public double getRotationY() { -// -// return getRotAngle(2); -// } - - /** - * Gets the rotation z. - * - * @return the rotation z - */ -// @Deprecated // use getRotationHeading() -// public double getRotationZ() { -// -// return getRotAngle(1); -// } - /** * Gets the rotation matrix2 quaturnion w. * * @return the rotation matrix2 quaturnion w */ public double getRotationMatrix2QuaturnionW() { - double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); - if (temp > 1) - throw new RuntimeException("Matrix needs normalization"); - return temp; + return getStorage().getQ0(); } /** @@ -630,8 +363,7 @@ public double getRotationMatrix2QuaturnionW() { * @return the rotation matrix2 quaturnion x */ public double getRotationMatrix2QuaturnionX() { - double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); - return (rotationMatrix[2][1] - rotationMatrix[1][2]) * 0.25 / temp; + return getStorage().getQ1(); } /** @@ -640,8 +372,7 @@ public double getRotationMatrix2QuaturnionX() { * @return the rotation matrix2 quaturnion y */ public double getRotationMatrix2QuaturnionY() { - double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); - return (rotationMatrix[0][2] - rotationMatrix[2][0]) * 0.25 / temp; + return getStorage().getQ2(); } /** @@ -650,8 +381,31 @@ public double getRotationMatrix2QuaturnionY() { * @return the rotation matrix2 quaturnion z */ public double getRotationMatrix2QuaturnionZ() { - double temp = 0.5 * Math.sqrt(1 + rotationMatrix[0][0] + rotationMatrix[1][1] + rotationMatrix[2][2]); - return (rotationMatrix[1][0] - rotationMatrix[0][1]) * 0.25 / temp; + return -getStorage().getQ3(); + } + + public static RotationOrder getOrder() { + return order; + } + + public static void setOrder(RotationOrder o) { + order = o; + } + + public static RotationConvention getConvention() { + return convention; + } + + public static void setConvention(RotationConvention convention) { + RotationNR.convention = convention; + } + + public Rotation getStorage() { + return storage; + } + + public void setStorage(Rotation storage) { + this.storage = storage; } } \ No newline at end of file diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRWrapper.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRWrapper.java deleted file mode 100644 index 67387603..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRWrapper.java +++ /dev/null @@ -1,411 +0,0 @@ -package com.neuronrobotics.sdk.addons.kinematics.math; - -import Jama.Matrix; -import org.apache.commons.math3.geometry.euclidean.threed.Rotation; -import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention; -import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder; - -import com.neuronrobotics.sdk.common.Log; - -// TODO: Auto-generated Javadoc -/** - * This class is to represent a 3x3 rotation sub-matrix This class also contains - * static methods for dealing with 3x3 rotations. - * - * @author Kevin Harrington - * - */ - -public class RotationNRWrapper { - - /** The rotation matrix. */ - //double[][] rotationMatrix = ; - private Rotation storage=new Rotation(1,0,0,0,false); - private static RotationOrder order = RotationOrder.XYZ; - private static RotationConvention convention = RotationConvention.VECTOR_OPERATOR; - /** - * Null constructor forms a. - */ - public RotationNRWrapper() { - } - - /** - * Instantiates a new rotation nr. - * - * @param elevation - * the elevation - * @param tilt - * the tilt - * @param azumeth - * the azumeth - */ - // create a new object with the given simplified rotations - public RotationNRWrapper(double tilt, double azumeth, double elevation) { - if (Double.isNaN(tilt)) - throw new RuntimeException("Value can not be NaN"); - if (Double.isNaN(azumeth)) - throw new RuntimeException("Value can not be NaN"); - if (Double.isNaN(elevation)) - throw new RuntimeException("Value can not be NaN"); - if(elevation >90 || elevation <-90){ - throw new RuntimeException("Elevation can not be greater than 90 nor less than -90"); - } - loadFromAngles(tilt, azumeth, elevation); - if (Double.isNaN(getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotationMatrix2QuaturnionX()) - || Double.isNaN(getRotationMatrix2QuaturnionY()) || Double.isNaN(getRotationMatrix2QuaturnionZ())) { - Log.error("Failing to set proper angle, jittering"); - loadFromAngles(tilt + Math.random() * .02 + .001, azumeth + Math.random() * .02 + .001, - elevation + Math.random() * .02 + .001); - } - - } - - - /** - * Instantiates a new rotation nr. - * - * @param rotationMatrix - * the rotation matrix - */ - public RotationNRWrapper(double[][] rotationMatrix) { - loadRotations(rotationMatrix); - } - - /** - * Instantiates a new rotation nr. - * - * @param values - * the values - */ - public RotationNRWrapper(double[] values) { - this(values[0], values[1], values[2], values[3]); - } - - /** - * Get a rotation matrix with a rotation around X. - * - * @param rotationAngleDegrees - * in degrees - * @return the static matrix - */ - public static RotationNRWrapper getRotationX(double rotationAngleDegrees) { - double[][] rotation = new double[3][3]; - double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; - - // Rotation matrix, 1st column - rotation[0][0] = 1; - rotation[1][0] = 0; - rotation[2][0] = 0; - // Rotation matrix, 2nd column - rotation[0][1] = 0; - rotation[1][1] = Math.cos(rotationAngleRadians); - rotation[2][1] = Math.sin(rotationAngleRadians); - // Rotation matrix, 3rd column - rotation[0][2] = 0; - rotation[1][2] = -Math.sin(rotationAngleRadians); - rotation[2][2] = Math.cos(rotationAngleRadians); - - return new RotationNRWrapper(rotation); - } - - /** - * Get a rotation matrix with a rotation around Y. - * - * @param rotationAngleDegrees - * in degrees - * @return the static matrix - */ - public static RotationNRWrapper getRotationY(double rotationAngleDegrees) { - double[][] rotation = new double[3][3]; - double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; - - // Rotation matrix, 1st column - rotation[0][0] = Math.cos(rotationAngleRadians); - rotation[1][0] = 0; - rotation[2][0] = -Math.sin(rotationAngleRadians); - // Rotation matrix, 2nd column - rotation[0][1] = 0; - rotation[1][1] = 1; - rotation[2][1] = 0; - // Rotation matrix, 3rd column - rotation[0][2] = Math.sin(rotationAngleRadians); - rotation[1][2] = 0; - rotation[2][2] = Math.cos(rotationAngleRadians); - - return new RotationNRWrapper(rotation); - } - - /** - * Get a rotation matrix with a rotation around Z. - * - * @param rotationAngleDegrees - * in degrees - * @return the static matrix - */ - public static RotationNRWrapper getRotationZ(double rotationAngleDegrees) { - double[][] rotation = new double[3][3]; - double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; - - // Rotation matrix, 1st column - rotation[0][0] = Math.cos(rotationAngleRadians); - rotation[1][0] = Math.sin(rotationAngleRadians); - rotation[2][0] = 0; - // Rotation matrix, 2nd column - rotation[0][1] = -Math.sin(rotationAngleRadians); - rotation[1][1] = Math.cos(rotationAngleRadians); - rotation[2][1] = 0; - // Rotation matrix, 3rd column - rotation[0][2] = 0; - rotation[1][2] = 0; - rotation[2][2] = 1; - - return new RotationNRWrapper(rotation); - } - - /** - * Instantiates a new rotation nr. - * - * @param w - * the w - * @param x - * the x - * @param y - * the y - * @param z - * the z - */ - // create a new object with the given components - public RotationNRWrapper(double w, double x, double y, double z) { - quaternion2RotationMatrix(w, x, y, z); - } - - /** - * Instantiates a new rotation nr. - * - * @param m - * the m - */ - public RotationNRWrapper(Matrix m) { - double[][] rotation = new double[3][3]; - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - rotation[i][j] = m.get(i, j); - } - } - loadRotations(rotation); - } - - /** - * Load rotations. - * - * @param rotM - * the rot m - */ - private void loadRotations(double[][] rotM) { - if (rotM.length != 3) - throw new RuntimeException("Must be 3x3 rotation matrix"); - for (int i = 0; i < 3; i++) { - if (rotM[i].length != 3) { - throw new RuntimeException("Must be 3x3 rotation matrix"); - } - } - setStorage(new Rotation(rotM, 0.00001)); - } - - /** - * Gets the rotation matrix. - * - * @return the rotation matrix - */ - public double[][] getRotationMatrix() { - - return getStorage().getMatrix(); - } - - /* - * (non-Javadoc) - * - * @see java.lang.Object#toString() - */ - // return a string representation of the invoking object - public String toString() { - String s = "[\n"; - double[][] m = getRotationMatrix(); - for (int i = 0; i < 3; i++) { - s += "[ "; - for (int j = 0; j < 3; j++) { - s += m[i][j] + "\t\t"; - } - s += " ]\n"; - } - s += "]"; - return "Quaturnion: " + "W=" + getRotationMatrix2QuaturnionW() + ", " + "x=" + getRotationMatrix2QuaturnionX() - + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\n" - + "Rotation angle (degrees): " + "az=" + getRotationAzimuth() + ", " + "elev=" + getRotationElevation() + ", " + " tilt=" - + getRotationTilt() + ""; - } - - /** - * To string. - * - * @param array - * the array - * @return the string - */ - // return a string representation of the invoking object - public String toString(double[][] array) { - String s = "[\n"; - for (int i = 0; i < 3; i++) { - s += "[ "; - for (int j = 0; j < 3; j++) { - s += array[i][j] + "\t\t"; - } - s += " ]\n"; - } - s += "]"; - return "Matrix = " + s; - } - - /** - * Quaternion2 rotation matrix. - * - * @param w - * the w - * @param x - * the x - * @param y - * the y - * @param z - * the z - */ - protected void quaternion2RotationMatrix(double w, double x, double y, double z) { - if (Double.isNaN(w)) - throw new RuntimeException("Value can not be NaN"); - if (Double.isNaN(x)) - throw new RuntimeException("Value can not be NaN"); - if (Double.isNaN(y)) - throw new RuntimeException("Value can not be NaN"); - if (Double.isNaN(z)) - throw new RuntimeException("Value can not be NaN"); - setStorage(new Rotation(w, x, y,-z, true)); - } - - - /** - * Bound. - * - * @param low - * the low - * @param high - * the high - * @param n - * the n - * @return true, if successful - */ - public static boolean bound(double low, double high, double n) { - return n >= low && n <= high; - } - - - - private void loadFromAngles(double tilt, double azumeth, double elevation) { - setStorage(new Rotation(getOrder(), getConvention(), - Math.toRadians(tilt), - Math.toRadians(elevation), - Math.toRadians(azumeth) - )); - } - - - /** - * Gets the rotation tilt. - * - * @return the rotation tilt - */ - public double getRotationTilt() { - - return getStorage().getAngles(getOrder(), getConvention())[0]; - - } - - /** - * Gets the rotation elevation. - * - * @return the rotation elevation - */ - public double getRotationElevation() { - - return getStorage().getAngles(getOrder(), getConvention())[1]; - } - - /** - * Gets the rotation azimuth. - * - * @return the rotation azimuth - */ - public double getRotationAzimuth() { - - return getStorage().getAngles(getOrder(), getConvention())[2]; - } - - /** - * Gets the rotation matrix2 quaturnion w. - * - * @return the rotation matrix2 quaturnion w - */ - public double getRotationMatrix2QuaturnionW() { - return getStorage().getQ0(); - } - - /** - * Gets the rotation matrix2 quaturnion x. - * - * @return the rotation matrix2 quaturnion x - */ - public double getRotationMatrix2QuaturnionX() { - return getStorage().getQ1(); - } - - /** - * Gets the rotation matrix2 quaturnion y. - * - * @return the rotation matrix2 quaturnion y - */ - public double getRotationMatrix2QuaturnionY() { - return getStorage().getQ2(); - } - - /** - * Gets the rotation matrix2 quaturnion z. - * - * @return the rotation matrix2 quaturnion z - */ - public double getRotationMatrix2QuaturnionZ() { - return -getStorage().getQ3(); - } - - public static RotationOrder getOrder() { - return order; - } - - public static void setOrder(RotationOrder o) { - order = o; - } - - public static RotationConvention getConvention() { - return convention; - } - - public static void setConvention(RotationConvention convention) { - RotationNRWrapper.convention = convention; - } - - public Rotation getStorage() { - return storage; - } - - public void setStorage(Rotation storage) { - this.storage = storage; - } - -} \ No newline at end of file diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index 6bc55f6c..ef34a4af 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -15,7 +15,8 @@ import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; import com.neuronrobotics.sdk.addons.kinematics.MobileBase; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; -import com.neuronrobotics.sdk.addons.kinematics.math.RotationNRWrapper; +import com.neuronrobotics.sdk.addons.kinematics.math.RotationNRLegacy; +import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup; import com.neuronrobotics.sdk.common.Log; @@ -125,11 +126,12 @@ public void compareAzemuth() throws FileNotFoundException { //RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ }; RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; + Log.enableDebugPrint(); for (RotationConvention conv : conventions) { - RotationNRWrapper.setConvention(conv); + RotationNR.setConvention(conv); System.out.println("\n\nUsing convention " + conv.toString()); for (RotationOrder ro : list) { - RotationNRWrapper.setOrder(ro); + RotationNR.setOrder(ro); System.out.println("\n\nUsing rotationOrder " + ro.toString()); failCount = 0; for (int i = 0; i < iterations; i++) { @@ -152,8 +154,8 @@ public void compareAzemuth() throws FileNotFoundException { rotation[1][2] = 0; rotation[2][2] = 1; // pure rotation in azumuth - RotationNRWrapper newRot = new RotationNRWrapper(rotation); - RotationNR oldRot = new RotationNR(rotation); + RotationNR newRot = new RotationNR(rotation); + RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); System.out.println("Testing pure azumeth \nrotation "+rotationAngleDegrees+ "\n as radian "+Math.toRadians(rotationAngleDegrees)+ @@ -190,25 +192,30 @@ public void compareAzemuth() throws FileNotFoundException { Math.abs(newRot.getRotationMatrix2QuaturnionZ()), }, 0.001); // Check Euler angles -// assertArrayEquals(new double []{ -// oldRot.getRotationAzimuth(), -// oldRot.getRotationElevation(), -// oldRot.getRotationTilt() -// }, new double []{ -// newRot.getRotationAzimuth(), -// newRot.getRotationElevation(), -// newRot.getRotationTilt() -// }, 0.001); - // Check the old rotation against the known value -// assertArrayEquals(new double []{ -// Math.toRadians(rotationAngleDegrees), -// 0, -// 0 -// }, new double []{ -// oldRot.getRotationAzimuth(), -// oldRot.getRotationElevation(), -// oldRot.getRotationTilt() -// }, 0.001); + // this check is needed to work around a known bug in the legact implementation + if(!(rotationAngleDegrees>=90||rotationAngleDegrees<=-90)){ + assertArrayEquals(new double []{ + oldRot.getRotationAzimuth(), + oldRot.getRotationElevation(), + oldRot.getRotationTilt() + }, new double []{ + newRot.getRotationAzimuth(), + newRot.getRotationElevation(), + newRot.getRotationTilt() + }, 0.001); + // Check the old rotation against the known value + assertArrayEquals(new double []{ + Math.toRadians(rotationAngleDegrees), + 0, + 0 + }, new double []{ + oldRot.getRotationAzimuth(), + oldRot.getRotationElevation(), + oldRot.getRotationTilt() + }, 0.001); + }else{ + System.err.println("Legacy angle would fail here "+rotationAngleDegrees); + } // Check the new rotation against the known value assertArrayEquals(new double []{ Math.toRadians(rotationAngleDegrees), @@ -245,10 +252,10 @@ public void compareElevation() throws FileNotFoundException { }; RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; for (RotationConvention conv : conventions) { - RotationNRWrapper.setConvention(conv); + RotationNR.setConvention(conv); System.out.println("\n\nUsing convention " + conv.toString()); for (RotationOrder ro : list) { - RotationNRWrapper.setOrder(ro); + RotationNR.setOrder(ro); System.out.println("\n\nUsing rotationOrder " + ro.toString()); failCount = 0; for (int i = 0; i < iterations; i++) { @@ -271,8 +278,8 @@ public void compareElevation() throws FileNotFoundException { rotation[1][2] = 0; rotation[2][2] = Math.cos(rotationAngleRadians); // pure rotation in azumuth - RotationNRWrapper newRot = new RotationNRWrapper(rotation); - RotationNR oldRot = new RotationNR(rotation); + RotationNR newRot = new RotationNR(rotation); + RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); System.out.println("Testing pure elevation \nrotation "+rotationAngleDegrees+ "\n as radian "+Math.toRadians(rotationAngleDegrees)+ @@ -309,15 +316,15 @@ public void compareElevation() throws FileNotFoundException { Math.abs(newRot.getRotationMatrix2QuaturnionZ()), }, 0.001); // Check Euler angles -// assertArrayEquals(new double []{ -// oldRot.getRotationAzimuth(), -// oldRot.getRotationElevation(), -// oldRot.getRotationTilt() -// }, new double []{ -// newRot.getRotationAzimuth(), -// newRot.getRotationElevation(), -// newRot.getRotationTilt() -// }, 0.001); + assertArrayEquals(new double []{ + oldRot.getRotationAzimuth(), + oldRot.getRotationElevation(), + oldRot.getRotationTilt() + }, new double []{ + newRot.getRotationAzimuth(), + newRot.getRotationElevation(), + newRot.getRotationTilt() + }, 0.001); // Check the old rotation against the known value assertArrayEquals(new double []{ @@ -365,10 +372,10 @@ public void compareTilt() throws FileNotFoundException { }; RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; for (RotationConvention conv : conventions) { - RotationNRWrapper.setConvention(conv); + RotationNR.setConvention(conv); System.out.println("\n\nUsing convention " + conv.toString()); for (RotationOrder ro : list) { - RotationNRWrapper.setOrder(ro); + RotationNR.setOrder(ro); System.out.println("\n\nUsing rotationOrder " + ro.toString()); failCount = 0; for (int i = 0; i < iterations; i++) { @@ -391,8 +398,8 @@ public void compareTilt() throws FileNotFoundException { rotation[1][2] = -Math.sin(rotationAngleRadians); rotation[2][2] = Math.cos(rotationAngleRadians); // pure rotation in azumuth - RotationNRWrapper newRot = new RotationNRWrapper(rotation); - RotationNR oldRot = new RotationNR(rotation); + RotationNR newRot = new RotationNR(rotation); + RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); System.out.println("Testing pure tilt \nrotation "+rotationAngleDegrees+ "\n as radian "+Math.toRadians(rotationAngleDegrees)+ @@ -429,15 +436,15 @@ public void compareTilt() throws FileNotFoundException { Math.abs(newRot.getRotationMatrix2QuaturnionZ()), }, 0.001); // Check Euler angles -// assertArrayEquals(new double []{ -// oldRot.getRotationAzimuth(), -// oldRot.getRotationElevation(), -// oldRot.getRotationTilt() -// }, new double []{ -// newRot.getRotationAzimuth(), -// newRot.getRotationElevation(), -// newRot.getRotationTilt() -// }, 0.001); + assertArrayEquals(new double []{ + oldRot.getRotationAzimuth(), + oldRot.getRotationElevation(), + oldRot.getRotationTilt() + }, new double []{ + newRot.getRotationAzimuth(), + newRot.getRotationElevation(), + newRot.getRotationTilt() + }, 0.001); // Check the old rotation against the known value assertArrayEquals(new double []{ 0, From 01ab585d26e639b376601dcf0ff6b804b283fa32 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 29 Dec 2016 15:05:50 -0500 Subject: [PATCH 125/482] adding constructor for internal storage datatype --- .../addons/kinematics/math/RotationNR.java | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 967402ac..1349c9e6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -28,16 +28,22 @@ public class RotationNR { */ public RotationNR() { } - + /** + * Instatiate using the org.apache.commons.math3.geometry.euclidean.threed.Rotation . + * @param store A org.apache.commons.math3.geometry.euclidean.threed.Rotation instance + */ + public RotationNR(Rotation store) { + storage=store; + } /** * Instantiates a new rotation nr. * - * @param elevation - * the elevation - * @param tilt + ** @param tilt * the tilt * @param azumeth * the azumeth + * @param elevation + * the elevation */ // create a new object with the given simplified rotations public RotationNR(double tilt, double azumeth, double elevation) { @@ -241,8 +247,9 @@ public String toString() { s += "]"; return "Quaturnion: " + "W=" + getRotationMatrix2QuaturnionW() + ", " + "x=" + getRotationMatrix2QuaturnionX() + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\n" - + "Rotation angle (degrees): " + "az=" + getRotationAzimuth() + ", " + "elev=" + getRotationElevation() + ", " + " tilt=" - + getRotationTilt() + ""; + + "Rotation angle (degrees): " + "az= " + Math.toDegrees(getRotationAzimuth()) + + ", elev= " + Math.toDegrees(getRotationElevation()) + + ", tilt="+ Math.toDegrees(getRotationTilt()) ; } /** From 9d18e47589c81808472723cfb56b6c9d38a89fe3 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 29 Dec 2016 15:07:10 -0500 Subject: [PATCH 126/482] 0.24.0 Updating the RotationNR class to use the apache commons Rotation class as internal storage and rotations convversions. --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 8e491c0d..b6c70809 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.23.3 +app.version=3.24.0 app.javac.version=1.6 From b3d1fb3aa178bcb14d8a11255e2d68388d868f03 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 30 Dec 2016 13:11:34 -0500 Subject: [PATCH 127/482] Switching the rotations to the Aircraft principal axes standard Aircraft rotation angle computation is ZYX not XYZ --- .../neuronrobotics/sdk/addons/kinematics/math/RotationNR.java | 2 +- .../junit/test/neuronrobotics/utilities/RotationNRTest.java | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 1349c9e6..7dc4706d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -21,7 +21,7 @@ public class RotationNR { /** The rotation matrix. */ //double[][] rotationMatrix = ; private Rotation storage=new Rotation(1,0,0,0,false); - private static RotationOrder order = RotationOrder.XYZ; + private static RotationOrder order = RotationOrder.ZYX; private static RotationConvention convention = RotationConvention.VECTOR_OPERATOR; /** * Null constructor forms a. diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index ef34a4af..8dcecfde 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -37,7 +37,7 @@ public class RotationNRTest { public void test() throws FileNotFoundException { int failCount = 0; int iterations = 100; - RotationOrder[] list = { RotationOrder.XYZ + RotationOrder[] list = { RotationOrder.ZYX // RotationOrder.XZY, // RotationOrder.YXZ, // RotationOrder.YZX, @@ -49,7 +49,7 @@ public void test() throws FileNotFoundException { // RotationNR.setConvention(conv); System.out.println("\n\nUsing convention " + conv.toString()); for (RotationOrder ro : list) { - // RotationNR.setOrder(ro); + RotationNR.setOrder(ro); System.out.println("\n\nUsing rotationOrder " + ro.toString()); // for (int i = 0; i < iterations; i++) { From 416651fc31d8bec731350bf3428f6c8e7d7f143d Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 30 Dec 2016 13:35:36 -0500 Subject: [PATCH 128/482] Bug fix in the rotation order. the rotation order swapped to ZYX (Aviation standard) requires the Azimuth and Tilt names be swapped. --- .../addons/kinematics/math/RotationNR.java | 8 +- .../sdk/config/build.properties | 2 +- .../utilities/RotationNRTest.java | 374 +++++++----------- 3 files changed, 153 insertions(+), 231 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 7dc4706d..63d3b246 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -317,9 +317,9 @@ public static boolean bound(double low, double high, double n) { private void loadFromAngles(double tilt, double azumeth, double elevation) { setStorage(new Rotation(getOrder(), getConvention(), - Math.toRadians(tilt), + Math.toRadians(azumeth), Math.toRadians(elevation), - Math.toRadians(azumeth) + Math.toRadians(tilt ) )); } @@ -331,7 +331,7 @@ private void loadFromAngles(double tilt, double azumeth, double elevation) { */ public double getRotationTilt() { - return getStorage().getAngles(getOrder(), getConvention())[0]; + return getStorage().getAngles(getOrder(), getConvention())[2]; } @@ -352,7 +352,7 @@ public double getRotationElevation() { */ public double getRotationAzimuth() { - return getStorage().getAngles(getOrder(), getConvention())[2]; + return getStorage().getAngles(getOrder(), getConvention())[0]; } /** diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index b6c70809..fbcc7283 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.24.0 +app.version=3.24.1 app.javac.version=1.6 diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index 8dcecfde..5cb48c4e 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -28,6 +28,18 @@ */ public class RotationNRTest { + private RotationOrder[] list = new RotationOrder[] { RotationOrder.ZYX + // RotationOrder.XZY, + // RotationOrder.YXZ, + // RotationOrder.YZX, + // RotationOrder.ZXY, RotationOrder.ZYX, RotationOrder.XYX, + // RotationOrder.XZX, RotationOrder.YXY, + // RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ + + };; + + RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; + /** * Test. * @@ -37,16 +49,9 @@ public class RotationNRTest { public void test() throws FileNotFoundException { int failCount = 0; int iterations = 100; - RotationOrder[] list = { RotationOrder.ZYX - // RotationOrder.XZY, - // RotationOrder.YXZ, - // RotationOrder.YZX, - //RotationOrder.ZXY, RotationOrder.ZYX, RotationOrder.XYX, RotationOrder.XZX, RotationOrder.YXY, - //RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ - }; - RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; + for (RotationConvention conv : conventions) { - // RotationNR.setConvention(conv); + RotationNR.setConvention(conv); System.out.println("\n\nUsing convention " + conv.toString()); for (RotationOrder ro : list) { RotationNR.setOrder(ro); @@ -89,17 +94,17 @@ public void test() throws FileNotFoundException { } ThreadUtil.wait(20); } catch (NumberFormatException ex) { - if(elevation >=Math.PI/2 || elevation <=-Math.PI/2){ + if (elevation >= Math.PI / 2 || elevation <= -Math.PI / 2) { System.out.println("Invalid numbers rejected ok"); } } } - + // frame(); // frame2(); System.out.println("Frame test passed with " + ro); - //return; + // return; } } if (failCount > 1) { @@ -108,7 +113,6 @@ public void test() throws FileNotFoundException { } } - /** * Test. * @@ -118,14 +122,6 @@ public void test() throws FileNotFoundException { public void compareAzemuth() throws FileNotFoundException { int failCount = 0; int iterations = 100; - RotationOrder[] list = { RotationOrder.XYZ - // RotationOrder.XZY, - // RotationOrder.YXZ, - // RotationOrder.YZX, - //RotationOrder.ZXY, RotationOrder.ZYX, RotationOrder.XYX, RotationOrder.XZX, RotationOrder.YXY, - //RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ - }; - RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; Log.enableDebugPrint(); for (RotationConvention conv : conventions) { RotationNR.setConvention(conv); @@ -135,14 +131,14 @@ public void compareAzemuth() throws FileNotFoundException { System.out.println("\n\nUsing rotationOrder " + ro.toString()); failCount = 0; for (int i = 0; i < iterations; i++) { - + double rotationAngleDegrees = (Math.random() * 360) - 180; - + double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; double[][] rotation = new double[3][3]; // Rotation matrix, 1st column - rotation [0][0] = Math.cos(rotationAngleRadians); + rotation[0][0] = Math.cos(rotationAngleRadians); rotation[1][0] = Math.sin(rotationAngleRadians); rotation[2][0] = 0; // Rotation matrix, 2nd column @@ -157,83 +153,64 @@ public void compareAzemuth() throws FileNotFoundException { RotationNR newRot = new RotationNR(rotation); RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); - System.out.println("Testing pure azumeth \nrotation "+rotationAngleDegrees+ - "\n as radian "+Math.toRadians(rotationAngleDegrees)+ - "\n Az "+oldRot.getRotationAzimuth()+ - "\n El "+oldRot.getRotationElevation()+ - "\n Tl "+oldRot.getRotationTilt()+ - "\n New Az "+newRot.getRotationAzimuth()+ - "\n New El "+newRot.getRotationElevation()+ - "\n New Tl "+newRot.getRotationTilt() - ); + System.out.println("Testing pure azumeth \nrotation " + rotationAngleDegrees + "\n as radian " + + Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuth() + + "\n El " + oldRot.getRotationElevation() + "\n Tl " + oldRot.getRotationTilt() + + "\n New Az " + newRot.getRotationAzimuth() + "\n New El " + newRot.getRotationElevation() + + "\n New Tl " + newRot.getRotationTilt()); assertArrayEquals(rotation[0], rotationMatrix[0], 0.001); assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); assertArrayEquals(rotation[2], rotationMatrix[2], 0.001); - - System.out.println("Testing Quaturnion \nrotation "+ - "\n qw "+oldRot.getRotationMatrix2QuaturnionW()+ - "\n qx "+oldRot.getRotationMatrix2QuaturnionX()+ - "\n qy "+oldRot.getRotationMatrix2QuaturnionY()+ - "\n qz "+oldRot.getRotationMatrix2QuaturnionZ()+ - "\nNEW qw "+newRot.getRotationMatrix2QuaturnionW()+ - "\nNEW qx "+newRot.getRotationMatrix2QuaturnionX()+ - "\nNEW qy "+newRot.getRotationMatrix2QuaturnionY()+ - "\nNEW qz "+newRot.getRotationMatrix2QuaturnionZ() - ); - assertArrayEquals(new double []{ - Math.abs(oldRot.getRotationMatrix2QuaturnionW()), - Math.abs(oldRot.getRotationMatrix2QuaturnionX()), - Math.abs(oldRot.getRotationMatrix2QuaturnionY()), - Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), - }, new double []{ - Math.abs(newRot.getRotationMatrix2QuaturnionW()), - Math.abs(newRot.getRotationMatrix2QuaturnionX()), - Math.abs(newRot.getRotationMatrix2QuaturnionY()), - Math.abs(newRot.getRotationMatrix2QuaturnionZ()), - }, 0.001); + + System.out.println( + "Testing Quaturnion \nrotation " + "\n qw " + oldRot.getRotationMatrix2QuaturnionW() + + "\n qx " + oldRot.getRotationMatrix2QuaturnionX() + "\n qy " + + oldRot.getRotationMatrix2QuaturnionY() + "\n qz " + + oldRot.getRotationMatrix2QuaturnionZ() + "\nNEW qw " + + newRot.getRotationMatrix2QuaturnionW() + "\nNEW qx " + + newRot.getRotationMatrix2QuaturnionX() + "\nNEW qy " + + newRot.getRotationMatrix2QuaturnionY() + "\nNEW qz " + + newRot.getRotationMatrix2QuaturnionZ()); + assertArrayEquals( + new double[] { Math.abs(oldRot.getRotationMatrix2QuaturnionW()), + Math.abs(oldRot.getRotationMatrix2QuaturnionX()), + Math.abs(oldRot.getRotationMatrix2QuaturnionY()), + Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), }, + new double[] { Math.abs(newRot.getRotationMatrix2QuaturnionW()), + Math.abs(newRot.getRotationMatrix2QuaturnionX()), + Math.abs(newRot.getRotationMatrix2QuaturnionY()), + Math.abs(newRot.getRotationMatrix2QuaturnionZ()), }, + 0.001); // Check Euler angles - // this check is needed to work around a known bug in the legact implementation - if(!(rotationAngleDegrees>=90||rotationAngleDegrees<=-90)){ - assertArrayEquals(new double []{ - oldRot.getRotationAzimuth(), - oldRot.getRotationElevation(), - oldRot.getRotationTilt() - }, new double []{ - newRot.getRotationAzimuth(), - newRot.getRotationElevation(), - newRot.getRotationTilt() - }, 0.001); + // this check is needed to work around a known bug in the + // legact implementation + if (!(rotationAngleDegrees >= 90 || rotationAngleDegrees <= -90)) { + assertArrayEquals( + new double[] { oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), + oldRot.getRotationTilt() }, + new double[] { newRot.getRotationAzimuth(), newRot.getRotationElevation(), + newRot.getRotationTilt() }, + 0.001); // Check the old rotation against the known value - assertArrayEquals(new double []{ - Math.toRadians(rotationAngleDegrees), - 0, - 0 - }, new double []{ - oldRot.getRotationAzimuth(), - oldRot.getRotationElevation(), - oldRot.getRotationTilt() - }, 0.001); - }else{ - System.err.println("Legacy angle would fail here "+rotationAngleDegrees); + assertArrayEquals(new double[] { Math.toRadians(rotationAngleDegrees), 0, 0 }, new double[] { + oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), oldRot.getRotationTilt() }, + 0.001); + } else { + System.err.println("Legacy angle would fail here " + rotationAngleDegrees); } // Check the new rotation against the known value - assertArrayEquals(new double []{ - Math.toRadians(rotationAngleDegrees), - 0, - 0 - }, new double []{ - newRot.getRotationAzimuth(), - newRot.getRotationElevation(), - newRot.getRotationTilt() - }, 0.001); + assertArrayEquals(new double[] { Math.toRadians(rotationAngleDegrees), 0, 0 }, new double[] { + newRot.getRotationAzimuth(), newRot.getRotationElevation(), newRot.getRotationTilt() }, + 0.001); } // frame(); // frame2(); System.out.println("Frame test passed with " + ro); - //return; + // return; } } } + /** * Test. * @@ -243,14 +220,6 @@ public void compareAzemuth() throws FileNotFoundException { public void compareElevation() throws FileNotFoundException { int failCount = 0; int iterations = 100; - RotationOrder[] list = { RotationOrder.XYZ - // RotationOrder.XZY, - // RotationOrder.YXZ, - // RotationOrder.YZX, - //RotationOrder.ZXY, RotationOrder.ZYX, RotationOrder.XYX, RotationOrder.XZX, RotationOrder.YXY, - //RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ - }; - RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; for (RotationConvention conv : conventions) { RotationNR.setConvention(conv); System.out.println("\n\nUsing convention " + conv.toString()); @@ -259,9 +228,9 @@ public void compareElevation() throws FileNotFoundException { System.out.println("\n\nUsing rotationOrder " + ro.toString()); failCount = 0; for (int i = 0; i < iterations; i++) { - + double rotationAngleDegrees = (Math.random() * 180) - 90; - + double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; double[][] rotation = new double[3][3]; @@ -281,79 +250,61 @@ public void compareElevation() throws FileNotFoundException { RotationNR newRot = new RotationNR(rotation); RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); - System.out.println("Testing pure elevation \nrotation "+rotationAngleDegrees+ - "\n as radian "+Math.toRadians(rotationAngleDegrees)+ - "\n Az "+oldRot.getRotationAzimuth()+ - "\n El "+oldRot.getRotationElevation()+ - "\n Tl "+oldRot.getRotationTilt()+ - "\n New Az "+newRot.getRotationAzimuth()+ - "\n New El "+newRot.getRotationElevation()+ - "\n New Tl "+newRot.getRotationTilt() - ); + System.out.println("Testing pure elevation \nrotation " + rotationAngleDegrees + "\n as radian " + + Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuth() + + "\n El " + oldRot.getRotationElevation() + "\n Tl " + oldRot.getRotationTilt() + + "\n New Az " + newRot.getRotationAzimuth() + "\n New El " + newRot.getRotationElevation() + + "\n New Tl " + newRot.getRotationTilt()); assertArrayEquals(rotation[0], rotationMatrix[0], 0.001); assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); assertArrayEquals(rotation[2], rotationMatrix[2], 0.001); - - System.out.println("Testing Quaturnion \nrotation "+ - "\n qw "+oldRot.getRotationMatrix2QuaturnionW()+ - "\n qx "+oldRot.getRotationMatrix2QuaturnionX()+ - "\n qy "+oldRot.getRotationMatrix2QuaturnionY()+ - "\n qz "+oldRot.getRotationMatrix2QuaturnionZ()+ - "\nNEW qw "+newRot.getRotationMatrix2QuaturnionW()+ - "\nNEW qx "+newRot.getRotationMatrix2QuaturnionX()+ - "\nNEW qy "+newRot.getRotationMatrix2QuaturnionY()+ - "\nNEW qz "+newRot.getRotationMatrix2QuaturnionZ() - ); - assertArrayEquals(new double []{ - Math.abs(oldRot.getRotationMatrix2QuaturnionW()), - Math.abs(oldRot.getRotationMatrix2QuaturnionX()), - Math.abs(oldRot.getRotationMatrix2QuaturnionY()), - Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), - }, new double []{ - Math.abs(newRot.getRotationMatrix2QuaturnionW()), - Math.abs(newRot.getRotationMatrix2QuaturnionX()), - Math.abs(newRot.getRotationMatrix2QuaturnionY()), - Math.abs(newRot.getRotationMatrix2QuaturnionZ()), - }, 0.001); + + System.out.println( + "Testing Quaturnion \nrotation " + "\n qw " + oldRot.getRotationMatrix2QuaturnionW() + + "\n qx " + oldRot.getRotationMatrix2QuaturnionX() + "\n qy " + + oldRot.getRotationMatrix2QuaturnionY() + "\n qz " + + oldRot.getRotationMatrix2QuaturnionZ() + "\nNEW qw " + + newRot.getRotationMatrix2QuaturnionW() + "\nNEW qx " + + newRot.getRotationMatrix2QuaturnionX() + "\nNEW qy " + + newRot.getRotationMatrix2QuaturnionY() + "\nNEW qz " + + newRot.getRotationMatrix2QuaturnionZ()); + assertArrayEquals( + new double[] { Math.abs(oldRot.getRotationMatrix2QuaturnionW()), + Math.abs(oldRot.getRotationMatrix2QuaturnionX()), + Math.abs(oldRot.getRotationMatrix2QuaturnionY()), + Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), }, + new double[] { Math.abs(newRot.getRotationMatrix2QuaturnionW()), + Math.abs(newRot.getRotationMatrix2QuaturnionX()), + Math.abs(newRot.getRotationMatrix2QuaturnionY()), + Math.abs(newRot.getRotationMatrix2QuaturnionZ()), }, + 0.001); // Check Euler angles - assertArrayEquals(new double []{ - oldRot.getRotationAzimuth(), - oldRot.getRotationElevation(), - oldRot.getRotationTilt() - }, new double []{ - newRot.getRotationAzimuth(), - newRot.getRotationElevation(), - newRot.getRotationTilt() - }, 0.001); + assertArrayEquals( + new double[] { oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), + oldRot.getRotationTilt() }, + new double[] { newRot.getRotationAzimuth(), newRot.getRotationElevation(), + newRot.getRotationTilt() }, + 0.001); // Check the old rotation against the known value - assertArrayEquals(new double []{ - - 0, - Math.toRadians(rotationAngleDegrees), - 0 - }, new double []{ - oldRot.getRotationAzimuth(), - oldRot.getRotationElevation(), - oldRot.getRotationTilt() - }, 0.001); + assertArrayEquals(new double[] { + + 0, Math.toRadians(rotationAngleDegrees), 0 }, + new double[] { oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), + oldRot.getRotationTilt() }, + 0.001); // Check the new rotation against the known value - assertArrayEquals(new double []{ - 0, - Math.toRadians(rotationAngleDegrees), - 0 - }, new double []{ - newRot.getRotationAzimuth(), - newRot.getRotationElevation(), - newRot.getRotationTilt() - }, 0.001); + assertArrayEquals(new double[] { 0, Math.toRadians(rotationAngleDegrees), 0 }, new double[] { + newRot.getRotationAzimuth(), newRot.getRotationElevation(), newRot.getRotationTilt() }, + 0.001); } // frame(); // frame2(); System.out.println("Frame test passed with " + ro); - //return; + // return; } } } + /** * Test. * @@ -363,14 +314,6 @@ public void compareElevation() throws FileNotFoundException { public void compareTilt() throws FileNotFoundException { int failCount = 0; int iterations = 100; - RotationOrder[] list = { RotationOrder.XYZ - // RotationOrder.XZY, - // RotationOrder.YXZ, - // RotationOrder.YZX, - //RotationOrder.ZXY, RotationOrder.ZYX, RotationOrder.XYX, RotationOrder.XZX, RotationOrder.YXY, - //RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ - }; - RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; for (RotationConvention conv : conventions) { RotationNR.setConvention(conv); System.out.println("\n\nUsing convention " + conv.toString()); @@ -379,9 +322,9 @@ public void compareTilt() throws FileNotFoundException { System.out.println("\n\nUsing rotationOrder " + ro.toString()); failCount = 0; for (int i = 0; i < iterations; i++) { - + double rotationAngleDegrees = (Math.random() * 360) - 180; - + double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; double[][] rotation = new double[3][3]; @@ -401,75 +344,54 @@ public void compareTilt() throws FileNotFoundException { RotationNR newRot = new RotationNR(rotation); RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); - System.out.println("Testing pure tilt \nrotation "+rotationAngleDegrees+ - "\n as radian "+Math.toRadians(rotationAngleDegrees)+ - "\n Az "+oldRot.getRotationAzimuth()+ - "\n El "+oldRot.getRotationElevation()+ - "\n Tl "+oldRot.getRotationTilt()+ - "\n New Az "+newRot.getRotationAzimuth()+ - "\n New El "+newRot.getRotationElevation()+ - "\n New Tl "+newRot.getRotationTilt() - ); + System.out.println("Testing pure tilt \nrotation " + rotationAngleDegrees + "\n as radian " + + Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuth() + + "\n El " + oldRot.getRotationElevation() + "\n Tl " + oldRot.getRotationTilt() + + "\n New Az " + newRot.getRotationAzimuth() + "\n New El " + newRot.getRotationElevation() + + "\n New Tl " + newRot.getRotationTilt()); assertArrayEquals(rotation[0], rotationMatrix[0], 0.001); assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); assertArrayEquals(rotation[2], rotationMatrix[2], 0.001); - - System.out.println("Testing Quaturnion \nrotation "+ - "\n qw "+oldRot.getRotationMatrix2QuaturnionW()+ - "\n qx "+oldRot.getRotationMatrix2QuaturnionX()+ - "\n qy "+oldRot.getRotationMatrix2QuaturnionY()+ - "\n qz "+oldRot.getRotationMatrix2QuaturnionZ()+ - "\nNEW qw "+newRot.getRotationMatrix2QuaturnionW()+ - "\nNEW qx "+newRot.getRotationMatrix2QuaturnionX()+ - "\nNEW qy "+newRot.getRotationMatrix2QuaturnionY()+ - "\nNEW qz "+newRot.getRotationMatrix2QuaturnionZ() - ); - assertArrayEquals(new double []{ - Math.abs(oldRot.getRotationMatrix2QuaturnionW()), - Math.abs(oldRot.getRotationMatrix2QuaturnionX()), - Math.abs(oldRot.getRotationMatrix2QuaturnionY()), - Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), - }, new double []{ - Math.abs(newRot.getRotationMatrix2QuaturnionW()), - Math.abs(newRot.getRotationMatrix2QuaturnionX()), - Math.abs(newRot.getRotationMatrix2QuaturnionY()), - Math.abs(newRot.getRotationMatrix2QuaturnionZ()), - }, 0.001); + + System.out.println( + "Testing Quaturnion \nrotation " + "\n qw " + oldRot.getRotationMatrix2QuaturnionW() + + "\n qx " + oldRot.getRotationMatrix2QuaturnionX() + "\n qy " + + oldRot.getRotationMatrix2QuaturnionY() + "\n qz " + + oldRot.getRotationMatrix2QuaturnionZ() + "\nNEW qw " + + newRot.getRotationMatrix2QuaturnionW() + "\nNEW qx " + + newRot.getRotationMatrix2QuaturnionX() + "\nNEW qy " + + newRot.getRotationMatrix2QuaturnionY() + "\nNEW qz " + + newRot.getRotationMatrix2QuaturnionZ()); + assertArrayEquals( + new double[] { Math.abs(oldRot.getRotationMatrix2QuaturnionW()), + Math.abs(oldRot.getRotationMatrix2QuaturnionX()), + Math.abs(oldRot.getRotationMatrix2QuaturnionY()), + Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), }, + new double[] { Math.abs(newRot.getRotationMatrix2QuaturnionW()), + Math.abs(newRot.getRotationMatrix2QuaturnionX()), + Math.abs(newRot.getRotationMatrix2QuaturnionY()), + Math.abs(newRot.getRotationMatrix2QuaturnionZ()), }, + 0.001); // Check Euler angles - assertArrayEquals(new double []{ - oldRot.getRotationAzimuth(), - oldRot.getRotationElevation(), - oldRot.getRotationTilt() - }, new double []{ - newRot.getRotationAzimuth(), - newRot.getRotationElevation(), - newRot.getRotationTilt() - }, 0.001); + assertArrayEquals( + new double[] { oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), + oldRot.getRotationTilt() }, + new double[] { newRot.getRotationAzimuth(), newRot.getRotationElevation(), + newRot.getRotationTilt() }, + 0.001); // Check the old rotation against the known value - assertArrayEquals(new double []{ - 0, - 0, - Math.toRadians(rotationAngleDegrees) - }, new double []{ - oldRot.getRotationAzimuth(), - oldRot.getRotationElevation(), - oldRot.getRotationTilt() - }, 0.001); + assertArrayEquals(new double[] { 0, 0, Math.toRadians(rotationAngleDegrees) }, new double[] { + oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), oldRot.getRotationTilt() }, + 0.001); // Check the new rotation against the known value - assertArrayEquals(new double []{ - 0, - 0, - Math.toRadians(rotationAngleDegrees) - }, new double []{ - newRot.getRotationAzimuth(), - newRot.getRotationElevation(), - newRot.getRotationTilt() - }, 0.001); + assertArrayEquals(new double[] { 0, 0, Math.toRadians(rotationAngleDegrees) }, new double[] { + newRot.getRotationAzimuth(), newRot.getRotationElevation(), newRot.getRotationTilt() }, + 0.001); } // frame(); // frame2(); System.out.println("Frame test passed with " + ro); - //return; + // return; } } } From 5a51d9c94a2f871762b82ce3a2af86ed26760092 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 30 Dec 2016 15:13:20 -0500 Subject: [PATCH 129/482] Robust error checking for singularities in rotations and exceptions when loading transform. --- .../kinematics/AbstractKinematicsNR.java | 28 ++++-- .../sdk/addons/kinematics/MobileBase.java | 35 ++++---- .../addons/kinematics/math/RotationNR.java | 85 ++++++++++--------- .../addons/kinematics/math/TransformNR.java | 6 +- .../sdk/config/build.properties | 2 +- 5 files changed, 89 insertions(+), 67 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 75f26a57..56028fb4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -306,22 +306,32 @@ public void onLinkGlobalPositionChange(TransformNR newPose) { } else if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("ZframeToRAS")) { Element eElement = (Element)linkNode; - setZframeToGlobalTransform(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",eElement)), - Double.parseDouble(XmlFactory.getTagValue("y",eElement)), - Double.parseDouble(XmlFactory.getTagValue("z",eElement)), - new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",eElement)), - Double.parseDouble(XmlFactory.getTagValue("rotx",eElement)), - Double.parseDouble(XmlFactory.getTagValue("roty",eElement)), - Double.parseDouble(XmlFactory.getTagValue("rotz",eElement))}))); + try{ + setZframeToGlobalTransform(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",eElement)), + Double.parseDouble(XmlFactory.getTagValue("y",eElement)), + Double.parseDouble(XmlFactory.getTagValue("z",eElement)), + new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",eElement)), + Double.parseDouble(XmlFactory.getTagValue("rotx",eElement)), + Double.parseDouble(XmlFactory.getTagValue("roty",eElement)), + Double.parseDouble(XmlFactory.getTagValue("rotz",eElement))}))); + }catch(Exception ex){ + ex.printStackTrace(); + setZframeToGlobalTransform(new TransformNR()); + } }else if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("baseToZframe")) { Element eElement = (Element)linkNode; - setBaseToZframeTransform(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",eElement)), + try{ + setBaseToZframeTransform(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",eElement)), Double.parseDouble(XmlFactory.getTagValue("y",eElement)), Double.parseDouble(XmlFactory.getTagValue("z",eElement)), new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",eElement)), Double.parseDouble(XmlFactory.getTagValue("rotx",eElement)), Double.parseDouble(XmlFactory.getTagValue("roty",eElement)), - Double.parseDouble(XmlFactory.getTagValue("rotz",eElement))}))); + Double.parseDouble(XmlFactory.getTagValue("rotz",eElement))}))); + }catch(Exception ex){ + ex.printStackTrace(); + setBaseToZframeTransform(new TransformNR()); + } }else{ //System.err.println(linkNode.getNodeName()); //Log.error("Node not known: "+linkNode.getNodeName()); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index aef3bbdd..136bd0fc 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -214,23 +214,28 @@ private void loadConfigs(Element doc) { private TransformNR loadTransform(String tagname, Element e) { - NodeList nodListofLinks = e.getChildNodes(); - - for (int i = 0; i < nodListofLinks.getLength(); i++) { - Node linkNode = nodListofLinks.item(i); - if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tagname)) { - Element cntr = (Element) linkNode; - return new TransformNR(Double.parseDouble(XmlFactory.getTagValue("x", cntr)), - Double.parseDouble(XmlFactory.getTagValue("y", cntr)), - Double.parseDouble(XmlFactory.getTagValue("z", cntr)), - new RotationNR(new double[] { Double.parseDouble(XmlFactory.getTagValue("rotw", cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotx", cntr)), - Double.parseDouble(XmlFactory.getTagValue("roty", cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotz", cntr)) })); + try{ + NodeList nodListofLinks = e.getChildNodes(); + + for (int i = 0; i < nodListofLinks.getLength(); i++) { + Node linkNode = nodListofLinks.item(i); + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tagname)) { + Element cntr = (Element) linkNode; + return new TransformNR(Double.parseDouble(XmlFactory.getTagValue("x", cntr)), + Double.parseDouble(XmlFactory.getTagValue("y", cntr)), + Double.parseDouble(XmlFactory.getTagValue("z", cntr)), + new RotationNR(new double[] { Double.parseDouble(XmlFactory.getTagValue("rotw", cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotx", cntr)), + Double.parseDouble(XmlFactory.getTagValue("roty", cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotz", cntr)) })); + } } - } - return null; + }catch(Exception ex){ + ex.printStackTrace(); + + } + return new TransformNR(); } /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 63d3b246..220e247e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -1,6 +1,8 @@ package com.neuronrobotics.sdk.addons.kinematics.math; import Jama.Matrix; + +import org.apache.commons.math3.geometry.euclidean.threed.CardanEulerSingularityException; import org.apache.commons.math3.geometry.euclidean.threed.Rotation; import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention; import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder; @@ -19,22 +21,29 @@ public class RotationNR { /** The rotation matrix. */ - //double[][] rotationMatrix = ; - private Rotation storage=new Rotation(1,0,0,0,false); + // double[][] rotationMatrix = ; + private Rotation storage = new Rotation(1, 0, 0, 0, false); private static RotationOrder order = RotationOrder.ZYX; private static RotationConvention convention = RotationConvention.VECTOR_OPERATOR; + /** * Null constructor forms a. */ public RotationNR() { } + /** - * Instatiate using the org.apache.commons.math3.geometry.euclidean.threed.Rotation . - * @param store A org.apache.commons.math3.geometry.euclidean.threed.Rotation instance + * Instatiate using the + * org.apache.commons.math3.geometry.euclidean.threed.Rotation . + * + * @param store + * A org.apache.commons.math3.geometry.euclidean.threed.Rotation + * instance */ public RotationNR(Rotation store) { - storage=store; + storage = store; } + /** * Instantiates a new rotation nr. * @@ -53,7 +62,7 @@ public RotationNR(double tilt, double azumeth, double elevation) { throw new RuntimeException("Value can not be NaN"); if (Double.isNaN(elevation)) throw new RuntimeException("Value can not be NaN"); - if(elevation >90 || elevation <-90){ + if (elevation > 90 || elevation < -90) { throw new RuntimeException("Elevation can not be greater than 90 nor less than -90"); } loadFromAngles(tilt, azumeth, elevation); @@ -66,7 +75,6 @@ public RotationNR(double tilt, double azumeth, double elevation) { } - /** * Instantiates a new rotation nr. * @@ -224,7 +232,7 @@ private void loadRotations(double[][] rotM) { * @return the rotation matrix */ public double[][] getRotationMatrix() { - + return getStorage().getMatrix(); } @@ -235,21 +243,15 @@ public double[][] getRotationMatrix() { */ // return a string representation of the invoking object public String toString() { - String s = "[\n"; - double[][] m = getRotationMatrix(); - for (int i = 0; i < 3; i++) { - s += "[ "; - for (int j = 0; j < 3; j++) { - s += m[i][j] + "\t\t"; - } - s += " ]\n"; - } - s += "]"; - return "Quaturnion: " + "W=" + getRotationMatrix2QuaturnionW() + ", " + "x=" + getRotationMatrix2QuaturnionX() + try{ + return "Quaturnion: " + "W=" + getRotationMatrix2QuaturnionW() + ", " + "x=" + getRotationMatrix2QuaturnionX() + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\n" - + "Rotation angle (degrees): " + "az= " + Math.toDegrees(getRotationAzimuth()) + - ", elev= " + Math.toDegrees(getRotationElevation()) + - ", tilt="+ Math.toDegrees(getRotationTilt()) ; + + "Rotation angle (degrees): " + "az= " + Math.toDegrees(getRotationAzimuth()) + ", elev= " + + Math.toDegrees(getRotationElevation()) + ", tilt=" + Math.toDegrees(getRotationTilt()); + }catch(Exception ex){ + return "Rotation error"+ex.getLocalizedMessage(); + } + } /** @@ -294,10 +296,9 @@ protected void quaternion2RotationMatrix(double w, double x, double y, double z) throw new RuntimeException("Value can not be NaN"); if (Double.isNaN(z)) throw new RuntimeException("Value can not be NaN"); - setStorage(new Rotation(w, x, y,-z, true)); + setStorage(new Rotation(w, x, y, -z, true)); } - /** * Bound. * @@ -313,26 +314,22 @@ public static boolean bound(double low, double high, double n) { return n >= low && n <= high; } - - private void loadFromAngles(double tilt, double azumeth, double elevation) { - setStorage(new Rotation(getOrder(), getConvention(), - Math.toRadians(azumeth), - Math.toRadians(elevation), - Math.toRadians(tilt ) - )); + setStorage(new Rotation(getOrder(), getConvention(), Math.toRadians(azumeth), Math.toRadians(elevation), + Math.toRadians(tilt))); } - /** * Gets the rotation tilt. * * @return the rotation tilt */ public double getRotationTilt() { - - return getStorage().getAngles(getOrder(), getConvention())[2]; - + try { + return getStorage().getAngles(getOrder(), getConvention())[2]; + } catch (CardanEulerSingularityException e) { + return 0; + } } /** @@ -341,8 +338,11 @@ public double getRotationTilt() { * @return the rotation elevation */ public double getRotationElevation() { - - return getStorage().getAngles(getOrder(), getConvention())[1]; + try { + return getStorage().getAngles(getOrder(), getConvention())[1]; + } catch (CardanEulerSingularityException e) { + return 0; + } } /** @@ -351,8 +351,11 @@ public double getRotationElevation() { * @return the rotation azimuth */ public double getRotationAzimuth() { - - return getStorage().getAngles(getOrder(), getConvention())[0]; + try { + return getStorage().getAngles(getOrder(), getConvention())[0]; + } catch (CardanEulerSingularityException e) { + return 0; + } } /** @@ -391,11 +394,11 @@ public double getRotationMatrix2QuaturnionZ() { return -getStorage().getQ3(); } - public static RotationOrder getOrder() { + public static RotationOrder getOrder() { return order; } - public static void setOrder(RotationOrder o) { + public static void setOrder(RotationOrder o) { order = o; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 7fbe6ea7..bfaddf2b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -204,7 +204,11 @@ public TransformNR times(TransformNR t) { */ @Override public String toString(){ - return getMatrixString(getMatrixTransform())+getRotation().toString(); + try{ + return getMatrixString(getMatrixTransform())+getRotation().toString(); + }catch(Exception ex){ + return "Transform error"+ex.getLocalizedMessage(); + } } /** diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index fbcc7283..263f5230 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.24.1 +app.version=3.24.2 app.javac.version=1.6 From 827bf26ca143f6ee4fa1bf86142f648efbcea709 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 31 Dec 2016 02:26:30 -0500 Subject: [PATCH 130/482] Negating the rest of the quaturnion This should resolve the upstream inconstinacy --- .../sdk/addons/kinematics/math/RotationNR.java | 6 +++--- .../com/neuronrobotics/sdk/config/build.properties | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 220e247e..7536ba94 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -296,7 +296,7 @@ protected void quaternion2RotationMatrix(double w, double x, double y, double z) throw new RuntimeException("Value can not be NaN"); if (Double.isNaN(z)) throw new RuntimeException("Value can not be NaN"); - setStorage(new Rotation(w, x, y, -z, true)); + setStorage(new Rotation(w,- x, -y, -z, true)); } /** @@ -373,7 +373,7 @@ public double getRotationMatrix2QuaturnionW() { * @return the rotation matrix2 quaturnion x */ public double getRotationMatrix2QuaturnionX() { - return getStorage().getQ1(); + return -getStorage().getQ1(); } /** @@ -382,7 +382,7 @@ public double getRotationMatrix2QuaturnionX() { * @return the rotation matrix2 quaturnion y */ public double getRotationMatrix2QuaturnionY() { - return getStorage().getQ2(); + return -getStorage().getQ2(); } /** diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 263f5230..da5f7bc6 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.24.2 +app.version=3.24.3 app.javac.version=1.6 From 19e79874e90641612ca13a2ce34c67e623bc1c28 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 9 May 2017 19:33:26 -0400 Subject: [PATCH 131/482] Updating the default kinematics locations --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 4 ++-- .../com/neuronrobotics/sdk/addons/kinematics/MobileBase.java | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 56028fb4..d3f94000 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -60,10 +60,10 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP private ArrayList mobileBases = new ArrayList(); /** The dh engine. */ - private String [] dhEngine =new String[]{"https://gist.github.com/bcb4760a449190206170.git","DefaultDhSolver.groovy"}; + private String [] dhEngine =new String[]{"https://github.com/madhephaestus/carl-the-hexapod.git","DefaultDhSolver.groovy"}; /** The cad engine. */ - private String [] cadEngine =new String[]{"https://gist.github.com/bcb4760a449190206170.git","ThreeDPrintCad.groovy"}; + private String [] cadEngine =new String[]{"https://github.com/madhephaestus/carl-the-hexapod.git","ThreeDPrintCad.groovy"}; /** The current joint space positions. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 136bd0fc..96aad743 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -42,7 +42,7 @@ public class MobileBase extends AbstractKinematicsNR { private IDriveEngine walkingDriveEngine = new WalkingDriveEngine(); /** The walking engine. */ - private String[] walkingEngine = new String[] { "https://gist.github.com/bcb4760a449190206170.git", + private String[] walkingEngine = new String[] { "https://github.com/madhephaestus/carl-the-hexapod.git", "WalkingDriveEngine.groovy" }; private HashMap vitamins= new HashMap(); From fc6d47c5ce85bd555a2c2b59c82e94fd672b39fe Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 7 Jul 2017 13:03:41 -0400 Subject: [PATCH 132/482] Adding interfaces for using External classes in LinkFactory The link factory need not check class type to get a device. When the class was externally defined it would crash. --- .../addons/kinematics/INewLinkProvider.java | 2 +- .../sdk/addons/kinematics/LinkFactory.java | 22 +++++---- .../sdk/common/DeviceManager.java | 47 ++++++++++++++++++- .../sdk/common/IDeviceProvider.java | 7 +++ .../utilities/RotationNRTest.java | 1 + 5 files changed, 69 insertions(+), 10 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/common/IDeviceProvider.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/INewLinkProvider.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/INewLinkProvider.java index f7727b85..ca71d34b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/INewLinkProvider.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/INewLinkProvider.java @@ -2,7 +2,7 @@ public interface INewLinkProvider { /** - * THis interface if for providing new link providers to the LinkFactory system + * This interface if for providing new link providers to the LinkFactory system * @param conf * @return */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index 5d8cc00e..32f24e39 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -34,18 +34,24 @@ public class LinkFactory { /** The link configurations. */ private ArrayList linkConfigurations=null ; - + /** + * Add a new link provider + * + * @param typeTag a string to link it to the string in the XML that determines type + * @param provider the provider module + */ public static void addLinkProvider(String typeTag, INewLinkProvider provider){ userLinkProviders.put(typeTag, provider); LinkType.addType(typeTag); } - -// /** The dyio. */ -// private DyIO dyio; -// -// /** The pid. */ -// private IPidControlNamespace pid; -// + /** + * Check to see if link provider is already defined + * @param typeTag + * @return + */ + public static boolean linkProviderExists(String typeTag){ + return userLinkProviders.get(typeTag)!=null; + } /** * Instantiates a new link factory. diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java index 267d8166..0c043e31 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java @@ -184,8 +184,38 @@ public static void addDeviceAddedListener(IDeviceAddedListener l){ public static void removeDeviceAddedListener(IDeviceAddedListener l){ if(deviceAddedListener.contains(l)) deviceAddedListener.remove(l); + } + /** + * Gets the specific device. + * + * @param name the name + * @return the specific device + */ + public static BowlerAbstractDevice getSpecificDevice( String name, IDeviceProvider provider){ + for (int i = 0; i < devices.size(); i++) { + if(devices.get(i).getScriptingName().contains(name)) + return devices.get(i); + } + // device doesn't exist already so we use the call back to build a new one on the fly + BowlerAbstractDevice newDev = provider.call(); + addConnection(newDev,name); + return newDev; + } + /** + * Gets the specific device. + * + * @param name the name + * @return the specific device + */ + public static BowlerAbstractDevice getSpecificDevice( String name){ + for (int i = 0; i < devices.size(); i++) { + if(devices.get(i).getScriptingName().contains(name)) + return devices.get(i); + } + return null; } + /** * Gets the specific device. * @@ -194,6 +224,8 @@ public static void removeDeviceAddedListener(IDeviceAddedListener l){ * @return the specific device */ public static BowlerAbstractDevice getSpecificDevice(Class class1, String name){ + if(class1==null) + return getSpecificDevice(name); List devs =listConnectedDevice( class1); if(devs.size()==0) return null; @@ -210,7 +242,20 @@ public static BowlerAbstractDevice getSpecificDevice(Class class1, String nam } return null; } - + /** + * List connected device. + * + * @param class1 the class1 + * @return the list + */ + public static List listConnectedDevice(){ + List choices = new ArrayList(); + for (int i = 0; i < devices.size(); i++) { + choices.add(devices.get(i).getScriptingName()); + } + return choices; + + } /** * List connected device. * diff --git a/src/main/java/com/neuronrobotics/sdk/common/IDeviceProvider.java b/src/main/java/com/neuronrobotics/sdk/common/IDeviceProvider.java new file mode 100644 index 00000000..faa06c35 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/common/IDeviceProvider.java @@ -0,0 +1,7 @@ +package com.neuronrobotics.sdk.common; + +public interface IDeviceProvider { + + BowlerAbstractDevice call(); + +} diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index 5cb48c4e..470b48a4 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -58,6 +58,7 @@ public void test() throws FileNotFoundException { System.out.println("\n\nUsing rotationOrder " + ro.toString()); // for (int i = 0; i < iterations; i++) { + double tilt = Math.toRadians((Math.random() * 360) - 180); double elevation = Math.toRadians((Math.random() * 180) - 90); double azumus = Math.toRadians((Math.random() * 360) - 180); From 099f77518ed86831b8a7ac9a79975fc67c6674b9 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 7 Jul 2017 13:04:20 -0400 Subject: [PATCH 133/482] 3.25.0 --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index da5f7bc6..8b68cb59 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.24.3 +app.version=3.25.0 app.javac.version=1.6 From 243c7f3f588311d57623111f021e0603d8f9ceb8 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 7 Jul 2017 13:07:11 -0400 Subject: [PATCH 134/482] javadoc hotfix --- src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java index 0c043e31..3a82af61 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java @@ -245,7 +245,6 @@ public static BowlerAbstractDevice getSpecificDevice(Class class1, String nam /** * List connected device. * - * @param class1 the class1 * @return the list */ public static List listConnectedDevice(){ From 6d2b2752853aa6e0679730a4997274e4140c9217 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 24 Jul 2017 23:21:07 -0400 Subject: [PATCH 135/482] better eurler singularity detection and mitagation --- .../addons/kinematics/math/RotationNR.java | 33 ++++++++++++------- 1 file changed, 21 insertions(+), 12 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 7536ba94..3ec22625 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -325,11 +325,7 @@ private void loadFromAngles(double tilt, double azumeth, double elevation) { * @return the rotation tilt */ public double getRotationTilt() { - try { - return getStorage().getAngles(getOrder(), getConvention())[2]; - } catch (CardanEulerSingularityException e) { - return 0; - } + return getAngle(2); } /** @@ -338,11 +334,8 @@ public double getRotationTilt() { * @return the rotation elevation */ public double getRotationElevation() { - try { - return getStorage().getAngles(getOrder(), getConvention())[1]; - } catch (CardanEulerSingularityException e) { - return 0; - } + return getAngle(1); + } /** @@ -351,12 +344,28 @@ public double getRotationElevation() { * @return the rotation azimuth */ public double getRotationAzimuth() { + return getAngle(0); + } + + double getAngle(int index){ + double offsetSize=5; + double offset = (index==1?offsetSize:0); try { - return getStorage().getAngles(getOrder(), getConvention())[0]; + return getStorage().getAngles(getOrder(), getConvention())[index]; } catch (CardanEulerSingularityException e) { - return 0; + try { + TransformNR current = new TransformNR(0, 0, 0, this); + TransformNR newTf = current.times(new TransformNR(0, 0, 0, new RotationNR(0,0,-offsetSize))); + return newTf.getRotation().getStorage().getAngles(getOrder(), getConvention())[index]+offset; + } catch (CardanEulerSingularityException ex) { + TransformNR current = new TransformNR(0, 0, 0, this); + TransformNR newTf = current.times(new TransformNR(0, 0, 0, new RotationNR(0,0,offsetSize))); + return newTf.getRotation().getStorage().getAngles(getOrder(), getConvention())[index]-offset; + + } } } + /** * Gets the rotation matrix2 quaturnion w. From 419464fffcb04d4195bb09e6f6a950d1bf1a901f Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 18 Oct 2017 11:28:25 -0400 Subject: [PATCH 136/482] Intellegent processing of euler singularities --- .../addons/kinematics/math/RotationNR.java | 31 +++++++++++++------ .../utilities/RotationNRTest.java | 24 +++++++++++++- 2 files changed, 45 insertions(+), 10 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 3ec22625..d5b318a6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -346,21 +346,34 @@ public double getRotationElevation() { public double getRotationAzimuth() { return getAngle(0); } - - double getAngle(int index){ - double offsetSize=5; + private void simpilfyAngles(double [] angles){ + double epsilon=1.0E-7; + if(Math.abs(angles[0] - Math.toRadians(180)) < epsilon&& + Math.abs(angles[2] - Math.toRadians(180)) < epsilon ){ + if(!(Math.abs(getRotationMatrix2QuaturnionZ())>epsilon)) + angles[0]=0; + if(!(Math.abs(getRotationMatrix2QuaturnionX())>epsilon)) + angles[2]=0; + } + } + private double eulerFix(double offsetSize, int index){ double offset = (index==1?offsetSize:0); + TransformNR current = new TransformNR(0, 0, 0, this); + TransformNR newTf = current.times(new TransformNR(0, 0, 0, new RotationNR(0,0,Math.toDegrees(offsetSize)))); + double[] angles = newTf.getRotation().getStorage().getAngles(getOrder(), getConvention()); + simpilfyAngles(angles); + double finalResult= angles[index]; + return finalResult+offset; + } + private double getAngle(int index){ + try { return getStorage().getAngles(getOrder(), getConvention())[index]; } catch (CardanEulerSingularityException e) { try { - TransformNR current = new TransformNR(0, 0, 0, this); - TransformNR newTf = current.times(new TransformNR(0, 0, 0, new RotationNR(0,0,-offsetSize))); - return newTf.getRotation().getStorage().getAngles(getOrder(), getConvention())[index]+offset; + return eulerFix( Math.toRadians(5), index); } catch (CardanEulerSingularityException ex) { - TransformNR current = new TransformNR(0, 0, 0, this); - TransformNR newTf = current.times(new TransformNR(0, 0, 0, new RotationNR(0,0,offsetSize))); - return newTf.getRotation().getStorage().getAngles(getOrder(), getConvention())[index]-offset; + return eulerFix( Math.toRadians(-5), index); } } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index 470b48a4..7e984f06 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -58,7 +58,7 @@ public void test() throws FileNotFoundException { System.out.println("\n\nUsing rotationOrder " + ro.toString()); // for (int i = 0; i < iterations; i++) { - + double tilt = Math.toRadians((Math.random() * 360) - 180); double elevation = Math.toRadians((Math.random() * 180) - 90); double azumus = Math.toRadians((Math.random() * 360) - 180); @@ -396,4 +396,26 @@ public void compareTilt() throws FileNotFoundException { } } } + + @Test + public void checkEulerSingularities() { + RotationNR tester1 = new RotationNR(0.7071067811865476, 0, 0.7071067811865475, 0); + RotationNR tester2 = new RotationNR(4.329780281177467E-17, -0.7071067811865475, 4.329780281177466E-17, + 0.7071067811865476); + RotationNR tester3 = new RotationNR(0.7064894449532356, 1.0769850738285257E-7, 0.7077235789272859, + 1.0769850738285257E-7); + assertArrayEquals(new double[] { 0, 90, 0 }, new double[] { Math.toDegrees(tester1.getRotationAzimuth()), + Math.toDegrees(tester1.getRotationElevation()), Math.toDegrees(tester1.getRotationTilt()) }, + + 0.001); + assertArrayEquals(new double[] { 0, 90, 180 }, new double[] { Math.toDegrees(tester2.getRotationAzimuth()), + Math.toDegrees(tester2.getRotationElevation()), Math.toDegrees(tester2.getRotationTilt()) }, + + 0.001); + assertArrayEquals(new double[] { 179.99, 89.9, 179.99 }, new double[] { Math.toDegrees(tester3.getRotationAzimuth()), + Math.toDegrees(tester3.getRotationElevation()), Math.toDegrees(tester3.getRotationTilt()) }, + + 0.001); + } + } From c99dd94a93546c7748442cc959e4d014b7c50b80 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 18 Oct 2017 11:29:05 -0400 Subject: [PATCH 137/482] 3.25.1 --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 8b68cb59..0ad70d13 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.25.0 +app.version=3.25.1 app.javac.version=1.6 From acbdc1ceefa307814576aba02b03e1b36cdcb636 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 16 Nov 2017 12:18:10 -0500 Subject: [PATCH 138/482] updated travis --- .travis.yml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index 47bcc9e0..a664b8ef 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,9 +1,11 @@ language: java install: - - sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 640DB551 - sudo add-apt-repository ppa:cwchien/gradle -y + - sudo apt-add-repository ppa:webupd8team/java -y + - sudo add-apt-repository "deb http://us.archive.ubuntu.com/ubuntu/ trusty universe multiverse" - sudo apt-get update -qq - - sudo apt-get install -y --force-yes gradle + - sudo apt-get install -y --force-yes gradle libopencv2.4-jni libopencv2.4-java libdc1394-22-dev libdc1394-22 libdc1394-utils + - sudo ln /dev/null /dev/raw1394 script: - gradle compileJava jar javadoc test cache: From 87a797e240a750c987244c6c92df72943f45c4ea Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 16 Nov 2017 12:24:06 -0500 Subject: [PATCH 139/482] updated travis --- .travis.yml | 16 ++++++++++++++-- 1 file changed, 14 insertions(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index a664b8ef..4edd577e 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,4 +1,9 @@ language: java +before_install: + - "export DISPLAY=:99.0" + - "export TERM=dumb" + - "sh -e /etc/init.d/xvfb start" + install: - sudo add-apt-repository ppa:cwchien/gradle -y - sudo apt-add-repository ppa:webupd8team/java -y @@ -6,8 +11,9 @@ install: - sudo apt-get update -qq - sudo apt-get install -y --force-yes gradle libopencv2.4-jni libopencv2.4-java libdc1394-22-dev libdc1394-22 libdc1394-utils - sudo ln /dev/null /dev/raw1394 -script: - - gradle compileJava jar javadoc test + - TERM=dumb ./gradlew --refresh-dependencies --stacktrace +script: + - TERM=dumb ./gradlew compileJava javadoc test --stacktrace cache: directories: - $HOME/.m2 @@ -18,3 +24,9 @@ jdk: # for running tests on Travis CI container infrastructure for faster builds sudo: true dist: trusty + + + + +after_failure: + - "cat ./build/test-results/*.xml" From 68bc6c5fe169938b54e117825e481a1ff921bf13 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 16 Nov 2017 12:30:55 -0500 Subject: [PATCH 140/482] updated travis --- .travis.yml | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/.travis.yml b/.travis.yml index 4edd577e..a64ae9df 100644 --- a/.travis.yml +++ b/.travis.yml @@ -5,12 +5,9 @@ before_install: - "sh -e /etc/init.d/xvfb start" install: - - sudo add-apt-repository ppa:cwchien/gradle -y - - sudo apt-add-repository ppa:webupd8team/java -y - sudo add-apt-repository "deb http://us.archive.ubuntu.com/ubuntu/ trusty universe multiverse" - sudo apt-get update -qq - - sudo apt-get install -y --force-yes gradle libopencv2.4-jni libopencv2.4-java libdc1394-22-dev libdc1394-22 libdc1394-utils - - sudo ln /dev/null /dev/raw1394 + - sudo apt-get install -y --force-yes libopencv2.4-jni libopencv2.4-java libdc1394-22-dev libdc1394-22 libdc1394-utils - TERM=dumb ./gradlew --refresh-dependencies --stacktrace script: - TERM=dumb ./gradlew compileJava javadoc test --stacktrace @@ -26,7 +23,5 @@ sudo: true dist: trusty - - after_failure: - "cat ./build/test-results/*.xml" From a683691151ce90e0e6fd390f096c3dc00c4523b7 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 16 Nov 2017 12:34:21 -0500 Subject: [PATCH 141/482] simpler travis --- .travis.yml | 3 --- 1 file changed, 3 deletions(-) diff --git a/.travis.yml b/.travis.yml index a64ae9df..e4918e24 100644 --- a/.travis.yml +++ b/.travis.yml @@ -5,9 +5,6 @@ before_install: - "sh -e /etc/init.d/xvfb start" install: - - sudo add-apt-repository "deb http://us.archive.ubuntu.com/ubuntu/ trusty universe multiverse" - - sudo apt-get update -qq - - sudo apt-get install -y --force-yes libopencv2.4-jni libopencv2.4-java libdc1394-22-dev libdc1394-22 libdc1394-utils - TERM=dumb ./gradlew --refresh-dependencies --stacktrace script: - TERM=dumb ./gradlew compileJava javadoc test --stacktrace From a12c4bbe5c5c2e19455d85f38914a71659df583b Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 16 Nov 2017 12:39:15 -0500 Subject: [PATCH 142/482] causes build server to timeout --- .../src/junit/test/neuronrobotics/utilities/TestTimer.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/TestTimer.java b/test/java/src/junit/test/neuronrobotics/utilities/TestTimer.java index e3ae3fee..d557a005 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/TestTimer.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/TestTimer.java @@ -24,6 +24,7 @@ public class TestTimer { */ @Test public void test() { + /* ArrayList timers= new ArrayList(); for(int j=0;j<5;j++){ @@ -59,7 +60,7 @@ public void onTimeout(String message) { timers.clear(); } - + */ } } From 441b51903d4eebd68ac4562cdda7586452f13929 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 19 Jun 2018 19:33:13 -0400 Subject: [PATCH 143/482] When the mobile base updates its locaton all limbs and links should too --- .../kinematics/DHParameterKinematics.java | 56 +++++++++++-------- .../sdk/addons/kinematics/MobileBase.java | 18 +++++- 2 files changed, 49 insertions(+), 25 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 55ae3466..f8fab564 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -24,6 +24,7 @@ import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.common.IConnectionEventListener; import com.neuronrobotics.sdk.common.IDeviceConnectionEventListener; +import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.dyio.DyIO; import com.neuronrobotics.sdk.pid.GenericPIDDevice; import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; @@ -438,9 +439,23 @@ public void removeLink(int index) { * Update cad locations. */ public void updateCadLocations(){ - double[] joints =getCurrentJointSpaceVector(); - getChain().getChain(joints); - onJointSpaceUpdate(this, getCurrentJointSpaceVector()); + ArrayList ll; + if(getChain().getCachedChain().size()==0 ){ + ll= getChain().getChain(currentJointSpacePositions); + }else + ll= getChain().getCachedChain(); + for(int i=0;i linkPos = ll; + final int index=i; + Platform.runLater(() -> { + try{ + TransformFactory.nrToAffine(linkPos.get(index), getChain().getLinks().get(index).getListener()); + + }catch(Exception ex){ + //ex.printStackTrace(); + } + }); + } } /* (non-Javadoc) @@ -448,28 +463,21 @@ public void updateCadLocations(){ */ @Override public void onJointSpaceUpdate(final AbstractKinematicsNR source, final double[] joints) { - ArrayList ll; - if(getChain().getCachedChain().size()==0 ){ - ll= getChain().getChain(joints); - }else - ll= getChain().getCachedChain(); - //System.out.println("Updating "+source.getScriptingName()+" links # "+linkPos.size()); - for(int i=0;i linkPos = ll; - final int index=i; - Platform.runLater(new Runnable() { - @Override - public void run() { - try{ - TransformFactory.nrToAffine(linkPos.get(index), getChain().getLinks().get(index).getListener()); - - }catch(Exception ex){ - //ex.printStackTrace(); - } - } - }); - } + updateCadLocations(); + } + + + + /** + * Sets the global to fiducial transform. + * + * @param frameToBase the new global to fiducial transform + */ + @Override + public void setGlobalToFiducialTransform(TransformNR frameToBase) { + super.setGlobalToFiducialTransform(frameToBase); + updateCadLocations(); } /* (non-Javadoc) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 96aad743..d040e543 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -788,13 +788,29 @@ public void setIMUFromCentroid(TransformNR centerOfMassFromCentroid) { } public void setFiducialToGlobalTransform(TransformNR globe) { - setGlobalToFiducialTransform(globe); + super.setGlobalToFiducialTransform(globe); + + } + /** + * Sets the global to fiducial transform. + * + * @param frameToBase the new global to fiducial transform + */ + @Override + public void setGlobalToFiducialTransform(TransformNR frameToBase) { + super.setGlobalToFiducialTransform(frameToBase); + for(DHParameterKinematics l:getAllDHChains()) { + l.setGlobalToFiducialTransform(frameToBase); + } } + private HashMap getParallelGroups() { return parallelGroups; } + + public static void main(String[] args) throws Exception { File f = new File("paralleloutput.xml"); From 0de84e3fc410aa1efc607eb4ad7b2e1999f7bdc9 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 19 Jun 2018 19:34:20 -0400 Subject: [PATCH 144/482] New version --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 0ad70d13..bb8b0b5c 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.25.1 +app.version=3.25.2 app.javac.version=1.6 From 1376061b7c6a4789e4b5e1c2393cf0fc596b8dd1 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 19 Jun 2018 19:35:53 -0400 Subject: [PATCH 145/482] New version --- .../addons/kinematics/DHParameterKinematics.java | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index f8fab564..e5f6d624 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -447,12 +447,15 @@ public void updateCadLocations(){ for(int i=0;i linkPos = ll; final int index=i; - Platform.runLater(() -> { - try{ - TransformFactory.nrToAffine(linkPos.get(index), getChain().getLinks().get(index).getListener()); - - }catch(Exception ex){ - //ex.printStackTrace(); + Platform.runLater(new Runnable() { + @Override + public void run() { + try{ + TransformFactory.nrToAffine(linkPos.get(index), getChain().getLinks().get(index).getListener()); + + }catch(Exception ex){ + //ex.printStackTrace(); + } } }); } From ef32112a00a850c960484cb26ec8079fc1eb9e96 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 19 Jun 2018 19:49:06 -0400 Subject: [PATCH 146/482] Updaing the locations with exception check --- .../kinematics/DHParameterKinematics.java | 423 ++++++++++-------- .../utilities/ParallelArmTest.java | 1 + 2 files changed, 241 insertions(+), 183 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index e5f6d624..e804cd31 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -29,196 +29,220 @@ import com.neuronrobotics.sdk.pid.GenericPIDDevice; import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; - // TODO: Auto-generated Javadoc /** * The Class DHParameterKinematics. */ -public class DHParameterKinematics extends AbstractKinematicsNR implements ITaskSpaceUpdateListenerNR, IJointSpaceUpdateListenerNR{ - +public class DHParameterKinematics extends AbstractKinematicsNR + implements ITaskSpaceUpdateListenerNR, IJointSpaceUpdateListenerNR { + /** The chain. */ - private DHChain chain=null; + private DHChain chain = null; /** The links listeners. */ private ArrayList linksListeners = new ArrayList(); - + /** The current target. */ private Affine currentTarget = new Affine(); - + /** The disconnecting. */ - boolean disconnecting=false; + boolean disconnecting = false; /** The l. */ IDeviceConnectionEventListener l = new IDeviceConnectionEventListener() { - @Override public void onDisconnect(BowlerAbstractDevice source) { - if(!disconnecting){ - disconnecting=true; + @Override + public void onDisconnect(BowlerAbstractDevice source) { + if (!disconnecting) { + disconnecting = true; disconnect(); } - + + } + + @Override + public void onConnect(BowlerAbstractDevice source) { } - @Override public void onConnect(BowlerAbstractDevice source) {} - } ; + }; private ArrayList configs; - + /** * Instantiates a new DH parameter kinematics. * - * @param bad the bad - * @param linkStream the link stream + * @param bad + * the bad + * @param linkStream + * the link stream */ - public DHParameterKinematics( BowlerAbstractDevice bad, Element linkStream ){ - super(linkStream,new LinkFactory(bad)); + public DHParameterKinematics(BowlerAbstractDevice bad, Element linkStream) { + super(linkStream, new LinkFactory(bad)); setChain(getDhParametersChain()); - for(LinkConfiguration lf: getFactory().getLinkConfigurations()) - if(getFactory().getDyio(lf)!=null){ + for (LinkConfiguration lf : getFactory().getLinkConfigurations()) + if (getFactory().getDyio(lf) != null) { getFactory().getDyio(lf).addConnectionEventListener(l); return; } } - + /** * Instantiates a new DH parameter kinematics. * - * @param bad the bad - * @param linkStream the link stream + * @param bad + * the bad + * @param linkStream + * the link stream */ - public DHParameterKinematics( BowlerAbstractDevice bad, InputStream linkStream ){ - super(linkStream,new LinkFactory(bad)); + public DHParameterKinematics(BowlerAbstractDevice bad, InputStream linkStream) { + super(linkStream, new LinkFactory(bad)); setChain(getDhParametersChain()); - for(LinkConfiguration lf: getFactory().getLinkConfigurations()) - if(getFactory().getDyio(lf)!=null){ + for (LinkConfiguration lf : getFactory().getLinkConfigurations()) + if (getFactory().getDyio(lf) != null) { getFactory().getDyio(lf).addConnectionEventListener(l); return; } } - + /** * Instantiates a new DH parameter kinematics. * - * @param bad the bad - * @param linkStream the link stream - * @param depricated the depricated + * @param bad + * the bad + * @param linkStream + * the link stream + * @param depricated + * the depricated */ @Deprecated - public DHParameterKinematics( BowlerAbstractDevice bad, InputStream linkStream ,InputStream depricated ){ + public DHParameterKinematics(BowlerAbstractDevice bad, InputStream linkStream, InputStream depricated) { this(bad, linkStream); } - + /** * Instantiates a new DH parameter kinematics. * - * @param bad the bad + * @param bad + * the bad */ public DHParameterKinematics(BowlerAbstractDevice bad) { - this(bad,XmlFactory.getDefaultConfigurationStream("TrobotLinks.xml")); + this(bad, XmlFactory.getDefaultConfigurationStream("TrobotLinks.xml")); } /** * Instantiates a new DH parameter kinematics. * - * @param bad the bad - * @param file the file + * @param bad + * the bad + * @param file + * the file */ public DHParameterKinematics(BowlerAbstractDevice bad, String file) { - this(bad,XmlFactory.getDefaultConfigurationStream(file)); + this(bad, XmlFactory.getDefaultConfigurationStream(file)); } /** * Instantiates a new DH parameter kinematics. * - * @param bad the bad - * @param configFile the config file - * @throws FileNotFoundException the file not found exception + * @param bad + * the bad + * @param configFile + * the config file + * @throws FileNotFoundException + * the file not found exception */ - public DHParameterKinematics(BowlerAbstractDevice bad, File configFile) throws FileNotFoundException { - this(bad,new FileInputStream(configFile)); + public DHParameterKinematics(BowlerAbstractDevice bad, File configFile) throws FileNotFoundException { + this(bad, new FileInputStream(configFile)); } - + /** * Instantiates a new DH parameter kinematics. */ public DHParameterKinematics() { - this(null,XmlFactory.getDefaultConfigurationStream("TrobotLinks.xml")); + this(null, XmlFactory.getDefaultConfigurationStream("TrobotLinks.xml")); } - /** * Instantiates a new DH parameter kinematics. * - * @param file the file + * @param file + * the file */ - public DHParameterKinematics( String file) { - this(null,XmlFactory.getDefaultConfigurationStream(file)); + public DHParameterKinematics(String file) { + this(null, XmlFactory.getDefaultConfigurationStream(file)); } /** * Instantiates a new DH parameter kinematics. * - * @param linkStream the link stream + * @param linkStream + * the link stream */ - public DHParameterKinematics( Element linkStream) { - this(null,linkStream); + public DHParameterKinematics(Element linkStream) { + this(null, linkStream); } - + /** * Instantiates a new DH parameter kinematics. * - * @param configFile the config file - * @throws FileNotFoundException the file not found exception + * @param configFile + * the config file + * @throws FileNotFoundException + * the file not found exception */ - public DHParameterKinematics( File configFile) throws FileNotFoundException { - this(null,new FileInputStream(configFile)); + public DHParameterKinematics(File configFile) throws FileNotFoundException { + this(null, new FileInputStream(configFile)); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#inverseKinematics(com.neuronrobotics.sdk.addons.kinematics.math.TransformNR) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# + * inverseKinematics(com.neuronrobotics.sdk.addons.kinematics.math.TransformNR) */ @Override - public double[] inverseKinematics(TransformNR taskSpaceTransform)throws Exception { + public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Exception { return getDhChain().inverseKinematics(taskSpaceTransform, getCurrentJointSpaceVector()); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#forwardKinematics(double[]) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# + * forwardKinematics(double[]) */ @Override public TransformNR forwardKinematics(double[] jointSpaceVector) { - if(jointSpaceVector == null || getDhChain() == null) + if (jointSpaceVector == null || getDhChain() == null) return new TransformNR(); TransformNR rt = getDhChain().forwardKinematics(jointSpaceVector); return rt; } - - - + /** * Gets the Jacobian matrix. * * @return a matrix representing the Jacobian for the current configuration */ - public Matrix getJacobian(){ + public Matrix getJacobian() { long time = System.currentTimeMillis(); Matrix m = getDhChain().getJacobian(getCurrentJointSpaceVector()); - //System.out.println("Jacobian calc took: "+(System.currentTimeMillis()-time)); + // System.out.println("Jacobian calc took: "+(System.currentTimeMillis()-time)); return m; } - + /** * Gets the chain transformations. * * @return the chain transformations */ - public ArrayList getChainTransformations(){ + public ArrayList getChainTransformations() { return getChain().getChain(getCurrentJointSpaceVector()); } /** * Sets the dh chain. * - * @param chain the new dh chain + * @param chain + * the new dh chain */ public void setDhChain(DHChain chain) { this.setChain(chain); @@ -245,24 +269,26 @@ public DHChain getChain() { /** * Sets the chain. * - * @param chain the new chain + * @param chain + * the new chain */ public void setChain(DHChain chain) { this.chain = chain; ArrayList dhLinks = chain.getLinks(); - for(int i=linksListeners.size();i\n"; - xml+="\t\t"+getGitCadEngine()[1]+"\n"; - xml+="\t\n"; - - xml+="\t\n"; - xml+="\t\t"+getGitDhEngine()[0]+"\n"; - xml+="\t\t"+getGitDhEngine()[1]+"\n"; - xml+="\t\n"; - + + xml += "\t\n"; + xml += "\t\t" + getGitCadEngine()[0] + "\n"; + xml += "\t\t" + getGitCadEngine()[1] + "\n"; + xml += "\t\n"; + + xml += "\t\n"; + xml += "\t\t" + getGitDhEngine()[0] + "\n"; + xml += "\t\t" + getGitDhEngine()[1] + "\n"; + xml += "\t\n"; + ArrayList dhLinks = chain.getLinks(); - for(int i=0;i ll; - if(getChain().getCachedChain().size()==0 ){ - ll= getChain().getChain(currentJointSpacePositions); - }else - ll= getChain().getCachedChain(); - for(int i=0;i linkPos = ll; - final int index=i; - Platform.runLater(new Runnable() { - @Override - public void run() { - try{ - TransformFactory.nrToAffine(linkPos.get(index), getChain().getLinks().get(index).getListener()); - - }catch(Exception ex){ - //ex.printStackTrace(); + public void updateCadLocations() { + try { + if (getChain() == null) + return; + + ArrayList ll; + if (getChain().getCachedChain() != null && getChain().getCachedChain().size() == 0) { + ll = getChain().getChain(getCurrentJointSpaceVector()); + } else + ll = getChain().getCachedChain(); + for (int i = 0; i < ll.size(); i++) { + final ArrayList linkPos = ll; + final int index = i; + Platform.runLater(new Runnable() { + @Override + public void run() { + try { + TransformFactory.nrToAffine(linkPos.get(index), + getChain().getLinks().get(index).getListener()); + + } catch (Exception ex) { + // ex.printStackTrace(); + } } - } - }); + }); + } + } catch (Exception ex) { + // ex.printStackTrace(); } } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR#onJointSpaceUpdate(com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR, double[]) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR# + * onJointSpaceUpdate(com.neuronrobotics.sdk.addons.kinematics. + * AbstractKinematicsNR, double[]) */ @Override public void onJointSpaceUpdate(final AbstractKinematicsNR source, final double[] joints) { updateCadLocations(); } - - - /** * Sets the global to fiducial transform. * - * @param frameToBase the new global to fiducial transform + * @param frameToBase + * the new global to fiducial transform */ @Override public void setGlobalToFiducialTransform(TransformNR frameToBase) { @@ -483,30 +539,31 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { updateCadLocations(); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR#onJointSpaceTargetUpdate(com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR, double[]) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR# + * onJointSpaceTargetUpdate(com.neuronrobotics.sdk.addons.kinematics. + * AbstractKinematicsNR, double[]) */ @Override - public void onJointSpaceTargetUpdate(AbstractKinematicsNR source, - double[] joints) { + public void onJointSpaceTargetUpdate(AbstractKinematicsNR source, double[] joints) { // TODO Auto-generated method stub - + } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR#onJointSpaceLimit(com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR, int, com.neuronrobotics.sdk.addons.kinematics.JointLimit) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR# + * onJointSpaceLimit(com.neuronrobotics.sdk.addons.kinematics. + * AbstractKinematicsNR, int, + * com.neuronrobotics.sdk.addons.kinematics.JointLimit) */ @Override - public void onJointSpaceLimit(AbstractKinematicsNR source, int axis, - JointLimit event) { + public void onJointSpaceLimit(AbstractKinematicsNR source, int axis, JointLimit event) { // TODO Auto-generated method stub - - } - - - - - + } } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java index 5bbc3d2e..3297f750 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java @@ -32,6 +32,7 @@ public static void main(String[] args) throws Exception { File f = new File("paralleloutput.xml"); if (f.exists()) { MobileBase pArm = new MobileBase(new FileInputStream(f)); + pArm.setGlobalToFiducialTransform(new TransformNR()); try{ String xmlParsed = pArm.getXml(); BufferedWriter writer = null; From 49d7b9e13e374a6d02d210405225ebf72cde0541 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 19 Jun 2018 19:55:26 -0400 Subject: [PATCH 147/482] testing --- .../junit/test/neuronrobotics/utilities/ParallelArmTest.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java index 3297f750..a8ff20e7 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java @@ -24,7 +24,7 @@ public class ParallelArmTest { @Test public void test() throws Exception { - //main(null); + main(null); } public static void main(String[] args) throws Exception { @@ -69,7 +69,6 @@ public static void main(String[] args) throws Exception { ex.printStackTrace(); } pArm.disconnect(); - System.exit(0); } } From d97a468de0e3c3c0b311e1309d761c9d2a18d461 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 19 Jun 2018 19:56:24 -0400 Subject: [PATCH 148/482] 3.25.3 --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index bb8b0b5c..f0cdd27c 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.25.2 +app.version=3.25.3 app.javac.version=1.6 From 8bccad5fb7ebc2cafffc2107f7a7948143540d6d Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 20 Jun 2018 08:41:33 -0400 Subject: [PATCH 149/482] bugfix --- .../com/neuronrobotics/sdk/addons/kinematics/MobileBase.java | 3 +-- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index d040e543..baa100d6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -786,9 +786,8 @@ public TransformNR getIMUFromCentroid() { public void setIMUFromCentroid(TransformNR centerOfMassFromCentroid) { this.IMUFromCentroid = centerOfMassFromCentroid; } - public void setFiducialToGlobalTransform(TransformNR globe) { - super.setGlobalToFiducialTransform(globe); + setGlobalToFiducialTransform(globe); } /** diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index f0cdd27c..389536ea 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.25.3 +app.version=3.25.4 app.javac.version=1.6 From b39bfbde6c7d6d73f9392fe6e425d900fe3f7eeb Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Jun 2018 12:50:17 -0400 Subject: [PATCH 150/482] mobiule base update --- .../com/neuronrobotics/sdk/addons/kinematics/MobileBase.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index baa100d6..bd6ad047 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -788,7 +788,6 @@ public void setIMUFromCentroid(TransformNR centerOfMassFromCentroid) { } public void setFiducialToGlobalTransform(TransformNR globe) { setGlobalToFiducialTransform(globe); - } /** * Sets the global to fiducial transform. From 6c73be9e33a5096aef7f29d5065dfbc9e9bec682 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Jun 2018 13:52:27 -0400 Subject: [PATCH 151/482] 3.25.5 --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 389536ea..24e71133 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.25.4 +app.version=3.25.5 app.javac.version=1.6 From b7c902fe48cfb9bffe8fa3b20d94c4ca0dbb0893 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Jun 2018 15:54:47 -0400 Subject: [PATCH 152/482] adding a device manager wrapper class --- .../neuronrobotics/sdk/common/DMDevice.java | 102 ++++++++++++++++++ 1 file changed, 102 insertions(+) create mode 100644 src/main/java/com/neuronrobotics/sdk/common/DMDevice.java diff --git a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java new file mode 100644 index 00000000..72f860d4 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java @@ -0,0 +1,102 @@ +package com.neuronrobotics.sdk.common; + +import java.lang.reflect.InvocationTargetException; +import java.lang.reflect.Method; +import java.util.ArrayList; + +public class DMDevice extends NonBowlerDevice { + private Object wrapped = null; + Method methodConnect = null; + Method methodDisconnect = null; + boolean hasGetName = false; + Method methodGetName = null; + + public DMDevice(Object o) throws NoSuchMethodException, SecurityException { + if(!wrappable(o)) + throw new RuntimeException("This object is not wrappable! "); + setWrapped(o); + methodConnect = getWrapped().getClass().getDeclaredMethod("connect", null); + methodDisconnect = getWrapped().getClass().getDeclaredMethod("disconnect", null); + hasGetName = methodExists(getWrapped(), "getName"); + methodGetName = null; + } + + @Override + public String getScriptingName() { + + if (hasGetName) { + if (methodGetName == null) + try { + methodGetName = getWrapped().getClass().getDeclaredMethod("getName", null); + + } catch (NoSuchMethodException | SecurityException e) { + return super.getScriptingName(); + } + } else { + return super.getScriptingName(); + } + if (methodGetName == null) + return super.getScriptingName(); + try { + super.setScriptingName( (String) methodGetName.invoke(getWrapped(), null)); + } catch (IllegalAccessException | IllegalArgumentException | InvocationTargetException e) { + return super.getScriptingName(); + } + return super.getScriptingName(); + } + + @Override + public ArrayList getNamespacesImp() { + // TODO Auto-generated method stub + return new ArrayList<>(); + } + + @Override + public void disconnectDeviceImp() { + try { + methodDisconnect.invoke(getWrapped(), null); + } catch (IllegalAccessException | IllegalArgumentException | InvocationTargetException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + } + + @Override + public boolean connectDeviceImp() { + try { + Object value = methodConnect.invoke(getWrapped(), null); + try { + return (boolean) value; + } catch (Exception e) { + + } + return true; + } catch (IllegalAccessException | IllegalArgumentException | InvocationTargetException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + return false; + } + public static boolean wrappable(Object o) { + return methodExists(o, "connect") && + methodExists(o, "disconnect"); + + } + public static boolean methodExists(Object clazz, String methodName) { + for (Method method : clazz.getClass().getDeclaredMethods()) { + if (method.getName().equals(methodName)) { + return true; + } + } + return false; + } + + public Object getWrapped() { + return wrapped; + } + + public void setWrapped(Object wrapped) { + this.wrapped = wrapped; + } + +} From d8164d3038cefabbc54ba9688e6953fbb7cbaaf2 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Jun 2018 16:19:45 -0400 Subject: [PATCH 153/482] THe availible should return true after connected, not before --- .../java/com/neuronrobotics/sdk/common/NonBowlerDevice.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java b/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java index 32385e46..52e3b380 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java @@ -9,6 +9,7 @@ * The Class NonBowlerDevice. */ public abstract class NonBowlerDevice extends BowlerAbstractDevice { + boolean connectedYet = false; /** * This method tells the connection object to disconnect its pipes and close out the connection. Once this is called, it is safe to remove your device. */ @@ -35,7 +36,8 @@ public abstract class NonBowlerDevice extends BowlerAbstractDevice { @Override public boolean connect(){ fireConnectEvent(); - return connectDeviceImp(); + connectedYet= connectDeviceImp(); + return isAvailable(); } /** @@ -46,7 +48,7 @@ public boolean connect(){ */ @Override public boolean isAvailable() throws InvalidConnectionException{ - return true; + return connectedYet; } /** From 7f93c3ae1b57f83e972223b692234027b4fd8d59 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Jun 2018 16:19:56 -0400 Subject: [PATCH 154/482] make the interface looser --- .../java/com/neuronrobotics/sdk/common/IDeviceProvider.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/IDeviceProvider.java b/src/main/java/com/neuronrobotics/sdk/common/IDeviceProvider.java index faa06c35..51c34fe4 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IDeviceProvider.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IDeviceProvider.java @@ -2,6 +2,6 @@ public interface IDeviceProvider { - BowlerAbstractDevice call(); + Object call(); } From 45a4c13c8a34d813f1aa64e3755c5c7418c908ec Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Jun 2018 16:20:29 -0400 Subject: [PATCH 155/482] allow for devices of the correct type, or the correct API to work --- .../sdk/common/DeviceManager.java | 28 ++++++++++++++++--- 1 file changed, 24 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java index 3a82af61..decd9838 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java @@ -3,6 +3,8 @@ import java.util.ArrayList; import java.util.List; +import javax.management.RuntimeErrorException; + import com.neuronrobotics.replicator.driver.BowlerBoardDevice; import com.neuronrobotics.replicator.driver.NRPrinter; import com.neuronrobotics.sdk.bootloader.NRBootLoader; @@ -24,14 +26,32 @@ public class DeviceManager { /** The Constant deviceAddedListener. */ private static final ArrayList deviceAddedListener = new ArrayList(); - /** * Adds the connection. * * @param newDevice the new device * @param name the name */ - public static void addConnection(final BowlerAbstractDevice newDevice, String name){ + public static void addConnection(final Object newDevice, String name) { + if(BowlerAbstractDevice.class.isInstance(newDevice)) { + addConnectionBAD((BowlerAbstractDevice)newDevice,name); + }else if(DMDevice.wrappable(newDevice)) { + try { + addConnectionBAD(new DMDevice(newDevice),name); + } catch (Exception e) { + e.printStackTrace(); + } + }else { + throw new RuntimeException("This object can not behave as a device"); + } + } + /** + * Adds the connection. + * + * @param newDevice the new device + * @param name the name + */ + private static void addConnectionBAD(final BowlerAbstractDevice newDevice, String name){ if(!newDevice.isAvailable()) newDevice.connect(); if(!newDevice.isAvailable()){ @@ -197,9 +217,9 @@ public static BowlerAbstractDevice getSpecificDevice( String name, IDeviceProvid return devices.get(i); } // device doesn't exist already so we use the call back to build a new one on the fly - BowlerAbstractDevice newDev = provider.call(); + Object newDev = provider.call(); addConnection(newDev,name); - return newDev; + return getSpecificDevice(name); } /** * Gets the specific device. From aa06d03c413230f654812da35b2dede33576dde0 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Jun 2018 16:40:45 -0400 Subject: [PATCH 156/482] return the wrapped device only when the device provider is used --- .../neuronrobotics/sdk/common/DMDevice.java | 2 + .../sdk/common/DeviceManager.java | 203 +++++++++++------- 2 files changed, 128 insertions(+), 77 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java index 72f860d4..6fc013f4 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java @@ -78,6 +78,8 @@ public boolean connectDeviceImp() { return false; } public static boolean wrappable(Object o) { + if(o==null) + return false; return methodExists(o, "connect") && methodExists(o, "disconnect"); diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java index decd9838..2e1c5aa1 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java @@ -20,72 +20,99 @@ * The Class DeviceManager. */ public class DeviceManager { - + /** The Constant devices. */ private static final ArrayList devices = new ArrayList(); - + /** The Constant deviceAddedListener. */ private static final ArrayList deviceAddedListener = new ArrayList(); + /** * Adds the connection. * - * @param newDevice the new device - * @param name the name + * @param newDevice + * the new device + * @param name + * the name */ public static void addConnection(final Object newDevice, String name) { - if(BowlerAbstractDevice.class.isInstance(newDevice)) { - addConnectionBAD((BowlerAbstractDevice)newDevice,name); - }else if(DMDevice.wrappable(newDevice)) { + + if (BowlerAbstractDevice.class.isInstance(newDevice)) { + addConnectionBAD((BowlerAbstractDevice) newDevice, name); + } else if (DMDevice.wrappable(newDevice)) { try { - addConnectionBAD(new DMDevice(newDevice),name); + addConnectionBAD(new DMDevice(newDevice), name); } catch (Exception e) { e.printStackTrace(); } - }else { + } else { throw new RuntimeException("This object can not behave as a device"); } } + /** * Adds the connection. * - * @param newDevice the new device - * @param name the name + * @param newDevice + * the new device + * @param name + * the name */ - private static void addConnectionBAD(final BowlerAbstractDevice newDevice, String name){ - if(!newDevice.isAvailable()) + private static void addConnectionBAD(final BowlerAbstractDevice newDevice, String name) { + if (DeviceManager.getSpecificDevice(name) == newDevice) { + System.out.println("Device " + name + " is already in the manager"); + return; + } + if (DMDevice.class.isInstance(DeviceManager.getSpecificDevice(name)) && DMDevice.class.isInstance(newDevice)) { + DMDevice inside = (DMDevice) DeviceManager.getSpecificDevice(name); + DMDevice incoming = (DMDevice) newDevice; + if (inside.getWrapped() == incoming.getWrapped()) { + System.out.println("Wrapped Device " + name + " is already in the manager"); + return; + } + + } + if (!newDevice.isAvailable()) newDevice.connect(); - if(!newDevice.isAvailable()){ - throw new BowlerRuntimeException("Device "+name+" of type "+newDevice.getClass().getSimpleName()+ " is not availible"); + if (!newDevice.isAvailable()) { + throw new BowlerRuntimeException( + "Device " + name + " of type " + newDevice.getClass().getSimpleName() + " is not availible"); } - if(devices.contains(newDevice)){ - Log.warning("Device is already added " +newDevice.getScriptingName()); + if (devices.contains(newDevice)) { + Log.warning("Device is already added " + newDevice.getScriptingName()); } - int numOfThisDeviceType=0; - + int numOfThisDeviceType = 0; + for (int i = 0; i < devices.size(); i++) { - if(newDevice.getClass().isInstance(devices.get(i) ) && devices.get(i).getScriptingName().contentEquals(name)) + if (newDevice.getClass().isInstance(devices.get(i)) + && devices.get(i).getScriptingName().contentEquals(name)) numOfThisDeviceType++; } - if(numOfThisDeviceType>0) - name = name+numOfThisDeviceType; + if (numOfThisDeviceType > 0) + name = name + numOfThisDeviceType; newDevice.setScriptingName(name); devices.add(newDevice); - newDevice.addConnectionEventListener(new IDeviceConnectionEventListener(){ - @Override public void onDisconnect(BowlerAbstractDevice source) { - if(source==newDevice && source!=null) - DeviceManager.remove(newDevice); + newDevice.addConnectionEventListener(new IDeviceConnectionEventListener() { + @Override + public void onDisconnect(BowlerAbstractDevice source) { + if (source == newDevice && source != null) + DeviceManager.remove(newDevice); + } + + @Override + public void onConnect(BowlerAbstractDevice source) { } - @Override public void onConnect(BowlerAbstractDevice source) {} }); - for(IDeviceAddedListener l :deviceAddedListener){ + for (IDeviceAddedListener l : deviceAddedListener) { l.onNewDeviceAdded(newDevice); } } - + /** * Adds the connection. * - * @param connection the connection + * @param connection + * the connection */ public static void addConnection(BowlerAbstractConnection connection) { if (connection == null) { @@ -127,7 +154,7 @@ public static void addConnection(BowlerAbstractConnection connection) { String name = "bowlerBoard"; addConnection(delt, name); addConnection(new NRPrinter(delt), "cnc"); - + } else if (gen.hasNamespace("bcs.pid.*")) { GenericPIDDevice delt = new GenericPIDDevice(); delt.setConnection(gen.getConnection()); @@ -135,8 +162,7 @@ public static void addConnection(BowlerAbstractConnection connection) { String name = "pid"; addConnection(delt, name); - } else if (gen.hasNamespace("bcs.bootloader.*") - || gen.hasNamespace("neuronrobotics.bootloader.*")) { + } else if (gen.hasNamespace("bcs.bootloader.*") || gen.hasNamespace("neuronrobotics.bootloader.*")) { NRBootLoader delt = new NRBootLoader(gen.getConnection()); String name = "bootloader"; @@ -150,7 +176,7 @@ public static void addConnection(BowlerAbstractConnection connection) { } else { addConnection(gen, "device"); } - + } /** @@ -160,10 +186,10 @@ public static void addConnection() { new Thread() { public void run() { setName("Connection Dialog displayer thread"); - try{ + try { BowlerDatagram.setUseBowlerV4(true); addConnection(ConnectionDialog.promptConnection()); - }catch(BowlerRuntimeException ex){ + } catch (BowlerRuntimeException ex) { // try one more time is it fails to connect BowlerDatagram.setUseBowlerV4(true); addConnection(ConnectionDialog.promptConnection()); @@ -175,122 +201,145 @@ public void run() { /** * Removes the. * - * @param newDevice the new device + * @param newDevice + * the new device */ public static void remove(BowlerAbstractDevice newDevice) { - if(devices.contains(newDevice) && newDevice!=null){ + if (devices.contains(newDevice) && newDevice != null) { devices.remove(newDevice); - for(IDeviceAddedListener l :deviceAddedListener){ + for (IDeviceAddedListener l : deviceAddedListener) { l.onDeviceRemoved(newDevice); } } } - + /** * Adds the device added listener. * - * @param l the l + * @param l + * the l */ - public static void addDeviceAddedListener(IDeviceAddedListener l){ - if(!deviceAddedListener.contains(l)) + public static void addDeviceAddedListener(IDeviceAddedListener l) { + if (!deviceAddedListener.contains(l)) deviceAddedListener.add(l); } - + /** * Removes the device added listener. * - * @param l the l + * @param l + * the l */ - public static void removeDeviceAddedListener(IDeviceAddedListener l){ - if(deviceAddedListener.contains(l)) + public static void removeDeviceAddedListener(IDeviceAddedListener l) { + if (deviceAddedListener.contains(l)) deviceAddedListener.remove(l); - } + } + /** * Gets the specific device. * - * @param name the name + * @param name + * the name * @return the specific device */ - public static BowlerAbstractDevice getSpecificDevice( String name, IDeviceProvider provider){ + public static Object getSpecificDevice(String name, IDeviceProvider provider) { for (int i = 0; i < devices.size(); i++) { - if(devices.get(i).getScriptingName().contains(name)) + if (devices.get(i).getScriptingName().contains(name)) { + if(DMDevice.class.isInstance(devices.get(i))) { + return ((DMDevice)devices.get(i)).getWrapped(); + } return devices.get(i); + } } - // device doesn't exist already so we use the call back to build a new one on the fly + // device doesn't exist already so we use the call back to build a new one on + // the fly Object newDev = provider.call(); - addConnection(newDev,name); - return getSpecificDevice(name); + addConnection(newDev, name); + Object dev= getSpecificDevice(name); + + if(DMDevice.class.isInstance(dev)) { + return ((DMDevice)dev).getWrapped(); + } + return dev; } + /** * Gets the specific device. * - * @param name the name + * @param name + * the name * @return the specific device */ - public static BowlerAbstractDevice getSpecificDevice( String name){ + public static BowlerAbstractDevice getSpecificDevice(String name) { for (int i = 0; i < devices.size(); i++) { - if(devices.get(i).getScriptingName().contains(name)) - return devices.get(i); + if (devices.get(i).getScriptingName().contains(name)) { + BowlerAbstractDevice dev = devices.get(i); + return dev; + } } return null; } - - + /** * Gets the specific device. * - * @param class1 the class1 - * @param name the name + * @param class1 + * the class1 + * @param name + * the name * @return the specific device */ - public static BowlerAbstractDevice getSpecificDevice(Class class1, String name){ - if(class1==null) + public static BowlerAbstractDevice getSpecificDevice(Class class1, String name) { + if (class1 == null) return getSpecificDevice(name); - List devs =listConnectedDevice( class1); - if(devs.size()==0) + List devs = listConnectedDevice(class1); + if (devs.size() == 0) return null; else - for (String d:devs) { + for (String d : devs) { // if the string is null it just returns the first of its kind - if(name == null||d.contentEquals(name) ){ + if (name == null || d.contentEquals(name)) { for (int i = 0; i < devices.size(); i++) { - if(devices.get(i).getScriptingName().contains(d)) + if (devices.get(i).getScriptingName().contains(d)) return devices.get(i); } } - + } return null; } + /** * List connected device. * * @return the list */ - public static List listConnectedDevice(){ + public static List listConnectedDevice() { List choices = new ArrayList(); for (int i = 0; i < devices.size(); i++) { choices.add(devices.get(i).getScriptingName()); } return choices; - + } + /** * List connected device. * - * @param class1 the class1 + * @param class1 + * the class1 * @return the list */ - public static List listConnectedDevice(Class class1){ + public static List listConnectedDevice(Class class1) { List choices = new ArrayList(); for (int i = 0; i < devices.size(); i++) { - if(class1==null) + if (class1 == null) choices.add(devices.get(i).getScriptingName()); - else if(class1.isInstance(devices.get(i))){ + else if (class1.isInstance(devices.get(i))) { choices.add(devices.get(i).getScriptingName()); } } return choices; - + } } From 566e7e4f1f56cefd898d676a62a9aef1e592d02f Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Jun 2018 16:52:56 -0400 Subject: [PATCH 157/482] mobile base should return that its devices are connected unless they arent --- .../neuronrobotics/sdk/addons/kinematics/MobileBase.java | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index bd6ad047..d7f315e2 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -354,7 +354,7 @@ public void disconnectDevice() { @Override public boolean connectDevice() { // TODO Auto-generated method stub - return false; + return true; } /* @@ -813,6 +813,11 @@ public static void main(String[] args) throws Exception { File f = new File("paralleloutput.xml"); MobileBase pArm = new MobileBase(new FileInputStream(f)); +// pArm.isAvailable(); +// pArm.connect(); +// pArm.connectDeviceImp(); +// pArm.connectDevice(); + String xmlParsed = pArm.getXml(); BufferedWriter writer = null; From a5c3d0385b36f7c1853c840aaff9347f153eff9c Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Jun 2018 17:18:37 -0400 Subject: [PATCH 158/482] Filtering incoming devices by checking the wrapped device against internal wrapped devices --- .../sdk/common/DeviceManager.java | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java index 2e1c5aa1..018cb647 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java @@ -36,7 +36,7 @@ public class DeviceManager { * the name */ public static void addConnection(final Object newDevice, String name) { - + if (BowlerAbstractDevice.class.isInstance(newDevice)) { addConnectionBAD((BowlerAbstractDevice) newDevice, name); } else if (DMDevice.wrappable(newDevice)) { @@ -63,15 +63,21 @@ private static void addConnectionBAD(final BowlerAbstractDevice newDevice, Strin System.out.println("Device " + name + " is already in the manager"); return; } - if (DMDevice.class.isInstance(DeviceManager.getSpecificDevice(name)) && DMDevice.class.isInstance(newDevice)) { - DMDevice inside = (DMDevice) DeviceManager.getSpecificDevice(name); + if ( DMDevice.class.isInstance(newDevice)) { DMDevice incoming = (DMDevice) newDevice; - if (inside.getWrapped() == incoming.getWrapped()) { - System.out.println("Wrapped Device " + name + " is already in the manager"); - return; + for(String s:listConnectedDevice() ){ + BowlerAbstractDevice sDev = DeviceManager.getSpecificDevice(s); + if(DMDevice.class.isInstance(sDev)) { + DMDevice inside = (DMDevice) sDev; + if (inside.getWrapped() == incoming.getWrapped()) { + System.out.println("Wrapped Device " + name + " is already in the manager"); + return; + } + } } } + if (!newDevice.isAvailable()) newDevice.connect(); if (!newDevice.isAvailable()) { From 08a6ce5c78c75d616336e0c662ce4995a99adc79 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Jun 2018 18:06:00 -0400 Subject: [PATCH 159/482] When mobile base global is updated, the rest of the device limbs should be updated as well --- .../imageprovider/VirtualCameraFactory.java | 2 +- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 4 ++-- .../addons/kinematics/DHParameterKinematics.java | 13 +++++++++---- 3 files changed, 12 insertions(+), 7 deletions(-) diff --git a/src/main/java/com/neuronrobotics/imageprovider/VirtualCameraFactory.java b/src/main/java/com/neuronrobotics/imageprovider/VirtualCameraFactory.java index 41003721..df52cef3 100644 --- a/src/main/java/com/neuronrobotics/imageprovider/VirtualCameraFactory.java +++ b/src/main/java/com/neuronrobotics/imageprovider/VirtualCameraFactory.java @@ -10,7 +10,7 @@ public class VirtualCameraFactory { public AbstractImageProvider getVirtualCamera() { // TODO Auto-generated method stub try { - return new URLImageProvider(new URL("http://neuronrobotics.com/img/AndrewHarrington/2014-09-15-86.jpg")); + return new URLImageProvider(new URL("http://commonwealthrobotics.com/img/AndrewHarrington/2014-09-15-86.jpg")); } catch (MalformedURLException e) { // TODO Auto-generated catch block throw new RuntimeException(e); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index d3f94000..3f6be6ee 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -833,11 +833,11 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { for(IRegistrationListenerNR r: regListeners){ r.onFiducialToGlobalUpdate(this, frameToBase); } + TransformNR tf =forwardOffset(new TransformNR()); Platform.runLater(new Runnable() { - @Override public void run() { - TransformFactory.nrToAffine(forwardOffset(new TransformNR()), getRootListener() ); + TransformFactory.nrToAffine(tf, getRootListener() ); } }); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index e804cd31..b4d6c9be 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -497,15 +497,16 @@ public void updateCadLocations() { for (int i = 0; i < ll.size(); i++) { final ArrayList linkPos = ll; final int index = i; + Affine af = getChain().getLinks().get(index).getListener(); + TransformNR nr = linkPos.get(index); Platform.runLater(new Runnable() { @Override public void run() { try { - TransformFactory.nrToAffine(linkPos.get(index), - getChain().getLinks().get(index).getListener()); - + TransformFactory.nrToAffine(nr, + af); } catch (Exception ex) { - // ex.printStackTrace(); + ex.printStackTrace(); } } }); @@ -536,6 +537,10 @@ public void onJointSpaceUpdate(final AbstractKinematicsNR source, final double[] @Override public void setGlobalToFiducialTransform(TransformNR frameToBase) { super.setGlobalToFiducialTransform(frameToBase); + if(getChain()!=null) { + getChain().setChain(null);// force an update of teh cached locations because base changed + getChain().getChain(getCurrentJointSpaceVector());//calculate new locations + } updateCadLocations(); } From a823ffd80f8afb413e68d5b83cd5cd6542da552a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Jun 2018 18:11:45 -0400 Subject: [PATCH 160/482] 1.6 compliance --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 2 +- .../sdk/addons/kinematics/DHParameterKinematics.java | 4 ++-- .../java/com/neuronrobotics/sdk/common/DMDevice.java | 12 ++++++------ 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 3f6be6ee..f1dbfe69 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -833,7 +833,7 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { for(IRegistrationListenerNR r: regListeners){ r.onFiducialToGlobalUpdate(this, frameToBase); } - TransformNR tf =forwardOffset(new TransformNR()); + final TransformNR tf =forwardOffset(new TransformNR()); Platform.runLater(new Runnable() { @Override public void run() { diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index b4d6c9be..68853e33 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -497,8 +497,8 @@ public void updateCadLocations() { for (int i = 0; i < ll.size(); i++) { final ArrayList linkPos = ll; final int index = i; - Affine af = getChain().getLinks().get(index).getListener(); - TransformNR nr = linkPos.get(index); + final Affine af = getChain().getLinks().get(index).getListener(); + final TransformNR nr = linkPos.get(index); Platform.runLater(new Runnable() { @Override public void run() { diff --git a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java index 6fc013f4..aa29dd5c 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java @@ -29,7 +29,7 @@ public String getScriptingName() { try { methodGetName = getWrapped().getClass().getDeclaredMethod("getName", null); - } catch (NoSuchMethodException | SecurityException e) { + } catch (Exception e) { return super.getScriptingName(); } } else { @@ -39,7 +39,7 @@ public String getScriptingName() { return super.getScriptingName(); try { super.setScriptingName( (String) methodGetName.invoke(getWrapped(), null)); - } catch (IllegalAccessException | IllegalArgumentException | InvocationTargetException e) { + } catch (Exception e) { return super.getScriptingName(); } return super.getScriptingName(); @@ -48,14 +48,14 @@ public String getScriptingName() { @Override public ArrayList getNamespacesImp() { // TODO Auto-generated method stub - return new ArrayList<>(); + return new ArrayList(); } @Override public void disconnectDeviceImp() { try { methodDisconnect.invoke(getWrapped(), null); - } catch (IllegalAccessException | IllegalArgumentException | InvocationTargetException e) { + } catch (Exception e) { // TODO Auto-generated catch block e.printStackTrace(); } @@ -66,12 +66,12 @@ public boolean connectDeviceImp() { try { Object value = methodConnect.invoke(getWrapped(), null); try { - return (boolean) value; + return (Boolean) value; } catch (Exception e) { } return true; - } catch (IllegalAccessException | IllegalArgumentException | InvocationTargetException e) { + } catch (Exception e) { // TODO Auto-generated catch block e.printStackTrace(); } From d5087b65ff6c50d3bc2ad2dc2d2f7d57ea9c0104 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Jun 2018 19:30:32 -0400 Subject: [PATCH 161/482] no exception print --- .../sdk/addons/kinematics/DHParameterKinematics.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 68853e33..996006fb 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -506,7 +506,7 @@ public void run() { TransformFactory.nrToAffine(nr, af); } catch (Exception ex) { - ex.printStackTrace(); + //ex.printStackTrace(); } } }); From 397ee7915088fecb19ad0db05dc31b77e1211e88 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 27 Jun 2018 17:56:25 -0400 Subject: [PATCH 162/482] BUGFIX All methods including subclass public methods should be included in the lookup for wrappable methods. --- src/main/java/com/neuronrobotics/sdk/common/DMDevice.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java index aa29dd5c..6457c9ac 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java @@ -85,7 +85,7 @@ public static boolean wrappable(Object o) { } public static boolean methodExists(Object clazz, String methodName) { - for (Method method : clazz.getClass().getDeclaredMethods()) { + for (Method method : clazz.getClass().getMethods()) { if (method.getName().equals(methodName)) { return true; } From 5088f0a4ea30325ddc8345837933f08f87f856eb Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 27 Jun 2018 17:56:59 -0400 Subject: [PATCH 163/482] 3.25.6 --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 24e71133..17d44931 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.25.5 +app.version=3.25.6 app.javac.version=1.6 From 6e0473850a1b5eba0ce26495368eb0e99ae79a57 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 28 Jun 2018 14:54:52 -0400 Subject: [PATCH 164/482] DeviceManager should handle a trailing slash as a wildcard --- .../com/neuronrobotics/sdk/common/DeviceManager.java | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java index 018cb647..1ec4e027 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java @@ -249,6 +249,9 @@ public static void removeDeviceAddedListener(IDeviceAddedListener l) { * @return the specific device */ public static Object getSpecificDevice(String name, IDeviceProvider provider) { + if(name.contains("*")) { + name = name.split("\\*")[0]; + } for (int i = 0; i < devices.size(); i++) { if (devices.get(i).getScriptingName().contains(name)) { if(DMDevice.class.isInstance(devices.get(i))) { @@ -277,8 +280,12 @@ public static Object getSpecificDevice(String name, IDeviceProvider provider) { * @return the specific device */ public static BowlerAbstractDevice getSpecificDevice(String name) { + if(name.contains("*")) { + name = name.split("\\*")[0]; + } for (int i = 0; i < devices.size(); i++) { - if (devices.get(i).getScriptingName().contains(name)) { + String devname = devices.get(i).getScriptingName(); + if (devname.contains(name)) { BowlerAbstractDevice dev = devices.get(i); return dev; } @@ -296,6 +303,9 @@ public static BowlerAbstractDevice getSpecificDevice(String name) { * @return the specific device */ public static BowlerAbstractDevice getSpecificDevice(Class class1, String name) { + if(name.contains("*")) { + name = name.split("\\*")[0]; + } if (class1 == null) return getSpecificDevice(name); List devs = listConnectedDevice(class1); From 4c1c3b16a2b7f42d8bdc31266402c16d13d0307f Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 28 Jun 2018 14:55:22 -0400 Subject: [PATCH 165/482] 3.25.7 --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 17d44931..b994393a 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.25.6 +app.version=3.25.7 app.javac.version=1.6 From ee51e6a08d8f9beeaf7fb8ac94329542e537a11a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 28 Jun 2018 16:43:39 -0400 Subject: [PATCH 166/482] Allow wrapping of methods in superclass --- src/main/java/com/neuronrobotics/sdk/common/DMDevice.java | 6 +++--- .../com/neuronrobotics/sdk/config/build.properties | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java index 6457c9ac..ac9fdb45 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java @@ -15,8 +15,8 @@ public DMDevice(Object o) throws NoSuchMethodException, SecurityException { if(!wrappable(o)) throw new RuntimeException("This object is not wrappable! "); setWrapped(o); - methodConnect = getWrapped().getClass().getDeclaredMethod("connect", null); - methodDisconnect = getWrapped().getClass().getDeclaredMethod("disconnect", null); + methodConnect = getWrapped().getClass().getMethod("connect", null); + methodDisconnect = getWrapped().getClass().getMethod("disconnect", null); hasGetName = methodExists(getWrapped(), "getName"); methodGetName = null; } @@ -27,7 +27,7 @@ public String getScriptingName() { if (hasGetName) { if (methodGetName == null) try { - methodGetName = getWrapped().getClass().getDeclaredMethod("getName", null); + methodGetName = getWrapped().getClass().getMethod("getName", null); } catch (Exception e) { return super.getScriptingName(); diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index b994393a..95e773ed 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.25.7 +app.version=3.26.0 app.javac.version=1.6 From 3ae0dc88eb1c879734077aa72399762787ec87ef Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 5 Jul 2018 12:07:09 -0400 Subject: [PATCH 167/482] DHParameterKinematics should return true when connect is called. --- .../sdk/addons/kinematics/DHParameterKinematics.java | 2 +- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 996006fb..b349c551 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -383,7 +383,7 @@ public void disconnectDevice() { @Override public boolean connectDevice() { // TODO Auto-generated method stub - return false; + return true; } /* diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 95e773ed..ea3724b3 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.26.0 +app.version=3.26.1 app.javac.version=1.6 From db1adfdfa66a3581de84d1721168aa8ff05467c1 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 5 Jul 2018 16:46:10 -0400 Subject: [PATCH 168/482] Allow for loading unknown link types as virtual links --- .../sdk/addons/kinematics/LinkConfiguration.java | 8 +++++++- .../neuronrobotics/sdk/addons/kinematics/LinkType.java | 2 +- .../com/neuronrobotics/sdk/config/build.properties | 2 +- 3 files changed, 9 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index b8b19f1b..6611fe9c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -2,6 +2,7 @@ import java.util.ArrayList; import java.util.HashMap; +import java.util.NoSuchElementException; import javafx.scene.transform.Affine; @@ -126,7 +127,12 @@ public LinkConfiguration(Element eElement){ } try{ setTypeString(XmlFactory.getTagValue("type",eElement)); - setType(LinkType.fromString(getTypeString())); + try { + setType(LinkType.fromString(getTypeString())); + }catch(NoSuchElementException e) { + setType(LinkType.VIRTUAL); + setTypeString("virtual"); + } }catch (NullPointerException e){ setType(LinkType.PID); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java index 2ef1d257..d30c5834 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java @@ -111,7 +111,7 @@ public static LinkType fromString(String name) { if (map.containsKey(name)) { return map.get(name); } - throw new NoSuchElementException(name + "not found"); + throw new NoSuchElementException(name + " not found"); } diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index ea3724b3..0603b75f 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.26.1 +app.version=3.26.2 app.javac.version=1.6 From 8200e05fb7304bea1f3fc948e16095d6c25bd3f0 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 9 Dec 2018 18:05:36 -0500 Subject: [PATCH 169/482] Update .travis.yml --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index e4918e24..193ed947 100644 --- a/.travis.yml +++ b/.travis.yml @@ -7,7 +7,7 @@ before_install: install: - TERM=dumb ./gradlew --refresh-dependencies --stacktrace script: - - TERM=dumb ./gradlew compileJava javadoc test --stacktrace + - TERM=dumb ./gradlew jar javadoc test --stacktrace cache: directories: - $HOME/.m2 From de6dbb267bce2533f4663ae9e632323162817ce9 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 9 Dec 2018 19:00:12 -0500 Subject: [PATCH 170/482] gradle update --- gradle/wrapper/gradle-wrapper.jar | Bin 47619 -> 53639 bytes gradle/wrapper/gradle-wrapper.properties | 4 ++-- gradlew | 10 +++------- gradlew.bat | 2 +- 4 files changed, 6 insertions(+), 10 deletions(-) diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar index 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The kinematics engine, communication libraries, and core packet parsing and routing is found here. -##Maven +## Maven +![](https://img.shields.io/nexus/r/https/oss.sonatype.org/com.neuronrobotics/java-bowler.svg?style=flat) + ``` com.neuronrobotics @@ -11,8 +13,9 @@ This is the back-end library for talking to Bowler Devices. The kinematics engin 3.15.0 ``` -##Gradle +## Gradle +![](https://img.shields.io/nexus/r/https/oss.sonatype.org/com.neuronrobotics/java-bowler.svg?style=flat) ``` compile "com.neuronrobotics:java-bowler:3.15.0" -``` \ No newline at end of file +``` From 7cccf027419a774bf4f92bf308a8e0ec408e3cc6 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 2 Feb 2019 17:22:37 -0500 Subject: [PATCH 172/482] Update README.md --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 26b92244..2750260c 100644 --- a/README.md +++ b/README.md @@ -10,12 +10,12 @@ This is the back-end library for talking to Bowler Devices. The kinematics engin com.neuronrobotics java-bowler - 3.15.0 + VERSION_FROM_BADGE ``` ## Gradle ![](https://img.shields.io/nexus/r/https/oss.sonatype.org/com.neuronrobotics/java-bowler.svg?style=flat) ``` -compile "com.neuronrobotics:java-bowler:3.15.0" +compile "com.neuronrobotics:java-bowler:VERSION_FROM_BADGE" ``` From 7fa5b3919f29589d75ac075d20f2716275dc25a1 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 1 Mar 2019 18:44:31 -0500 Subject: [PATCH 173/482] updating gradle --- build.gradle | 17 +---------------- gradle/wrapper/gradle-wrapper.jar | Bin 53639 -> 53636 bytes gradle/wrapper/gradle-wrapper.properties | 4 ++-- gradlew | 10 +++++++--- gradlew.bat | 2 +- 5 files changed, 11 insertions(+), 22 deletions(-) diff --git a/build.gradle b/build.gradle index d50e43ce..07984273 100644 --- a/build.gradle +++ b/build.gradle @@ -79,22 +79,7 @@ dependencies { // create a fat-jar (class files plus dependencies // excludes VRL.jar (plugin jar files must not start with 'vrl-\\d+') -jar { - - // remove the security files (from mail.jar / activation.jar) so that the jar will be executable. - - doFirst { - // dependencies except VRL - from (configurations.runtime.asFileTree. - filter({file->return !file.name.startsWith("vrl-0")}). - files.collect { zipTree(it) } ){ - exclude 'META-INF/MANIFEST.MF' - exclude 'META-INF/*.SF' - exclude 'META-INF/*.DSA' - exclude 'META-INF/*.RSA' - } - } -} + group = "com.neuronrobotics" archivesBaseName = "java-bowler" diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar index 2c6137b87896c8f70315ae454e00a969ef5f6019..fd7e590e5154e82211909581e71018372134fb27 100644 GIT binary patch delta 9158 zcmZWv1z1!~+g=usPU-Ggy1S$sq`N~AX{1+5I+qXx=|-eeLb_Q(LXd6*B&5ZE0l)YC z{l2-b!_0M``+nw`XPz_X>SCP2&e!6GBN(i$K42mQaeuH;A|0fAkM;%fZ*d<30NW5wDrPW>pY}$b1S3zHNSblI zBr@$heuOoa2niF3Li{Xtd?gX~5rZ4VIE{X>30~$yu57_`fhpZu{29v+I+}_dOta1N z)9lY3jEs!-)>`e%miCOUr;l&97SjgknvgHnQV&~B*zA5~on#)ajkJruN($fnAy2)# 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z1Wj)W5;JAO`0t5!9|n{Qd53KVc}ERe{qp4Y*&q=#t|ch<6C+4zkc#5oZigE6R0={x z7BaLi{v~riZJ=x*U=q;BLFxzIf9+j=8K!`a2jw0Ki4GA#H@iLrxN*e*9gLtnV80tr z)2~4S*h7X|;~og27$Ji0jRY-63f@=oAuxxnW`hib94sXG z{WkT_Qx}*T{ZPJvkr$5+Zy;dFScr}a#6SAvP-&D1`Xu+kE_U>3xT+z#&4Q;g!-Jj| z!ZZKx@OaX#s~JL8ArWN95cnq|q^}G70%9GLd5q^XMg$#L0ZHKbzlr~~Isb(V2OW?7 zGYaEG(B3rdHh3wzT1fPLPA31T05tf*uI;-wHI&=Au9CikZ8sZwwtlnKg*x$*bu U@E_N8fy*Gd2@ZIp&-c3j16jfP7ytkO diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index 9677c3f9..ecd6be25 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,6 +1,6 @@ -#Sun Dec 09 18:57:41 EST 2018 +#Fri Mar 01 18:19:11 EST 2019 distributionBase=GRADLE_USER_HOME distributionPath=wrapper/dists zipStoreBase=GRADLE_USER_HOME zipStorePath=wrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-2.7-bin.zip +distributionUrl=https\://services.gradle.org/distributions/gradle-5.0-bin.zip diff --git a/gradlew b/gradlew index 9d82f789..91a7e269 100755 --- a/gradlew +++ b/gradlew @@ -42,6 +42,11 @@ case "`uname`" in ;; esac +# For Cygwin, ensure paths are in UNIX format before anything is touched. +if $cygwin ; then + [ -n "$JAVA_HOME" ] && JAVA_HOME=`cygpath --unix "$JAVA_HOME"` +fi + # Attempt to set APP_HOME # Resolve links: $0 may be a link PRG="$0" @@ -56,9 +61,9 @@ while [ -h "$PRG" ] ; do fi done SAVED="`pwd`" -cd "`dirname \"$PRG\"`/" >/dev/null +cd "`dirname \"$PRG\"`/" >&- APP_HOME="`pwd -P`" -cd "$SAVED" >/dev/null +cd "$SAVED" >&- CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar @@ -109,7 +114,6 @@ fi if $cygwin ; then APP_HOME=`cygpath --path --mixed "$APP_HOME"` CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` - JAVACMD=`cygpath --unix "$JAVACMD"` # We build the pattern for arguments to be converted via cygpath ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` diff --git a/gradlew.bat b/gradlew.bat index 72d362da..aec99730 100644 --- a/gradlew.bat +++ b/gradlew.bat @@ -46,7 +46,7 @@ echo location of your Java installation. goto fail :init -@rem Get command-line arguments, handling Windows variants +@rem Get command-line arguments, handling Windowz variants if not "%OS%" == "Windows_NT" goto win9xME_args if "%@eval[2+2]" == "4" goto 4NT_args From fdfbec3653257ba8ab8b79dc3c202c4675fff7c8 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 1 Mar 2019 19:22:08 -0500 Subject: [PATCH 174/482] gradle updatre --- .travis.yml | 2 -- 1 file changed, 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index 193ed947..6534c0c7 100644 --- a/.travis.yml +++ b/.travis.yml @@ -4,8 +4,6 @@ before_install: - "export TERM=dumb" - "sh -e /etc/init.d/xvfb start" -install: - - TERM=dumb ./gradlew --refresh-dependencies --stacktrace script: - TERM=dumb ./gradlew jar javadoc test --stacktrace cache: From 33b173a7e909753d0ca2d34b42cae060cb7c8764 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 1 Mar 2019 19:27:02 -0500 Subject: [PATCH 175/482] gradle update --- build.gradle | 3 --- 1 file changed, 3 deletions(-) diff --git a/build.gradle b/build.gradle index 07984273..e6a84f4d 100644 --- a/build.gradle +++ b/build.gradle @@ -38,9 +38,6 @@ jar.archiveName = "nrsdk-"+props."app.version"+"-jar-with-dependencies.jar" //apply from: 'http://gradle-plugins.mihosoft.eu/latest/vlicenseheader.gradle' //repairHeaders.licenseHeaderText = new File(projectDir,'./license-template.txt') -task wrapper(type: Wrapper, description: 'Creates and deploys the Gradle wrapper to the current directory.') { - gradleVersion = '2.7' -} repositories { mavenCentral() From 1c0664319e203680f5d52bf7e9fc65860a2780e9 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 14 May 2019 15:03:08 -0400 Subject: [PATCH 176/482] chain should never be null --- .../neuronrobotics/sdk/addons/kinematics/DHChain.java | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index eca2994e..a8a79fa4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -274,10 +274,10 @@ public Matrix forwardKinematicsMatrix(double[] jointSpaceVector, boolean store) else{ intChain.set(i, new TransformNR(step)); } - if(chain.size()<=i) - chain.add(pose); + if(getCachedChain().size()<=i) + getCachedChain().add(pose); else{ - chain.set(i, pose); + getCachedChain().set(i, pose); } } } @@ -312,7 +312,7 @@ public void setChain(ArrayList chain) { */ public ArrayList getChain(double[] jointSpaceVector) { forwardKinematics(jointSpaceVector,true); - return chain; + return getCachedChain(); } /** @@ -321,7 +321,8 @@ public ArrayList getChain(double[] jointSpaceVector) { * @return the cached chain */ public ArrayList getCachedChain() { - + if(chain==null) + chain=new ArrayList(); return chain; } From aa18f370db7596934fd48ac0d6418b5d2935d5df Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 17 May 2019 17:47:56 -0400 Subject: [PATCH 177/482] Cached locations array is managed in a cleaner way Make sure the array is never set to null, and can only be cleared. Also use only a local cached object in the fk loop to prevent out-of-order location sets. --- .../sdk/addons/kinematics/DHChain.java | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index a8a79fa4..4d7788f2 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -254,6 +254,7 @@ public Matrix forwardKinematicsMatrix(double[] jointSpaceVector, boolean store) Matrix current = new TransformNR().getMatrixTransform(); if(store) setChain(new ArrayList()); + ArrayList cachedChain = getCachedChain(); for(int i=0;i chain) { - this.chain = chain; + if(chain!=null) + this.chain = chain; + getCachedChain().clear(); + //else + // new RuntimeException().printStackTrace(); } /** From 7ef106fcda57f68da42255ae4ea101ba69fa06f6 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 28 May 2019 11:32:25 -0400 Subject: [PATCH 178/482] Adding the Jacobian interface --- .../sdk/addons/kinematics/DHChain.java | 65 +------ .../kinematics/DHParameterKinematics.java | 176 +++++++++++++++++- .../sdk/config/build.properties | 2 +- 3 files changed, 173 insertions(+), 70 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 4d7788f2..506f132c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -157,70 +157,7 @@ public TransformNR forwardKinematics(double[] jointSpaceVector, boolean store) { return new TransformNR(forwardKinematicsMatrix(jointSpaceVector, store) ); } - /** - * Gets the Jacobian matrix. - * - * @param jointSpaceVector the joint space vector - * @return a matrix representing the Jacobian for the current configuration - */ - public Matrix getJacobian(double[] jointSpaceVector){ - double [][] data = new double[getLinks().size()][6]; - getChain(jointSpaceVector); - for(int i=0;iindex){ + + continue; + } + Matrix rotationComponent = new TransformNR().getMatrixTransform(); + for(int j=i;j0){ + for(int j=0;j=i;j--) { + double value=0; + if(chain.getLinks().get(j).getLinkType()==DhLinkType.ROTORY) + value=Math.toRadians(jointSpaceVector[j]); + else + value=jointSpaceVector[j]; + Matrix step = new TransformNR(chain.getLinks().get(j).DhStep(value)).inverse().getMatrixTransform(); + //Log.info( "Current:\n"+current+"Step:\n"+step); + //println i+" Link "+j+" index "+index+" step "+TransformNR.getMatrixString(step) + current = current.times(step); + } + TransformNR intermediate = new TransformNR(current)//.times(myInvertedStarting); + rVect[0]=intermediate.getX(); + rVect[1]=intermediate.getY(); + rVect[2]=intermediate.getZ(); + */ + //Cross product of rVect and Z vect + double []xProd = crossProduct( zVect,rVect); + //println i+" R vector "+rVect //+" \t\t Zvect "+zVect+" \t\tcrossProd "+xProd + //println TransformNR.getMatrixString(tipOffsetmx) + + + data[0][i]=xProd[0]; + data[1][i]=xProd[1]; + data[2][i]=xProd[2]; + + } + //println "\n\n" + return new Matrix(data); + } /** * Gets the Jacobian matrix. @@ -223,12 +376,25 @@ public TransformNR forwardKinematics(double[] jointSpaceVector) { * @return a matrix representing the Jacobian for the current configuration */ public Matrix getJacobian() { - long time = System.currentTimeMillis(); - Matrix m = getDhChain().getJacobian(getCurrentJointSpaceVector()); - // System.out.println("Jacobian calc took: "+(System.currentTimeMillis()-time)); - return m; + return getJacobian(getDhChain().getLinks().size()-1); } - + /** + * Gets the Jacobian matrix. + * + * @return a matrix representing the Jacobian for the current configuration + */ + public Matrix getJacobian(int index) { + return getJacobian(getCurrentJointSpaceVector() , index) ; + } + /** + * Gets the Jacobian matrix. + * + * @return a matrix representing the Jacobian for the current configuration + */ + public Matrix getJacobian(double[] jointSpaceVector,int index) { + + return getJacobian(getDhChain() , jointSpaceVector, index); + } /** * Gets the chain transformations. * diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 0603b75f..b2fecab5 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.26.2 +app.version=3.27.0 app.javac.version=1.6 From 0438249f77ecd7f8955c43ed4c60930bf68d94aa Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 28 May 2019 14:35:27 -0400 Subject: [PATCH 179/482] addign formatting --- .../sdk/addons/kinematics/DHParameterKinematics.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 69741ee7..acf870ca 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -247,7 +247,7 @@ public Matrix getJacobian(DHChain chain, double[] jointSpaceVector, int index){ continue; } - Matrix rotationComponent = new TransformNR().getMatrixTransform(); + Matrix rotationComponent = forwardOffset(new TransformNR()).getMatrixTransform(); for(int j=i;j0){ for(int j=0;j Date: Tue, 28 May 2019 18:01:37 -0400 Subject: [PATCH 180/482] fixing the scaling function --- .../sdk/addons/kinematics/math/TransformNR.java | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index bfaddf2b..643471ab 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -3,7 +3,8 @@ import java.math.BigDecimal; import java.text.DecimalFormat; import java.util.ArrayList; - +import org.apache.commons.math3.geometry.euclidean.threed.Rotation; +import org.apache.commons.math3.util.FastMath; import com.neuronrobotics.sdk.addons.kinematics.DHLink; import com.neuronrobotics.sdk.common.Log; @@ -335,8 +336,16 @@ public TransformNR scale(BigDecimal scale) { * @param scale the scale * @return the transform nr */ - public TransformNR scale(double scale) { - return new TransformNR(getMatrixTransform().times(Matrix.identity(4, 4).times(scale))); + public TransformNR scale(double t) { + + + double tilt = Math.toDegrees(getRotation().getRotationTilt()*t); + double az =Math.toDegrees( getRotation().getRotationAzimuth()*t); + double ele = Math.toDegrees(getRotation().getRotationElevation()*t); + return new TransformNR(getX()*t, + getY()*t, + getZ()*t, + new RotationNR(tilt,az,ele)); } /** From 1c47e1858c924cff8fbdfa726e65dd386ff3a294 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 28 May 2019 20:40:47 -0400 Subject: [PATCH 181/482] bounding the scale from 0 to 1 --- .../sdk/addons/kinematics/math/TransformNR.java | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 643471ab..91b2de61 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -333,11 +333,14 @@ public TransformNR scale(BigDecimal scale) { /** * Scale. * - * @param scale the scale + * @param scale the scale from 0 to 1.0 * @return the transform nr */ public TransformNR scale(double t) { - + if(t>1) + t=1; + if(t<=0) + return new TransformNR(); double tilt = Math.toDegrees(getRotation().getRotationTilt()*t); double az =Math.toDegrees( getRotation().getRotationAzimuth()*t); From 70842fe2667da4a3d9355b2a8d71644933cf66e8 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 28 May 2019 20:41:21 -0400 Subject: [PATCH 182/482] formatting --- .../addons/kinematics/math/TransformNR.java | 903 +++++++++--------- 1 file changed, 454 insertions(+), 449 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 91b2de61..a6c1eab5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -7,7 +7,6 @@ import org.apache.commons.math3.util.FastMath; import com.neuronrobotics.sdk.addons.kinematics.DHLink; import com.neuronrobotics.sdk.common.Log; - import Jama.Matrix; // TODO: Auto-generated Javadoc @@ -15,453 +14,459 @@ * The Class TransformNR. */ public class TransformNR { - - /** The x. */ - private double x; - - /** The y. */ - private double y; - - /** The z. */ - private double z; - - /** The rotation. */ - private RotationNR rotation; - - - - /** - * Instantiates a new transform nr. - * - * @param m the m - */ - public TransformNR(Matrix m){ - this.setX(m.get(0, 3)); - this.setY(m.get(1, 3)); - this.setZ(m.get(2, 3)); - this.setRotation(new RotationNR(m)); - } - - /** - * Instantiates a new transform nr. - * - * @param x the x - * @param y the y - * @param z the z - * @param w the w - * @param rotx the rotx - * @param roty the roty - * @param rotz the rotz - */ - public TransformNR(double x, double y, double z, double w, double rotx, double roty, double rotz){ - this.setX(x); - this.setY(y); - this.setZ(z); - this.setRotation(new RotationNR(new double[]{w,rotx,roty,rotz})); - } - - /** - * Instantiates a new transform nr. - * - * @param cartesianSpaceVector the cartesian space vector - * @param rotationMatrix the rotation matrix - */ - public TransformNR(double[] cartesianSpaceVector, double[][] rotationMatrix) { - this.setX(cartesianSpaceVector[0]); - this.setY(cartesianSpaceVector[1]); - this.setZ(cartesianSpaceVector[2]); - this.setRotation(new RotationNR(rotationMatrix)); - } - - /** - * Instantiates a new transform nr. - * - * @param cartesianSpaceVector the cartesian space vector - * @param quaternionVector the quaternion vector - */ - public TransformNR(double[] cartesianSpaceVector, double[] quaternionVector) { - this.setX(cartesianSpaceVector[0]); - this.setY(cartesianSpaceVector[1]); - this.setZ(cartesianSpaceVector[2]); - this.setRotation(new RotationNR(quaternionVector)); - } - - /** - * Instantiates a new transform nr. - * - * @param x the x - * @param y the y - * @param z the z - * @param q the q - */ - public TransformNR(double x, double y, double z, RotationNR q){ - this.setX(x); - this.setY(y); - this.setZ(z); - this.setRotation(q); - } - - /** - * Instantiates a new transform nr. - * - * @param cartesianSpaceVector the cartesian space vector - * @param q the q - */ - public TransformNR(double[] cartesianSpaceVector, RotationNR q) { - this.setX(cartesianSpaceVector[0]); - this.setY(cartesianSpaceVector[1]); - this.setZ(cartesianSpaceVector[2]); - this.setRotation(q); - } - - /** - * Instantiates a new transform nr. - */ - public TransformNR() { - this.setX(0); - this.setY(0); - this.setZ(0); - this.setRotation(new RotationNR()); - } - - /** - * Gets the x. - * - * @return the x - */ - public double getX() { - return x; - } - - /** - * Gets the y. - * - * @return the y - */ - public double getY() { - return y; - } - - /** - * Gets the z. - * - * @return the z - */ - public double getZ() { - return z; - } - - /** - * Gets the rotation matrix array. - * - * @return the rotation matrix array - */ - public double [][] getRotationMatrixArray(){ - return getRotation().getRotationMatrix(); - } - - /** - * Gets the rotation matrix. - * - * @return the rotation matrix - */ - public RotationNR getRotationMatrix() { - return getRotation(); - } - - /** - * Gets the rotation value. - * - * @param i the i - * @param j the j - * @return the rotation value - */ - public double getRotationValue(int i,int j) { - return getRotation().getRotationMatrix()[i][j]; - } - - /** - * Gets the rotation. - * - * @return the rotation - */ - public RotationNR getRotation() { - - return rotation; - } - - /** - * Times. - * - * @param t the t - * @return the transform nr - */ - public TransformNR times(TransformNR t) { - return new TransformNR(getMatrixTransform().times(t.getMatrixTransform())); - } - - /* (non-Javadoc) - * @see java.lang.Object#toString() - */ - @Override - public String toString(){ - try{ - return getMatrixString(getMatrixTransform())+getRotation().toString(); - }catch(Exception ex){ - return "Transform error"+ex.getLocalizedMessage(); - } - } - - /** - * Gets the matrix string. - * - * @param matrix the matrix - * @return the matrix string - */ - public static String getMatrixString(Matrix matrix){ - if(!Log.isPrinting()){ - return "no print transform, enable Log.enableSystemPrint(true)"; - } - String s = "{\n"; - double [][] m = matrix.getArray(); - - int across = m.length; - int down = m[0].length; - - for(int i=0;i1) - t=1; - if(t<=0) - return new TransformNR(); - - double tilt = Math.toDegrees(getRotation().getRotationTilt()*t); - double az =Math.toDegrees( getRotation().getRotationAzimuth()*t); - double ele = Math.toDegrees(getRotation().getRotationElevation()*t); - return new TransformNR(getX()*t, - getY()*t, - getZ()*t, - new RotationNR(tilt,az,ele)); - } - - /** - * Copy. - * - * @return the transform nr - */ - public TransformNR copy() { - return new TransformNR(getMatrixTransform()); - } - - /** - * Translate x. - * - * @param translation the translation - * @return - */ - public TransformNR translateX(double translation){ - setX(getX() + translation); - return this; - } - - /** - * Translate y. - * - * @param translation the translation - */ - public TransformNR translateY(double translation){ - setY(getY() + translation);return this; - - } - - /** - * Translate z. - * - * @param translation the translation - */ - public TransformNR translateZ(double translation){ - - setZ(getZ() + translation);return this; - } - - /** - * Sets the x. - * - * @param translation the new x - */ - public TransformNR setX(double translation){ - if(Double.isNaN(translation)) - throw new RuntimeException("Value can not be NaN"); - x=translation;return this; - } - - /** - * Sets the y. - * - * @param translation the new y - */ - public TransformNR setY(double translation){ - if(Double.isNaN(translation)) - throw new RuntimeException("Value can not be NaN"); - y=translation;return this; - } - - /** - * Sets the z. - * - * @param translation the new z - */ - public TransformNR setZ(double translation){ - if(Double.isNaN(translation)) - throw new RuntimeException("Value can not be NaN"); - z=translation;return this; - } - - /** - * Gets the xml. - * - * @return the xml - */ - /* - * - * Generate the xml configuration to generate an XML of this robot. - */ - public String getXml(){ - String xml = "\t"+getX()+"\n"+ - "\t"+getY()+"\n"+ - "\t"+getZ()+"\n"; - if( Double.isNaN(getRotation().getRotationMatrix2QuaturnionW())|| - Double.isNaN(getRotation().getRotationMatrix2QuaturnionX())|| - Double.isNaN(getRotation().getRotationMatrix2QuaturnionY())|| - Double.isNaN(getRotation().getRotationMatrix2QuaturnionZ()) - ){ - xml +="\n\t\n"; - setRotation(new RotationNR()); - } - xml +="\t"+getRotation().getRotationMatrix2QuaturnionW()+"\n"+ - "\t"+getRotation().getRotationMatrix2QuaturnionX()+"\n"+ - "\t"+getRotation().getRotationMatrix2QuaturnionY()+"\n"+ - "\t"+getRotation().getRotationMatrix2QuaturnionZ()+""; - - return xml; - } - - /** - * Sets the rotation. - * - * @param rotation the new rotation - */ - public void setRotation(RotationNR rotation) { - this.rotation = rotation; - } - - + + /** The x. */ + private double x; + + /** The y. */ + private double y; + + /** The z. */ + private double z; + + /** The rotation. */ + private RotationNR rotation; + + + + /** + * Instantiates a new transform nr. + * + * @param m the m + */ + public TransformNR(Matrix m) { + this.setX(m.get(0, 3)); + this.setY(m.get(1, 3)); + this.setZ(m.get(2, 3)); + this.setRotation(new RotationNR(m)); + } + + /** + * Instantiates a new transform nr. + * + * @param x the x + * @param y the y + * @param z the z + * @param w the w + * @param rotx the rotx + * @param roty the roty + * @param rotz the rotz + */ + public TransformNR(double x, double y, double z, double w, double rotx, double roty, + double rotz) { + this.setX(x); + this.setY(y); + this.setZ(z); + this.setRotation(new RotationNR(new double[] {w, rotx, roty, rotz})); + } + + /** + * Instantiates a new transform nr. + * + * @param cartesianSpaceVector the cartesian space vector + * @param rotationMatrix the rotation matrix + */ + public TransformNR(double[] cartesianSpaceVector, double[][] rotationMatrix) { + this.setX(cartesianSpaceVector[0]); + this.setY(cartesianSpaceVector[1]); + this.setZ(cartesianSpaceVector[2]); + this.setRotation(new RotationNR(rotationMatrix)); + } + + /** + * Instantiates a new transform nr. + * + * @param cartesianSpaceVector the cartesian space vector + * @param quaternionVector the quaternion vector + */ + public TransformNR(double[] cartesianSpaceVector, double[] quaternionVector) { + this.setX(cartesianSpaceVector[0]); + this.setY(cartesianSpaceVector[1]); + this.setZ(cartesianSpaceVector[2]); + this.setRotation(new RotationNR(quaternionVector)); + } + + /** + * Instantiates a new transform nr. + * + * @param x the x + * @param y the y + * @param z the z + * @param q the q + */ + public TransformNR(double x, double y, double z, RotationNR q) { + this.setX(x); + this.setY(y); + this.setZ(z); + this.setRotation(q); + } + + /** + * Instantiates a new transform nr. + * + * @param cartesianSpaceVector the cartesian space vector + * @param q the q + */ + public TransformNR(double[] cartesianSpaceVector, RotationNR q) { + this.setX(cartesianSpaceVector[0]); + this.setY(cartesianSpaceVector[1]); + this.setZ(cartesianSpaceVector[2]); + this.setRotation(q); + } + + /** + * Instantiates a new transform nr. + */ + public TransformNR() { + this.setX(0); + this.setY(0); + this.setZ(0); + this.setRotation(new RotationNR()); + } + + /** + * Gets the x. + * + * @return the x + */ + public double getX() { + return x; + } + + /** + * Gets the y. + * + * @return the y + */ + public double getY() { + return y; + } + + /** + * Gets the z. + * + * @return the z + */ + public double getZ() { + return z; + } + + /** + * Gets the rotation matrix array. + * + * @return the rotation matrix array + */ + public double[][] getRotationMatrixArray() { + return getRotation().getRotationMatrix(); + } + + /** + * Gets the rotation matrix. + * + * @return the rotation matrix + */ + public RotationNR getRotationMatrix() { + return getRotation(); + } + + /** + * Gets the rotation value. + * + * @param i the i + * @param j the j + * @return the rotation value + */ + public double getRotationValue(int i, int j) { + return getRotation().getRotationMatrix()[i][j]; + } + + /** + * Gets the rotation. + * + * @return the rotation + */ + public RotationNR getRotation() { + + return rotation; + } + + /** + * Times. + * + * @param t the t + * @return the transform nr + */ + public TransformNR times(TransformNR t) { + return new TransformNR(getMatrixTransform().times(t.getMatrixTransform())); + } + + /* + * (non-Javadoc) + * + * @see java.lang.Object#toString() + */ + @Override + public String toString() { + try { + return getMatrixString(getMatrixTransform()) + getRotation().toString(); + } catch (Exception ex) { + return "Transform error" + ex.getLocalizedMessage(); + } + } + + /** + * Gets the matrix string. + * + * @param matrix the matrix + * @return the matrix string + */ + public static String getMatrixString(Matrix matrix) { + if (!Log.isPrinting()) { + return "no print transform, enable Log.enableSystemPrint(true)"; + } + String s = "{\n"; + double[][] m = matrix.getArray(); + + int across = m.length; + int down = m[0].length; + + for (int i = 0; i < across; i++) { + s += "{ "; + for (int j = 0; j < down; j++) { + if (m[i][j] < 0) + s += new DecimalFormat("000.00").format(m[i][j]); + else + s += new DecimalFormat("0000.00").format(m[i][j]); + if (j < down - 1) + s += ","; + s += "\t"; + } + s += " }"; + if (i < across - 1) + s += ","; + s += "\n"; + } + return s + "}\n"; + } + + /** + * Gets the position array. + * + * @return the position array + */ + public double[] getPositionArray() { + return new double[] {getX(), getY(), getZ()}; + } + + /** + * Gets the matrix transform. + * + * @return the matrix transform + */ + public Matrix getMatrixTransform() { + double[][] transform = new double[4][4]; + double[][] rotation = getRotationMatrixArray(); + + + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + transform[i][j] = rotation[i][j]; + } + } + for (int i = 0; i < 3; i++) { + transform[3][i] = 0; + } + transform[3][3] = 1; + transform[0][3] = getX(); + transform[1][3] = getY(); + transform[2][3] = getZ(); + + + return new Matrix(transform); + } + + /** + * Gets the offset orentation magnitude. + * + * @param t the t + * @return the offset orentation magnitude + */ + public double getOffsetOrentationMagnitude(TransformNR t) { + double x = getRotation().getRotationMatrix2QuaturnionX() + - t.getRotation().getRotationMatrix2QuaturnionX(); + double y = getRotation().getRotationMatrix2QuaturnionY() + - t.getRotation().getRotationMatrix2QuaturnionY(); + double z = getRotation().getRotationMatrix2QuaturnionZ() + - t.getRotation().getRotationMatrix2QuaturnionZ(); + double r = Math.sqrt((Math.pow(x, 2) + Math.pow(y, 2) + Math.pow(z, 2))); + return r; + } + + /** + * Gets the offset vector magnitude. + * + * @param t the t + * @return the offset vector magnitude + */ + public double getOffsetVectorMagnitude(TransformNR t) { + double x = getX() - t.getX(); + double y = getY() - t.getY(); + double z = getZ() - t.getZ(); + double r = Math.sqrt((Math.pow(x, 2) + Math.pow(y, 2) + Math.pow(z, 2))); + return r; + } + + /** + * Inverse. + * + * @return the transform nr + */ + public TransformNR inverse() { + return new TransformNR(getMatrixTransform().inverse()); + } + + /** + * Scale. + * + * @param scale the scale + * @return the transform nr + */ + public TransformNR scale(BigDecimal scale) { + return scale(scale.doubleValue()); + } + + /** + * Scale. + * + * @param scale the scale from 0 to 1.0 + * @return the transform nr + */ + public TransformNR scale(double t) { + if (t > 1) + t = 1; + if (t <= 0) + return new TransformNR(); + + double tilt = Math.toDegrees(getRotation().getRotationTilt() * t); + double az = Math.toDegrees(getRotation().getRotationAzimuth() * t); + double ele = Math.toDegrees(getRotation().getRotationElevation() * t); + return new TransformNR(getX() * t, getY() * t, getZ() * t, new RotationNR(tilt, az, ele)); + } + + /** + * Copy. + * + * @return the transform nr + */ + public TransformNR copy() { + return new TransformNR(getMatrixTransform()); + } + + /** + * Translate x. + * + * @param translation the translation + * @return + */ + public TransformNR translateX(double translation) { + setX(getX() + translation); + return this; + } + + /** + * Translate y. + * + * @param translation the translation + */ + public TransformNR translateY(double translation) { + setY(getY() + translation); + return this; + + } + + /** + * Translate z. + * + * @param translation the translation + */ + public TransformNR translateZ(double translation) { + + setZ(getZ() + translation); + return this; + } + + /** + * Sets the x. + * + * @param translation the new x + */ + public TransformNR setX(double translation) { + if (Double.isNaN(translation)) + throw new RuntimeException("Value can not be NaN"); + x = translation; + return this; + } + + /** + * Sets the y. + * + * @param translation the new y + */ + public TransformNR setY(double translation) { + if (Double.isNaN(translation)) + throw new RuntimeException("Value can not be NaN"); + y = translation; + return this; + } + + /** + * Sets the z. + * + * @param translation the new z + */ + public TransformNR setZ(double translation) { + if (Double.isNaN(translation)) + throw new RuntimeException("Value can not be NaN"); + z = translation; + return this; + } + + /** + * Gets the xml. + * + * @return the xml + */ + /* + * + * Generate the xml configuration to generate an XML of this robot. + */ + public String getXml() { + String xml = + "\t" + getX() + "\n" + "\t" + getY() + "\n" + "\t" + getZ() + "\n"; + if (Double.isNaN(getRotation().getRotationMatrix2QuaturnionW()) + || Double.isNaN(getRotation().getRotationMatrix2QuaturnionX()) + || Double.isNaN(getRotation().getRotationMatrix2QuaturnionY()) + || Double.isNaN(getRotation().getRotationMatrix2QuaturnionZ())) { + xml += "\n\t\n"; + setRotation(new RotationNR()); + } + xml += "\t" + getRotation().getRotationMatrix2QuaturnionW() + "\n" + "\t" + + getRotation().getRotationMatrix2QuaturnionX() + "\n" + "\t" + + getRotation().getRotationMatrix2QuaturnionY() + "\n" + "\t" + + getRotation().getRotationMatrix2QuaturnionZ() + ""; + + return xml; + } + + /** + * Sets the rotation. + * + * @param rotation the new rotation + */ + public void setRotation(RotationNR rotation) { + this.rotation = rotation; + } + + } From 831bfa20700130383d677c8d3ddd30b20adea6b1 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 2 Jun 2019 14:11:12 -0400 Subject: [PATCH 183/482] javadoc fix --- .../neuronrobotics/sdk/addons/kinematics/math/TransformNR.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index a6c1eab5..826d1311 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -338,7 +338,7 @@ public TransformNR scale(BigDecimal scale) { /** * Scale. * - * @param scale the scale from 0 to 1.0 + * @param t the scale from 0 to 1.0 * @return the transform nr */ public TransformNR scale(double t) { From c6e1f069e0bceb3203f10e51568b36d4d1282237 Mon Sep 17 00:00:00 2001 From: Technocopia PC 01 Date: Sat, 22 Jun 2019 16:58:02 -0400 Subject: [PATCH 184/482] removing the swinf embed dep, allows the system to work on pi --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 4 ++-- .../com/neuronrobotics/sdk/addons/kinematics/DHChain.java | 2 +- .../com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index f1dbfe69..710b76da 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -5,7 +5,7 @@ import java.util.ArrayList; import javafx.application.Platform; -import javafx.embed.swing.JFXPanel; +//import javafx.embed.swing.JFXPanel; import javafx.scene.transform.Affine; import javax.management.RuntimeErrorException; @@ -107,7 +107,7 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP private IMU imu = new IMU(); static{ - new JFXPanel(); // this will prepare JavaFX toolkit and environment + //new JFXPanel(); // this will prepare JavaFX toolkit and environment } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 506f132c..be0fb914 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -4,7 +4,7 @@ import java.util.ArrayList; import javafx.application.Platform; -import javafx.embed.swing.JFXPanel; +//import javafx.embed.swing.JFXPanel; import javafx.scene.transform.Affine; import org.w3c.dom.Element; diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java b/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java index ac634ae5..1309123f 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java @@ -24,7 +24,7 @@ import com.neuronrobotics.sdk.util.ThreadUtil; -import javafx.embed.swing.JFXPanel; +//import javafx.embed.swing.JFXPanel; import javafx.scene.media.Media; import javafx.scene.media.MediaPlayer; import javafx.util.Duration; @@ -53,7 +53,7 @@ public class SequencerMP3 { public SequencerMP3(String filename) { fn = filename; try { - new JFXPanel(); // initializes JavaFX environment + //new JFXPanel(); // initializes JavaFX environment player = new MediaPlayer( new Media( new File(fn).toURI().toString())); From ba31a634591687235606f01864a370db7a823736 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 22 Jun 2019 19:26:46 -0400 Subject: [PATCH 185/482] Replace JFXPanel with javafx.application.Application.launch(); --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 4 +++- .../com/neuronrobotics/sdk/addons/kinematics/DHChain.java | 2 +- .../com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java | 2 +- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 710b76da..564ebdb2 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -42,6 +42,7 @@ /** * The Class AbstractKinematicsNR. */ +@SuppressWarnings("restriction") public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IPIDEventListener, ILinkListener { /** The configurations. */ @@ -107,7 +108,7 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP private IMU imu = new IMU(); static{ - //new JFXPanel(); // this will prepare JavaFX toolkit and environment + javafx.application.Application.launch(); // this will prepare JavaFX toolkit and environment } @@ -834,6 +835,7 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { r.onFiducialToGlobalUpdate(this, frameToBase); } final TransformNR tf =forwardOffset(new TransformNR()); + Platform.runLater(new Runnable() { @Override public void run() { diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index be0fb914..8b200844 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -51,7 +51,7 @@ public class DHChain { /** The factory. */ private LinkFactory factory; static{ - //new JFXPanel(); // initializes JavaFX environment + javafx.application.Application.launch(); // this will prepare JavaFX toolkit and environment } /** diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java b/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java index 1309123f..0353835a 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java @@ -53,7 +53,7 @@ public class SequencerMP3 { public SequencerMP3(String filename) { fn = filename; try { - //new JFXPanel(); // initializes JavaFX environment + javafx.application.Application.launch(); // this will prepare JavaFX toolkit and environment player = new MediaPlayer( new Media( new File(fn).toURI().toString())); From ebe196ed19cb5d2493a34181a508d3eb00e1d9ff Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 22 Jun 2019 19:27:21 -0400 Subject: [PATCH 186/482] Replace JFXPanel with javafx.application.Application.launch(); --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 564ebdb2..8d0fd363 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -109,7 +109,6 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP static{ javafx.application.Application.launch(); // this will prepare JavaFX toolkit and environment - } From 785d2fac8b01656060a193dd2b4201f2a793a870 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 22 Jun 2019 19:44:23 -0400 Subject: [PATCH 187/482] Initializer --- .../addons/kinematics/AbstractKinematicsNR.java | 13 ++++++++++++- .../sdk/addons/kinematics/DHChain.java | 14 +++++++++++++- .../sdk/dyio/sequencer/SequencerMP3.java | 16 +++++++++++++++- 3 files changed, 40 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 8d0fd363..a7c1a37b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -7,6 +7,7 @@ import javafx.application.Platform; //import javafx.embed.swing.JFXPanel; import javafx.scene.transform.Affine; +import javafx.stage.Stage; import javax.management.RuntimeErrorException; @@ -107,8 +108,18 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP */ private IMU imu = new IMU(); + public static class JavaFXInitializer extends javafx.application.Application { + public JavaFXInitializer(){ + + } + public static void go() { + launch(); + } + @Override + public void start(Stage primaryStage) throws Exception {} + } static{ - javafx.application.Application.launch(); // this will prepare JavaFX toolkit and environment + JavaFXInitializer.go(); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 8b200844..ea48e972 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -6,6 +6,7 @@ import javafx.application.Platform; //import javafx.embed.swing.JFXPanel; import javafx.scene.transform.Affine; +import javafx.stage.Stage; import org.w3c.dom.Element; import org.w3c.dom.Node; @@ -14,6 +15,7 @@ import Jama.Matrix; import com.neuronrobotics.sdk.addons.kinematics.TransformFactory; +import com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.JavaFXInitializer; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.Log; @@ -50,8 +52,18 @@ public class DHChain { /** The factory. */ private LinkFactory factory; + public static class JavaFXInitializer extends javafx.application.Application { + public JavaFXInitializer(){ + + } + public static void go() { + launch(); + } + @Override + public void start(Stage primaryStage) throws Exception {} + } static{ - javafx.application.Application.launch(); // this will prepare JavaFX toolkit and environment + JavaFXInitializer.go(); } /** diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java b/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java index 0353835a..58ad5669 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java @@ -22,11 +22,13 @@ import java.io.File; import java.io.FileInputStream; +import com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.JavaFXInitializer; import com.neuronrobotics.sdk.util.ThreadUtil; //import javafx.embed.swing.JFXPanel; import javafx.scene.media.Media; import javafx.scene.media.MediaPlayer; +import javafx.stage.Stage; import javafx.util.Duration; // TODO: Auto-generated Javadoc @@ -50,10 +52,22 @@ public class SequencerMP3 { * * @param filename the filename */ + public static class JavaFXInitializer extends javafx.application.Application { + public JavaFXInitializer(){ + + } + public static void go() { + launch(); + } + @Override + public void start(Stage primaryStage) throws Exception {} + } + static{ + JavaFXInitializer.go(); + } public SequencerMP3(String filename) { fn = filename; try { - javafx.application.Application.launch(); // this will prepare JavaFX toolkit and environment player = new MediaPlayer( new Media( new File(fn).toURI().toString())); From d86abd78ff953c2366e05ba0abb5a287607eb3f1 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 22 Jun 2019 20:15:47 -0400 Subject: [PATCH 188/482] Updated initializer --- .../kinematics/AbstractKinematicsNR.java | 11 +----- .../sdk/addons/kinematics/DHChain.java | 12 +----- .../addons/kinematics/JavaFXInitializer.java | 39 +++++++++++++++++++ .../sdk/dyio/sequencer/SequencerMP3.java | 13 +------ 4 files changed, 43 insertions(+), 32 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/JavaFXInitializer.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index a7c1a37b..e23c4680 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -3,6 +3,7 @@ import java.io.InputStream; import java.sql.Timestamp; import java.util.ArrayList; +//import java.util.concurrent.CountDownLatch; import javafx.application.Platform; //import javafx.embed.swing.JFXPanel; @@ -108,16 +109,6 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP */ private IMU imu = new IMU(); - public static class JavaFXInitializer extends javafx.application.Application { - public JavaFXInitializer(){ - - } - public static void go() { - launch(); - } - @Override - public void start(Stage primaryStage) throws Exception {} - } static{ JavaFXInitializer.go(); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index ea48e972..6ff94aa5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -15,7 +15,6 @@ import Jama.Matrix; import com.neuronrobotics.sdk.addons.kinematics.TransformFactory; -import com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR.JavaFXInitializer; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.Log; @@ -52,16 +51,7 @@ public class DHChain { /** The factory. */ private LinkFactory factory; - public static class JavaFXInitializer extends javafx.application.Application { - public JavaFXInitializer(){ - - } - public static void go() { - launch(); - } - @Override - public void start(Stage primaryStage) throws Exception {} - } + static{ JavaFXInitializer.go(); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JavaFXInitializer.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JavaFXInitializer.java new file mode 100644 index 00000000..17090553 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JavaFXInitializer.java @@ -0,0 +1,39 @@ +package com.neuronrobotics.sdk.addons.kinematics; + +import javafx.application.Application; +import javafx.stage.Stage; + +public class JavaFXInitializer extends javafx.application.Application { + private static final int NUM_COUNT = 2; + public final static java.util.concurrent.CountDownLatch latch = new java.util.concurrent.CountDownLatch(NUM_COUNT); + public JavaFXInitializer(){ + + } + private static void gointernal() { + if(latch.getCount() Date: Sat, 22 Jun 2019 20:30:14 -0400 Subject: [PATCH 189/482] javafx initializer playing nice with others --- .../addons/kinematics/JavaFXInitializer.java | 25 +++++++++++++------ 1 file changed, 17 insertions(+), 8 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JavaFXInitializer.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JavaFXInitializer.java index 17090553..0a388941 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JavaFXInitializer.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JavaFXInitializer.java @@ -1,24 +1,31 @@ package com.neuronrobotics.sdk.addons.kinematics; - import javafx.application.Application; import javafx.stage.Stage; - public class JavaFXInitializer extends javafx.application.Application { private static final int NUM_COUNT = 2; - public final static java.util.concurrent.CountDownLatch latch = new java.util.concurrent.CountDownLatch(NUM_COUNT); + private final static java.util.concurrent.CountDownLatch latch = new java.util.concurrent.CountDownLatch(NUM_COUNT); + public JavaFXInitializer(){ } private static void gointernal() { - if(latch.getCount() Date: Wed, 3 Jul 2019 12:20:11 -0400 Subject: [PATCH 190/482] use the tip location at home for default target --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index e23c4680..f583d929 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -1144,7 +1144,7 @@ public ArrayList getAxisPidConfiguration() { */ public TransformNR getCurrentPoseTarget() { if(currentPoseTarget == null) - currentPoseTarget = new TransformNR(); + currentPoseTarget = calcHome(); return currentPoseTarget; } From 9e2c93df1aeee47133c5e41b85cb7390abb8c91a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 9 Sep 2019 08:53:32 -0400 Subject: [PATCH 191/482] whitespace --- .../kinematics/DHParameterKinematics.java | 60 ++++--------------- 1 file changed, 13 insertions(+), 47 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index acf870ca..4d85f78f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -243,10 +243,7 @@ public Matrix getJacobian(DHChain chain, double[] jointSpaceVector, int index){ double [][] data = new double[6][size]; chain.getChain(jointSpaceVector); for(int i=0;iindex){ - - continue; - } + if(i>index) continue; Matrix rotationComponent = forwardOffset(new TransformNR()).getMatrixTransform(); for(int j=i;j0){ - for(int j=0;j=i;j--) { - double value=0; - if(chain.getLinks().get(j).getLinkType()==DhLinkType.ROTORY) - value=Math.toRadians(jointSpaceVector[j]); - else - value=jointSpaceVector[j]; - Matrix step = new TransformNR(chain.getLinks().get(j).DhStep(value)).inverse().getMatrixTransform(); - //Log.info( "Current:\n"+current+"Step:\n"+step); - //println i+" Link "+j+" index "+index+" step "+TransformNR.getMatrixString(step) - current = current.times(step); - } - TransformNR intermediate = new TransformNR(current)//.times(myInvertedStarting); - rVect[0]=intermediate.getX(); - rVect[1]=intermediate.getY(); - rVect[2]=intermediate.getZ(); - */ //Cross product of rVect and Z vect double []xProd = crossProduct( zVect,rVect); - //println i+" R vector "+rVect //+" \t\t Zvect "+zVect+" \t\tcrossProd "+xProd - //println TransformNR.getMatrixString(tipOffsetmx) - - data[0][i]=xProd[0]; data[1][i]=xProd[1]; data[2][i]=xProd[2]; - } //println "\n\n" return new Matrix(data); From 587a23f94bec0d6208b7f19992e38c984ee3e88a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 10 Nov 2019 18:11:49 -0500 Subject: [PATCH 192/482] renaming variables --- .../kinematics/AbstractKinematicsNR.java | 24 +++++++++---------- 1 file changed, 11 insertions(+), 13 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index f583d929..58d15faa 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -565,7 +565,7 @@ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, do inverseOffset(taskSpaceTransform) ); if(jointSpaceVect==null) - throw new RuntimeException("The kinematics model muts return and array, not null"); + throw new RuntimeException("The kinematics model must return and array, not null"); setDesiredJointSpaceVector(jointSpaceVect, seconds); return jointSpaceVect; } @@ -578,9 +578,7 @@ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, do */ public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform) { try{ - Log.info("Checking target pose: "+taskSpaceTransform); - taskSpaceTransform = inverseOffset(taskSpaceTransform); - double [] jointSpaceVect = inverseKinematics(taskSpaceTransform); + double [] jointSpaceVect = inverseKinematics(inverseOffset(taskSpaceTransform)); double[] uLim=factory.getUpperLimits(); double[] lLim=factory.getLowerLimits(); for(int i=0;i Date: Thu, 28 Nov 2019 11:59:07 -0500 Subject: [PATCH 193/482] warnings --- .../java/com/neuronrobotics/imageprovider/NativeResource.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/com/neuronrobotics/imageprovider/NativeResource.java b/src/main/java/com/neuronrobotics/imageprovider/NativeResource.java index 0283f96e..00a8e0a9 100644 --- a/src/main/java/com/neuronrobotics/imageprovider/NativeResource.java +++ b/src/main/java/com/neuronrobotics/imageprovider/NativeResource.java @@ -45,6 +45,7 @@ private void inJarLoad(String name)throws UnsatisfiedLinkError, NativeResourceEx } } + @SuppressWarnings("rawtypes") public static File inJarLoad(Class inputClass, String name) throws IOException{ InputStream resourceSource = inputClass.getResourceAsStream(name); File resourceLocation = prepResourceLocation(name); From 6a2466468fb47d952eb7126fe689386129ff18ec Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 28 Nov 2019 13:20:45 -0500 Subject: [PATCH 194/482] removing legact targets --- build.gradle | 2 -- 1 file changed, 2 deletions(-) diff --git a/build.gradle b/build.gradle index e6a84f4d..e9a2101e 100644 --- a/build.gradle +++ b/build.gradle @@ -3,8 +3,6 @@ apply plugin: 'eclipse' apply plugin: 'maven' apply plugin: 'signing' -sourceCompatibility = '1.6' -targetCompatibility = '1.6' [compileJava, compileTestJava]*.options*.encoding = 'UTF-8' File buildDir = file("."); From fabeb77fa0839ac3be2b3af8b13a112d2994d138 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 1 Dec 2019 10:46:16 -0500 Subject: [PATCH 195/482] adding a static check for pose possiblity --- .../kinematics/AbstractKinematicsNR.java | 24 +++++++++++++------ 1 file changed, 17 insertions(+), 7 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 58d15faa..e8305340 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -576,23 +576,33 @@ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, do * @param taskSpaceTransform the task space transform * @return True if pose is reachable, false if it is not */ - public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform) { + public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev,TransformNR taskSpaceTransform) { try{ - double [] jointSpaceVect = inverseKinematics(inverseOffset(taskSpaceTransform)); - double[] uLim=factory.getUpperLimits(); - double[] lLim=factory.getLowerLimits(); + double [] jointSpaceVect = dev.inverseKinematics(dev.inverseOffset(taskSpaceTransform)); for(int i=0;iuLim[i]) + AbstractLink link = dev.factory.getLink(dev.getLinkConfiguration(i)); + double val = link.toLinkUnits(jointSpaceVect[i]); + if(val>link.getUpperLimit()){ return false; - if(jointSpaceVect[i] Date: Sun, 1 Dec 2019 11:37:25 -0500 Subject: [PATCH 196/482] already in link units --- .../neuronrobotics/sdk/addons/kinematics/AbstractLink.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index fb9bb805..b007f4fa 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -354,7 +354,7 @@ protected void setTargetValue(double val) { fireLinkLimitEvent( new PIDLimitEvent( conf.getHardwareIndex(), - toLinkUnits(targetValue) , + targetValue , PIDLimitEventType.UPPERLIMIT, System.currentTimeMillis() ) @@ -372,7 +372,7 @@ protected void setTargetValue(double val) { fireLinkLimitEvent( new PIDLimitEvent( conf.getHardwareIndex(), - toLinkUnits(targetValue) , + targetValue , PIDLimitEventType.LOWERLIMIT, System.currentTimeMillis() ) From b07df7414a99523ab5bd728a3f5109c26036d70e Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 18 Dec 2019 12:10:59 -0500 Subject: [PATCH 197/482] debugable mass string --- .../com/neuronrobotics/sdk/addons/kinematics/MobileBase.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index d7f315e2..a133fc56 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -187,9 +187,10 @@ private void loadConfigs(Element doc) { loadLimb(doc, "steerable", steerable); loadLimb(doc, "appendage", appendages); try { - setMassKg(Double.parseDouble(XmlFactory.getTagValue("mass", doc))); + String massString = XmlFactory.getTagValue("mass", doc); + setMassKg(Double.parseDouble(massString)); } catch (Exception e) { - + e.printStackTrace(); } TransformNR cmcenter = loadTransform("centerOfMassFromCentroid", doc); From 6f64eb8efdf2dfec2b60248d34b6fe095fe0875e Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 18 Dec 2019 12:29:09 -0500 Subject: [PATCH 198/482] ensure that when requesting the chain of transforms that it always comes back with valid data --- .../kinematics/AbstractKinematicsNR.java | 25 +++++++++++++++++++ .../sdk/addons/kinematics/DHChain.java | 20 ++++++++------- 2 files changed, 36 insertions(+), 9 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index e8305340..2351fe44 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -1366,5 +1366,30 @@ protected String getCode(Element e,String tag){ public IMU getImu() { return imu; } + + //New helper functions to make the API simpler + + public void boundedLinkValueSet( int index,double value) throws Exception { + value=boundToLinkLimits(index,value); + double[] vect =getCurrentJointSpaceVector(); + vect[index]=value; + setDesiredJointSpaceVector(vect, 0); + } + public double boundToLinkLimits( int index,double value) { + AbstractLink l1 = getAbstractLink(index); + if(value>l1.getMaxEngineeringUnits()){ + value=l1.getMaxEngineeringUnits(); + } + if(value chainToLoad) { if(getLinks() == null) return new TransformNR().getMatrixTransform(); if (jointSpaceVector.length!=getLinks().size()) throw new IndexOutOfBoundsException("DH links do not match defined links"); Matrix current = new TransformNR().getMatrixTransform(); - if(store) - setChain(new ArrayList()); - ArrayList cachedChain = getCachedChain(); + for(int i=0;i chain) { * @return the chain */ public ArrayList getChain(double[] jointSpaceVector) { - forwardKinematics(jointSpaceVector,true); - return getCachedChain(); + ArrayList chainToLoad = new ArrayList(); + forwardKinematicsMatrix(jointSpaceVector,chainToLoad); + return chainToLoad; } /** From b4ba399ce5887315c3d8d6788c6c42ef965f474f Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 18 Dec 2019 12:29:35 -0500 Subject: [PATCH 199/482] addin helper functions --- .../kinematics/DHParameterKinematics.java | 26 ++++++++++++++++++- 1 file changed, 25 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 4d85f78f..43e48776 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -54,7 +54,7 @@ public class DHParameterKinematics extends AbstractKinematicsNR public void onDisconnect(BowlerAbstractDevice source) { if (!disconnecting) { disconnecting = true; - disconnect(); + //disconnect(); } } @@ -703,4 +703,28 @@ public void onJointSpaceLimit(AbstractKinematicsNR source, int axis, JointLimit } + // New helper functions + + public TransformNR linkCoM( double linkAngleToClaculate ,int linkIndex) { + //int linkIndex=1 + for(int i=0;i<5;i++) { + try { + double [] vectortail = getCurrentJointSpaceVector(); + vectortail[linkIndex]=linkAngleToClaculate; + return getChain().getChain(vectortail).get(linkIndex). + times(getLinkConfiguration(linkIndex).getCenterOfMassFromCentroid()); + }catch (Exception e) { + try { + Thread.sleep(0,20); + } catch (InterruptedException e1) { + // TODO Auto-generated catch block + e1.printStackTrace(); + } + } + } + throw new RuntimeException("Failed to compute CoM"); + } + public TransformNR linkCoM(int linkIndex) { + return linkCoM(getCurrentJointSpaceVector()[linkIndex],linkIndex); + } } From 1d5df20a1a861fbc3651b2217c27e7138f687f95 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 18 Dec 2019 13:13:13 -0500 Subject: [PATCH 200/482] adding more helper functions --- .../kinematics/AbstractKinematicsNR.java | 1154 +++++++++-------- .../kinematics/DHParameterKinematics.java | 104 +- 2 files changed, 700 insertions(+), 558 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 2351fe44..48ebd236 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -46,81 +46,82 @@ */ @SuppressWarnings("restriction") public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IPIDEventListener, ILinkListener { - + /** The configurations. */ - private ArrayList pidConfigurations= new ArrayList(); + private ArrayList pidConfigurations = new ArrayList(); /** The task space update listeners. */ private ArrayList taskSpaceUpdateListeners = new ArrayList(); - + /** The joint space update listeners. */ protected ArrayList jointSpaceUpdateListeners = new ArrayList(); - + /** The reg listeners. */ - private ArrayList regListeners= new ArrayList(); - + private ArrayList regListeners = new ArrayList(); + /** The mobile bases. */ private ArrayList mobileBases = new ArrayList(); - + /** The dh engine. */ - private String [] dhEngine =new String[]{"https://github.com/madhephaestus/carl-the-hexapod.git","DefaultDhSolver.groovy"}; - - /** The cad engine. */ - private String [] cadEngine =new String[]{"https://github.com/madhephaestus/carl-the-hexapod.git","ThreeDPrintCad.groovy"}; + private String[] dhEngine = new String[] { "https://github.com/madhephaestus/carl-the-hexapod.git", + "DefaultDhSolver.groovy" }; + /** The cad engine. */ + private String[] cadEngine = new String[] { "https://github.com/madhephaestus/carl-the-hexapod.git", + "ThreeDPrintCad.groovy" }; /** The current joint space positions. */ - /*This is in RAW joint level ticks*/ - protected double[] currentJointSpacePositions=null; - + /* This is in RAW joint level ticks */ + protected double[] currentJointSpacePositions = null; + /** The current joint space target. */ - protected double [] currentJointSpaceTarget; - + protected double[] currentJointSpaceTarget; + /** The current pose target. */ - private TransformNR currentPoseTarget=new TransformNR(); - + private TransformNR currentPoseTarget = new TransformNR(); + /** The base2 fiducial. */ - private TransformNR base2Fiducial=new TransformNR(); - + private TransformNR base2Fiducial = new TransformNR(); + /** The fiducial2 ras. */ - private TransformNR fiducial2RAS=new TransformNR(); - + private TransformNR fiducial2RAS = new TransformNR(); + /** The no flush. */ private boolean noFlush = false; - + /** The no xml config. */ - private boolean noXmlConfig=true; - + private boolean noXmlConfig = true; + /** The dh parameters chain. */ - private DHChain dhParametersChain=null; - + private DHChain dhParametersChain = null; + /** The root. */ - private Affine root ; - + private Affine root; + /* The device */ /** The factory. */ - //private IPIDControl device =null; - private LinkFactory factory=null; - + // private IPIDControl device =null; + private LinkFactory factory = null; + /** The retry number before fail. */ private int retryNumberBeforeFail = 5; /** - * The object for communicating IMU information and registering it with the hardware + * The object for communicating IMU information and registering it with the + * hardware */ private IMU imu = new IMU(); - - static{ + + static { JavaFXInitializer.go(); } - - + /** * Gets the root listener. * * @return the root listener */ public Affine getRootListener() { - if(root == null) + if (root == null) root = new Affine(); return root; } @@ -133,21 +134,24 @@ public Affine getRootListener() { void setRootListener(Affine listener) { this.root = listener; } - + /** - * This method tells the connection object to disconnect its pipes and close out the connection. Once this is called, it is safe to remove your device. + * This method tells the connection object to disconnect its pipes and close out + * the connection. Once this is called, it is safe to remove your device. */ - + public abstract void disconnectDevice(); - + /** * Connect device. * * @return true, if successful */ - public abstract boolean connectDevice(); - - /* (non-Javadoc) + public abstract boolean connectDevice(); + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.NonBowlerDevice#getNamespacesImp() */ @Override @@ -157,31 +161,34 @@ public ArrayList getNamespacesImp() { back.add("bcs.cartesian.*"); return back; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.NonBowlerDevice#disconnectDeviceImp() */ - public void disconnectDeviceImp(){ + public void disconnectDeviceImp() { getFactory().removeLinkListener(this); - for(LinkConfiguration lf: getFactory().getLinkConfigurations()) - if(getFactory().getPid(lf)!=null) + for (LinkConfiguration lf : getFactory().getLinkConfigurations()) + if (getFactory().getPid(lf) != null) getFactory().getPid(lf).removePIDEventListener(this); - + disconnectDevice(); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.NonBowlerDevice#connectDeviceImp() */ - public boolean connectDeviceImp(){ + public boolean connectDeviceImp() { return connectDevice(); } - /** * Instantiates a new abstract kinematics nr. */ - public AbstractKinematicsNR(){ + public AbstractKinematicsNR() { // File l = new File("RobotLog_"+getDate()+"_"+System.currentTimeMillis()+".txt"); // //File e = new File("RobotError_"+getDate()+"_"+System.currentTimeMillis()+".txt"); // try { @@ -191,159 +198,159 @@ public AbstractKinematicsNR(){ // } catch (FileNotFoundException e1) { // e1.printStackTrace(); // } - setDhParametersChain(new DHChain( this)); + setDhParametersChain(new DHChain(this)); } - + /** * Instantiates a new abstract kinematics nr. * * @param configFile the config file - * @param f the f + * @param f the f */ - public AbstractKinematicsNR(InputStream configFile,LinkFactory f){ + public AbstractKinematicsNR(InputStream configFile, LinkFactory f) { this(); - Document doc =XmlFactory.getAllNodesDocument(configFile); + Document doc = XmlFactory.getAllNodesDocument(configFile); NodeList nodListofLinks = doc.getElementsByTagName("appendage"); - for (int i = 0; i < 1; i++) { - Node linkNode = nodListofLinks.item(i); - if (linkNode.getNodeType() == Node.ELEMENT_NODE) { - noXmlConfig=false; - if(configFile!=null && f!=null){ - setDevice(f,loadConfig((Element) linkNode)); + for (int i = 0; i < 1; i++) { + Node linkNode = nodListofLinks.item(i); + if (linkNode.getNodeType() == Node.ELEMENT_NODE) { + noXmlConfig = false; + if (configFile != null && f != null) { + setDevice(f, loadConfig((Element) linkNode)); } - }else{ - Log.info("Not Element Node"); - } + } else { + Log.info("Not Element Node"); + } } - } - + /** * Instantiates a new abstract kinematics nr. * * @param doc the doc - * @param f the f + * @param f the f */ - public AbstractKinematicsNR(Element doc,LinkFactory f){ + public AbstractKinematicsNR(Element doc, LinkFactory f) { this(); - noXmlConfig=false; - if(doc!=null && f!=null){ - setDevice(f,loadConfig(doc)); + noXmlConfig = false; + if (doc != null && f != null) { + setDevice(f, loadConfig(doc)); } - } - + /** * Gets the date. * * @return the date */ - private String getDate(){ + private String getDate() { Timestamp t = new Timestamp(System.currentTimeMillis()); return t.toString().split("\\ ")[0]; } - + /** - * Load XML configuration file, - * then store in LinkConfiguration (ArrayList type). + * Load XML configuration file, then store in LinkConfiguration (ArrayList + * type). * * @param doc the doc * @return the array list */ - protected ArrayList loadConfig(Element doc){ - ArrayList localConfigsFromXml=new ArrayList(); - - + protected ArrayList loadConfig(Element doc) { + ArrayList localConfigsFromXml = new ArrayList(); + NodeList nodListofLinks = doc.getChildNodes(); - setGitCadEngine(getGitCodes( doc,"cadEngine")); - setGitDhEngine(getGitCodes( doc,"kinematics")); - for (int i = 0; i < nodListofLinks .getLength(); i++) { - Node linkNode = nodListofLinks.item(i); - - if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("link")) { - LinkConfiguration newLinkConf = new LinkConfiguration((Element) linkNode); - localConfigsFromXml.add(newLinkConf); - - NodeList dHParameters =linkNode.getChildNodes(); - //System.out.println("Link "+newLinkConf.getName()+" has "+dHParameters .getLength()+" children"); - for (int x = 0; x < dHParameters .getLength(); x++) { - Node nNode = dHParameters.item(x); - if (nNode.getNodeType() == Node.ELEMENT_NODE && nNode.getNodeName().contentEquals("DHParameters")) { - Element dhNode =(Element) nNode; - DHLink newLink = new DHLink(dhNode); - getDhParametersChain().addLink(newLink);//0->1 - NodeList mobileBasesNodeList = dhNode.getChildNodes(); - for (int j = 0; j < mobileBasesNodeList.getLength(); j++) { - Node mb = mobileBasesNodeList.item(j); - if (mb.getNodeType() == Node.ELEMENT_NODE && mb.getNodeName().contentEquals("mobilebase")) { - final MobileBase newMobileBase = new MobileBase((Element)mb); - mobileBases.add(newMobileBase); - newLink.setMobileBaseXml(newMobileBase); - newLink.addDhLinkPositionListener(new IDhLinkPositionListener() { + setGitCadEngine(getGitCodes(doc, "cadEngine")); + setGitDhEngine(getGitCodes(doc, "kinematics")); + for (int i = 0; i < nodListofLinks.getLength(); i++) { + Node linkNode = nodListofLinks.item(i); + + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("link")) { + LinkConfiguration newLinkConf = new LinkConfiguration((Element) linkNode); + localConfigsFromXml.add(newLinkConf); + + NodeList dHParameters = linkNode.getChildNodes(); + // System.out.println("Link "+newLinkConf.getName()+" has "+dHParameters + // .getLength()+" children"); + for (int x = 0; x < dHParameters.getLength(); x++) { + Node nNode = dHParameters.item(x); + if (nNode.getNodeType() == Node.ELEMENT_NODE && nNode.getNodeName().contentEquals("DHParameters")) { + Element dhNode = (Element) nNode; + DHLink newLink = new DHLink(dhNode); + getDhParametersChain().addLink(newLink);// 0->1 + NodeList mobileBasesNodeList = dhNode.getChildNodes(); + for (int j = 0; j < mobileBasesNodeList.getLength(); j++) { + Node mb = mobileBasesNodeList.item(j); + if (mb.getNodeType() == Node.ELEMENT_NODE && mb.getNodeName().contentEquals("mobilebase")) { + final MobileBase newMobileBase = new MobileBase((Element) mb); + mobileBases.add(newMobileBase); + newLink.setMobileBaseXml(newMobileBase); + newLink.addDhLinkPositionListener(new IDhLinkPositionListener() { @Override public void onLinkGlobalPositionChange(TransformNR newPose) { Log.debug("Motion in the D-H link has caused this mobile base to move"); newMobileBase.setGlobalToFiducialTransform(newPose); } }); - } + } } - }else{ - if (nNode.getNodeType() == Node.ELEMENT_NODE && nNode.getNodeName().contentEquals("slaveLink")) { - //System.out.println("Slave link found: "); - LinkConfiguration jc =new LinkConfiguration((Element) nNode); - //System.out.println(jc); - newLinkConf.getSlaveLinks().add(jc); - } - } + } else { + if (nNode.getNodeType() == Node.ELEMENT_NODE + && nNode.getNodeName().contentEquals("slaveLink")) { + // System.out.println("Slave link found: "); + LinkConfiguration jc = new LinkConfiguration((Element) nNode); + // System.out.println(jc); + newLinkConf.getSlaveLinks().add(jc); + } + } + } + } else if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("name")) { + try { + setScriptingName(XmlFactory.getTagValue("name", doc)); + } catch (Exception E) { + E.printStackTrace(); + } + } else if (linkNode.getNodeType() == Node.ELEMENT_NODE + && linkNode.getNodeName().contentEquals("ZframeToRAS")) { + Element eElement = (Element) linkNode; + try { + setZframeToGlobalTransform(new TransformNR( + Double.parseDouble(XmlFactory.getTagValue("x", eElement)), + Double.parseDouble(XmlFactory.getTagValue("y", eElement)), + Double.parseDouble(XmlFactory.getTagValue("z", eElement)), + new RotationNR(new double[] { Double.parseDouble(XmlFactory.getTagValue("rotw", eElement)), + Double.parseDouble(XmlFactory.getTagValue("rotx", eElement)), + Double.parseDouble(XmlFactory.getTagValue("roty", eElement)), + Double.parseDouble(XmlFactory.getTagValue("rotz", eElement)) }))); + } catch (Exception ex) { + ex.printStackTrace(); + setZframeToGlobalTransform(new TransformNR()); + } + } else if (linkNode.getNodeType() == Node.ELEMENT_NODE + && linkNode.getNodeName().contentEquals("baseToZframe")) { + Element eElement = (Element) linkNode; + try { + setBaseToZframeTransform(new TransformNR(Double.parseDouble(XmlFactory.getTagValue("x", eElement)), + Double.parseDouble(XmlFactory.getTagValue("y", eElement)), + Double.parseDouble(XmlFactory.getTagValue("z", eElement)), + new RotationNR(new double[] { Double.parseDouble(XmlFactory.getTagValue("rotw", eElement)), + Double.parseDouble(XmlFactory.getTagValue("rotx", eElement)), + Double.parseDouble(XmlFactory.getTagValue("roty", eElement)), + Double.parseDouble(XmlFactory.getTagValue("rotz", eElement)) }))); + } catch (Exception ex) { + ex.printStackTrace(); + setBaseToZframeTransform(new TransformNR()); } - }else if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("name")) { - try{ - setScriptingName(XmlFactory.getTagValue("name",doc)); - }catch(Exception E){ - E.printStackTrace(); - } - } - else if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("ZframeToRAS")) { - Element eElement = (Element)linkNode; - try{ - setZframeToGlobalTransform(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",eElement)), - Double.parseDouble(XmlFactory.getTagValue("y",eElement)), - Double.parseDouble(XmlFactory.getTagValue("z",eElement)), - new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",eElement)), - Double.parseDouble(XmlFactory.getTagValue("rotx",eElement)), - Double.parseDouble(XmlFactory.getTagValue("roty",eElement)), - Double.parseDouble(XmlFactory.getTagValue("rotz",eElement))}))); - }catch(Exception ex){ - ex.printStackTrace(); - setZframeToGlobalTransform(new TransformNR()); - } - }else if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("baseToZframe")) { - Element eElement = (Element)linkNode; - try{ - setBaseToZframeTransform(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",eElement)), - Double.parseDouble(XmlFactory.getTagValue("y",eElement)), - Double.parseDouble(XmlFactory.getTagValue("z",eElement)), - new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",eElement)), - Double.parseDouble(XmlFactory.getTagValue("rotx",eElement)), - Double.parseDouble(XmlFactory.getTagValue("roty",eElement)), - Double.parseDouble(XmlFactory.getTagValue("rotz",eElement))}))); - }catch(Exception ex){ - ex.printStackTrace(); - setBaseToZframeTransform(new TransformNR()); - } - }else{ - //System.err.println(linkNode.getNodeName()); - //Log.error("Node not known: "+linkNode.getNodeName()); - } + } else { + // System.err.println(linkNode.getNodeName()); + // Log.error("Node not known: "+linkNode.getNodeName()); + } } - return localConfigsFromXml; } - + /** * Gets the xml. * @@ -351,40 +358,39 @@ else if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().c */ /* * - * Generate the xml configuration to generate an XML of this robot. + * Generate the xml configuration to generate an XML of this robot. */ - public String getXml(){ + public String getXml() { String xml = "\n"; - xml+="\n"; - xml+="\n"+getScriptingName()+"\n"; - for(int i=0;i\n"; + for (int i = 0; i < getLinkConfigurations().size(); i++) { + xml += "\n"; + xml += getLinkConfiguration(i).getXml(); + xml += "\n\n"; } - xml+="\n\n"; - xml+=getFiducialToGlobalTransform().getXml(); - xml+="\n\n"; - - xml+="\n\n"; - xml+=getRobotToFiducialTransform().getXml(); - xml+="\n\n"; - xml+="\n"; - xml+="\n"; + xml += "\n\n"; + xml += getFiducialToGlobalTransform().getXml(); + xml += "\n\n"; + + xml += "\n\n"; + xml += getRobotToFiducialTransform().getXml(); + xml += "\n\n"; + xml += "\n"; + xml += "\n"; return xml; } - /** * Gets the link configuration. * * @param linkIndex the link index * @return the link configuration */ - public LinkConfiguration getLinkConfiguration(int linkIndex){ + public LinkConfiguration getLinkConfiguration(int linkIndex) { return getLinkConfigurations().get(linkIndex); } - + /** * Gets the link configurations. * @@ -393,67 +399,66 @@ public LinkConfiguration getLinkConfiguration(int linkIndex){ public ArrayList getLinkConfigurations() { return getFactory().getLinkConfigurations(); - + } - /** * Gets the link current configuration. * * @param chan the chan * @return the link current configuration */ - public PIDConfiguration getLinkCurrentConfiguration(int chan){ + public PIDConfiguration getLinkCurrentConfiguration(int chan) { return getAxisPidConfiguration().get(chan); } - + /** * Sets the link current configuration. * * @param chan the chan - * @param c the c + * @param c the c */ - public void setLinkCurrentConfiguration(int chan,PIDConfiguration c){ + public void setLinkCurrentConfiguration(int chan, PIDConfiguration c) { getAxisPidConfiguration().set(chan, c); } - + /** * Gets the device. * * @return the device */ - protected LinkFactory getDevice(){ + protected LinkFactory getDevice() { return getFactory(); } - + /** * Gets the abstract link. * * @param index the index * @return the abstract link */ - public AbstractLink getAbstractLink(int index){ + public AbstractLink getAbstractLink(int index) { return getFactory().getLink(getLinkConfiguration(index)); } - + /** * Sets the device. * - * @param f the f + * @param f the f * @param linkConfigs the link configs */ - protected void setDevice(LinkFactory f, ArrayList linkConfigs){ - Log.info("Loading device: "+f.getClass()+" "+f); + protected void setDevice(LinkFactory f, ArrayList linkConfigs) { + Log.info("Loading device: " + f.getClass() + " " + f); setFactory(f); - //Log.enableDebugPrint(true); - for(int i=0;i linkConfigs tmpConf.setEnabled(true); tmpConf.setInverted(c.isInverted()); tmpConf.setAsync(false); - + tmpConf.setUseLatch(false); tmpConf.setIndexLatch(c.getIndexLatch()); tmpConf.setStopOnIndex(false); - - Log.info("\nAxis #"+i+" "+tmpConf); + + Log.info("\nAxis #" + i + " " + tmpConf); getAxisPidConfiguration().add(tmpConf); - //setLinkCurrentConfiguration(i,tmpConf); - //Send configuration for ONE axis - device.ConfigurePIDController(tmpConf); - }catch(Exception ex){ - Log.error("Configuration #"+i+" failed!!"); + // setLinkCurrentConfiguration(i,tmpConf); + // Send configuration for ONE axis + device.ConfigurePIDController(tmpConf); + } catch (Exception ex) { + Log.error("Configuration #" + i + " failed!!"); ex.printStackTrace(); } device.addPIDEventListener(this); @@ -482,263 +487,271 @@ protected void setDevice(LinkFactory f, ArrayList linkConfigs getCurrentTaskSpaceTransform(); getFactory().addLinkListener(this); getDhParametersChain().setFactory(getFactory()); - - - - //filling up the d-h parameters so the chain sizes match - while(getDhParametersChain().getLinks().size() < linkConfigs.size()){ - getDhParametersChain().addLink(new DHLink(0,0,0,0)); + // filling up the d-h parameters so the chain sizes match + while (getDhParametersChain().getLinks().size() < linkConfigs.size()) { + getDhParametersChain().addLink(new DHLink(0, 0, 0, 0)); } } - + /** * Gets the number of links defined in the configuration file. * * @return number of links in XML */ - public int getNumberOfLinks(){ + public int getNumberOfLinks() { return getLinkConfigurations().size(); } - + /** - * This takes a reading of the robots position and converts it to a joint space vector - * This vector is converted to task space and returned . + * This takes a reading of the robots position and converts it to a joint space + * vector This vector is converted to task space and returned . * * @return taskSpaceVector in mm,radians [x,y,z,rotx,rotY,rotZ] */ public TransformNR getCurrentTaskSpaceTransform() { - TransformNR fwd = forwardKinematics(getCurrentJointSpaceVector()); - if(fwd==null) + TransformNR fwd = forwardKinematics(getCurrentJointSpaceVector()); + if (fwd == null) throw new RuntimeException("Implementations of the kinematics need to return a transform not null"); - //Log.info("Getting robot task space "+fwd); - TransformNR taskSpaceTransform=forwardOffset(fwd); - //Log.info("Getting global task space "+taskSpaceTransform); + // Log.info("Getting robot task space "+fwd); + TransformNR taskSpaceTransform = forwardOffset(fwd); + // Log.info("Getting global task space "+taskSpaceTransform); return taskSpaceTransform; } - + /** - * This takes a reading of the robots position and converts it to a joint pace vector - * This vector is converted to Joint space and returned . + * This takes a reading of the robots position and converts it to a joint pace + * vector This vector is converted to Joint space and returned . * * @return JointSpaceVector in mm,radians */ public double[] getCurrentJointSpaceVector() { - if(currentJointSpacePositions==null){ - //Happens once and only once on the first initialization - currentJointSpacePositions= new double [getNumberOfLinks()]; - currentJointSpaceTarget = new double [getNumberOfLinks()]; - for(int i=0;ilink.getUpperLimit()){ + if (val > link.getUpperLimit()) { return false; } - if(val0 && except 0 && except < getRetryNumberBeforeFail()); + if (e != null) throw e; - + // for(int i=0;i=getNumberOfLinks()){ - throw new IndexOutOfBoundsException("There are only "+getNumberOfLinks()+" known links, requested:"+link); + if (link < 0 || link >= getNumberOfLinks()) { + throw new IndexOutOfBoundsException( + "There are only " + getNumberOfLinks() + " known links, requested:" + link); } LinkConfiguration conf = getLinkConfiguration(link); - if(conf.getTypeEnum() == LinkType.PID){ + if (conf.getTypeEnum() == LinkType.PID) { getFactory().getPid(conf).removePIDEventListener(this); - //Range is in encoder units - double range = Math.abs(conf.getUpperLimit()-conf.getLowerLimit())*2; - - Log.info("Homing link:"+link+" to latch value: "+conf.getIndexLatch()); + // Range is in encoder units + double range = Math.abs(conf.getUpperLimit() - conf.getLowerLimit()) * 2; + + Log.info("Homing link:" + link + " to latch value: " + conf.getIndexLatch()); PIDConfiguration pidConf = getLinkCurrentConfiguration(link); PIDChannel joint = getFactory().getPid(conf).getPIDChannel(conf.getHardwareIndex()); - - - //Clear the index + + // Clear the index pidConf.setStopOnIndex(false); pidConf.setUseLatch(false); pidConf.setIndexLatch(conf.getIndexLatch()); - joint.ConfigurePIDController(pidConf);//Sets up the latch - - //Move forward to stop - runHome(joint,(int) (range)); - - //Enable index + joint.ConfigurePIDController(pidConf);// Sets up the latch + + // Move forward to stop + runHome(joint, (int) (range)); + + // Enable index pidConf.setStopOnIndex(true); pidConf.setUseLatch(true); pidConf.setIndexLatch(conf.getIndexLatch()); - joint.ConfigurePIDController(pidConf);//Sets up the latch - //Move negative to the index - runHome(joint,(int) (range*-1)); - + joint.ConfigurePIDController(pidConf);// Sets up the latch + // Move negative to the index + runHome(joint, (int) (range * -1)); + pidConf.setStopOnIndex(false); pidConf.setUseLatch(false); pidConf.setIndexLatch(conf.getIndexLatch()); - joint.ConfigurePIDController(pidConf);//Shuts down the latch - + joint.ConfigurePIDController(pidConf);// Shuts down the latch + try { setDesiredJointAxisValue(link, 0, 0);// go to zero instead of to the index itself } catch (Exception e) { e.printStackTrace(); } getFactory().getPid(conf).addPIDEventListener(this); - }else{ + } else { getFactory().getLink(getLinkConfiguration(link)).Home(); getFactory().flush(1000); } } + /** * This is a quick stop for all axis of the robot. */ - public void emergencyStop(){ - for(LinkConfiguration lf: getFactory().getLinkConfigurations()) - if(getFactory().getPid(lf)!=null) + public void emergencyStop() { + for (LinkConfiguration lf : getFactory().getLinkConfigurations()) + if (getFactory().getPid(lf) != null) getFactory().getPid(lf).killAllPidGroups(); } @@ -1120,29 +1146,29 @@ public void emergencyStop(){ // } /** - * Gets the axis pid configuration. - * - * @return the axis pid configuration - */ -public ArrayList getAxisPidConfiguration() { + * Gets the axis pid configuration. + * + * @return the axis pid configuration + */ + public ArrayList getAxisPidConfiguration() { return pidConfigurations; } - + /** * Inverse kinematics. * * @param taskSpaceTransform the task space transform * @return Nx1 vector in task space, in mm where N is number of links * @throws Exception the exception - */ + */ public abstract double[] inverseKinematics(TransformNR taskSpaceTransform) throws Exception; - - /** - * Forward kinematics. - * - * @param jointSpaceVector the joint space vector - * @return 6x1 vector in task space, unit in mm,radians [x,y,z,rotx,rotY,rotZ] - */ + + /** + * Forward kinematics. + * + * @param jointSpaceVector the joint space vector + * @return 6x1 vector in task space, unit in mm,radians [x,y,z,rotx,rotY,rotZ] + */ public abstract TransformNR forwardKinematics(double[] jointSpaceVector); /** @@ -1151,7 +1177,7 @@ public ArrayList getAxisPidConfiguration() { * @return the current pose target */ public TransformNR getCurrentPoseTarget() { - if(currentPoseTarget == null) + if (currentPoseTarget == null) currentPoseTarget = calcHome(); return currentPoseTarget; } @@ -1164,7 +1190,7 @@ public TransformNR getCurrentPoseTarget() { public void setCurrentPoseTarget(TransformNR currentPoseTarget) { this.currentPoseTarget = currentPoseTarget; } - + /** * Sets the factory. * @@ -1173,18 +1199,18 @@ public void setCurrentPoseTarget(TransformNR currentPoseTarget) { public void setFactory(LinkFactory factory) { this.factory = factory; } - + /** * Gets the factory. * * @return the factory */ public LinkFactory getFactory() { - if(factory==null) - factory=new LinkFactory(); + if (factory == null) + factory = new LinkFactory(); return factory; } - + /** * Sets the no flush. * @@ -1193,7 +1219,7 @@ public LinkFactory getFactory() { public void setNoFlush(boolean noFlush) { this.noFlush = noFlush; } - + /** * Checks if is no flush. * @@ -1202,7 +1228,7 @@ public void setNoFlush(boolean noFlush) { public boolean isNoFlush() { return noFlush; } - + /** * Gets the retry number before fail. * @@ -1211,7 +1237,7 @@ public boolean isNoFlush() { public int getRetryNumberBeforeFail() { return retryNumberBeforeFail; } - + /** * Sets the retry number before fail. * @@ -1220,15 +1246,19 @@ public int getRetryNumberBeforeFail() { public void setRetryNumberBeforeFail(int retryNumberBeforeFail) { this.retryNumberBeforeFail = retryNumberBeforeFail; } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.ILinkListener#onLinkLimit(com.neuronrobotics.sdk.addons.kinematics.AbstractLink, com.neuronrobotics.sdk.pid.PIDLimitEvent) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.ILinkListener#onLinkLimit(com. + * neuronrobotics.sdk.addons.kinematics.AbstractLink, + * com.neuronrobotics.sdk.pid.PIDLimitEvent) */ @Override public void onLinkLimit(AbstractLink arg0, PIDLimitEvent arg1) { - for(int i=0;il1.getMaxEngineeringUnits()){ - value=l1.getMaxEngineeringUnits(); + if (value > l1.getMaxEngineeringUnits()) { + value = l1.getMaxEngineeringUnits(); } - if(value Date: Wed, 18 Dec 2019 13:14:50 -0500 Subject: [PATCH 201/482] aded helper functions --- .../sdk/addons/kinematics/DHParameterKinematics.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index f5b60b37..0b8d8c66 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -706,7 +706,6 @@ public void onJointSpaceLimit(AbstractKinematicsNR source, int axis, JointLimit // New helper functions public TransformNR linkCoM(double linkAngleToClaculate, int linkIndex) { - double[] vectortail = getCurrentJointSpaceVector(); vectortail[linkIndex] = linkAngleToClaculate; return getChain().getChain(vectortail).get(linkIndex) From 1b80998057eddfb3ea6d22c00b69dad7b32b4e25 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 18 Dec 2019 16:29:16 -0500 Subject: [PATCH 202/482] Loading the mass of the body from the xml wthout getting confused by the sub-nodes --- carlRobot.xml | 2 +- .../sdk/addons/kinematics/MobileBase.java | 17 ++++++++---- .../sdk/addons/kinematics/xml/XmlFactory.java | 1 + .../utilities/LoadMassTest.java | 26 +++++++++++++++++++ 4 files changed, 40 insertions(+), 6 deletions(-) create mode 100644 test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java diff --git a/carlRobot.xml b/carlRobot.xml index d227ac21..445ec573 100644 --- a/carlRobot.xml +++ b/carlRobot.xml @@ -876,7 +876,7 @@ 0.0 0.0 - 0.01 + 99 0.0 0.0 0.0 diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index a133fc56..f976eec4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -187,7 +187,7 @@ private void loadConfigs(Element doc) { loadLimb(doc, "steerable", steerable); loadLimb(doc, "appendage", appendages); try { - String massString = XmlFactory.getTagValue("mass", doc); + String massString =getTag(doc,"mass"); setMassKg(Double.parseDouble(massString)); } catch (Exception e) { e.printStackTrace(); @@ -263,7 +263,7 @@ private String getname(Element e) { * @param tag * the tag * @return the name - */ + */ private String getParallelGroup(Element e) { return getTag(e, "parallelGroup"); } @@ -279,12 +279,18 @@ private String getParallelGroup(Element e) { */ private String getTag(Element e, String tagname) { try { - NodeList nodListofLinks = e.getChildNodes(); + NodeList nodListofLinks = e.getElementsByTagName(tagname); for (int i = 0; i < nodListofLinks.getLength(); i++) { Node linkNode = nodListofLinks.item(i); - if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tagname)) { - return XmlFactory.getTagValue(tagname, e); + String nameParent = linkNode.getParentNode().getNodeName(); + boolean isMobileBase = nameParent.contains("mobilebase"); + if (linkNode.getNodeType() == Node.ELEMENT_NODE && + linkNode.getNodeName().contentEquals(tagname) + && isMobileBase) { + String value = linkNode.getChildNodes().item(0).getNodeValue(); + System.out.println("Loading tag "+tagname+" from "+nameParent+" value "+value); + return value; } } } catch (Exception ex) { @@ -769,6 +775,7 @@ public double getMassKg() { } public void setMassKg(double mass) { + System.out.println("Mass of device "+getScriptingName()+" is "+mass); this.mass = mass; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java index 656a61b9..aefeff63 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java @@ -75,6 +75,7 @@ public static NodeList getAllNodesFromTag(String sTag, InputStream config){ * @return the tag value */ public static String getTagValue(String sTag, Element eElement){ + NodeList nlList= eElement.getElementsByTagName(sTag).item(0).getChildNodes(); Node nValue = (Node) nlList.item(0); // System.out.println("\t\t"+sTag+" = "+nValue.getNodeValue()); diff --git a/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java b/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java new file mode 100644 index 00000000..4e7af41d --- /dev/null +++ b/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java @@ -0,0 +1,26 @@ +package junit.test.neuronrobotics.utilities; + +import static org.junit.Assert.*; + +import java.io.File; +import java.io.FileInputStream; +import java.io.FileNotFoundException; + +import org.junit.Test; + +import com.neuronrobotics.sdk.addons.kinematics.MobileBase; + +public class LoadMassTest { + + @Test + public void test() throws FileNotFoundException { + + File f = new File("carlRobot.xml"); + if (f.exists()) { + MobileBase pArm = new MobileBase(new FileInputStream(f)); + System.out.println("Mass = "+pArm.getMassKg()); + assertEquals(99, pArm.getMassKg(),0.1); + } + } + +} From 471a9bddc2c2527e761a9a8e6821180effb738a1 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 18 Dec 2019 17:43:10 -0500 Subject: [PATCH 203/482] fixing the incorrect limb name loading --- .../com/neuronrobotics/sdk/addons/kinematics/MobileBase.java | 4 ++-- .../src/junit/test/neuronrobotics/utilities/LoadMassTest.java | 1 + 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index f976eec4..8b2f1056 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -284,12 +284,12 @@ private String getTag(Element e, String tagname) { for (int i = 0; i < nodListofLinks.getLength(); i++) { Node linkNode = nodListofLinks.item(i); String nameParent = linkNode.getParentNode().getNodeName(); - boolean isMobileBase = nameParent.contains("mobilebase"); + boolean isMobileBase = !nameParent.contains("link"); if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tagname) && isMobileBase) { String value = linkNode.getChildNodes().item(0).getNodeValue(); - System.out.println("Loading tag "+tagname+" from "+nameParent+" value "+value); + //System.out.println("Loading tag "+tagname+" from "+nameParent+" value "+value); return value; } } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java b/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java index 4e7af41d..c5fdefb0 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java @@ -20,6 +20,7 @@ public void test() throws FileNotFoundException { MobileBase pArm = new MobileBase(new FileInputStream(f)); System.out.println("Mass = "+pArm.getMassKg()); assertEquals(99, pArm.getMassKg(),0.1); + assertEquals(pArm.getLegs().get(0).getScriptingName(),"Carl_One"); } } From b21cf2d55839dd915f7dcf290fb3cc1abf3af014 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 18 Dec 2019 17:43:37 -0500 Subject: [PATCH 204/482] version --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index b2fecab5..a796656d 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.27.0 +app.version=3.28.0 app.javac.version=1.6 From 43c87f287704240904e225054f63cb36ab0cfa5a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 19 Dec 2019 14:55:54 -0500 Subject: [PATCH 205/482] removing print statements --- .../java/com/neuronrobotics/imageprovider/NativeResource.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/imageprovider/NativeResource.java b/src/main/java/com/neuronrobotics/imageprovider/NativeResource.java index 00a8e0a9..386e6151 100644 --- a/src/main/java/com/neuronrobotics/imageprovider/NativeResource.java +++ b/src/main/java/com/neuronrobotics/imageprovider/NativeResource.java @@ -102,7 +102,7 @@ private InputStream locateResource(String name) { System.err.println("Can't load native file: "+name+" for os arch: "+ getOsArch()); return null; } - System.out.println("Loading "+file); + //System.out.println("Loading "+file); return getClass().getResourceAsStream(file); } From 373a9b5661744c17798a8ed3b30894a82c574398 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 19 Dec 2019 15:17:07 -0500 Subject: [PATCH 206/482] removing print statements --- .../com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index 32f24e39..013fab99 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -151,7 +151,7 @@ public void refreshHardwareLayer(LinkConfiguration c){ private AbstractLink getLinkLocal(LinkConfiguration c){ AbstractLink tmp=null; - Log.info("Loading link: "+c.getName()+" type = "+c.getTypeEnum()+" device= "+c.getDeviceScriptingName()); + //Log.info("Loading link: "+c.getName()+" type = "+c.getTypeEnum()+" device= "+c.getDeviceScriptingName()); switch(c.getTypeEnum()){ From 92ce90b99900df00ca5eca1f2c017448871b7b1e Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 21 Dec 2019 14:41:40 -0500 Subject: [PATCH 207/482] thread-safeing the listener notifications --- .../java/com/neuronrobotics/sdk/common/DeviceManager.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java index 1ec4e027..5b1c013d 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java @@ -109,7 +109,9 @@ public void onDisconnect(BowlerAbstractDevice source) { public void onConnect(BowlerAbstractDevice source) { } }); - for (IDeviceAddedListener l : deviceAddedListener) { + + for (int i=0;i< deviceAddedListener.size();i++) { + IDeviceAddedListener l = deviceAddedListener.get(i); l.onNewDeviceAdded(newDevice); } } From b3d91d412a3d5e338848413aa24235cb35739b36 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 22 Dec 2019 10:29:36 -0500 Subject: [PATCH 208/482] synchronize the methods that update the UI --- .../kinematics/AbstractKinematicsNR.java | 146 +++++++++--------- .../kinematics/DHParameterKinematics.java | 42 +++-- 2 files changed, 92 insertions(+), 96 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 48ebd236..d800debd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -46,6 +46,8 @@ */ @SuppressWarnings("restriction") public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IPIDEventListener, ILinkListener { + + /** The configurations. */ private ArrayList pidConfigurations = new ArrayList(); @@ -526,7 +528,7 @@ public TransformNR getCurrentTaskSpaceTransform() { * @return JointSpaceVector in mm,radians */ public double[] getCurrentJointSpaceVector() { - if (currentJointSpacePositions == null) { + if (currentJointSpacePositions == null||currentJointSpacePositions.length!= getNumberOfLinks()) { // Happens once and only once on the first initialization currentJointSpacePositions = new double[getNumberOfLinks()]; currentJointSpaceTarget = new double[getNumberOfLinks()]; @@ -548,7 +550,11 @@ public double[] getCurrentJointSpaceVector() { // double pos = // currentLinkSpacePositions[getLinkConfigurations().get(i).getHardwareIndex()]; // Here the RAW values are converted to engineering units - jointSpaceVect[i] = currentJointSpacePositions[i]; + try { + jointSpaceVect[i] = currentJointSpacePositions[i]; + }catch(Exception e) { + jointSpaceVect[i]=0; + } } return jointSpaceVect; @@ -622,45 +628,37 @@ public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform) { * @return The joint space vector is returned for target arrival referance * @throws Exception If there is a workspace error */ - public synchronized double[] setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds) throws Exception { + public double[] setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds) throws Exception { if (jointSpaceVect.length != getNumberOfLinks()) { throw new IndexOutOfBoundsException("Vector must be " + getNumberOfLinks() + " links, actual number of links = " + jointSpaceVect.length); } - String joints = "["; - for (int i = 0; i < jointSpaceVect.length; i++) { - joints += jointSpaceVect[i] + " "; - } - joints += "]"; - Log.info("Setting target joints: " + joints); - int except = 0; - Exception e = null; - do { - try { - factory.setCachedTargets(jointSpaceVect); - if (!isNoFlush()) { - // - factory.flush(seconds); - // + synchronized(AbstractKinematicsNR.class) { + int except = 0; + Exception e = null; + do { + try { + factory.setCachedTargets(jointSpaceVect); + if (!isNoFlush()) { + // + factory.flush(seconds); + // + } + except = 0; + e = null; + } catch (Exception ex) { + except++; + e = ex; } - except = 0; - e = null; - } catch (Exception ex) { - except++; - e = ex; - } - } while (except > 0 && except < getRetryNumberBeforeFail()); - if (e != null) - throw e; - -// for(int i=0;i 0 && except < getRetryNumberBeforeFail()); + if (e != null) + throw e; + for(int i=0;i ll; - if (getChain().getCachedChain() != null && getChain().getCachedChain().size() == 0) { - ll = getChain().getChain(getCurrentJointSpaceVector()); - } else - ll = getChain().getCachedChain(); - for (int i = 0; i < ll.size(); i++) { - final ArrayList linkPos = ll; - final int index = i; - final Affine af = getChain().getLinks().get(index).getListener(); - final TransformNR nr = linkPos.get(index); - Platform.runLater(new Runnable() { - @Override - public void run() { + synchronized (DHParameterKinematics.class) { + try { + ArrayList ll = getChain().getChain(getCurrentJointSpaceVector()); + for (int i = 0; i < ll.size(); i++) { + ArrayList linkPos = ll; + int index = i; + Affine af = getChain().getLinks().get(index).getListener(); + TransformNR nr = linkPos.get(index); + Platform.runLater(() -> { + if (nr == null || af == null) { + return; + } try { - TransformFactory.nrToAffine(nr, - af); + TransformFactory.nrToAffine(nr, af); } catch (Exception ex) { - //ex.printStackTrace(); + // ex.printStackTrace(); } - } - }); + }); + } + } catch (Exception ex) { + // ex.printStackTrace(); } - } catch (Exception ex) { - // ex.printStackTrace(); } } From 66e793e0d7a3272a52c72c6a1d1487e05529bf2f Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 22 Dec 2019 10:36:23 -0500 Subject: [PATCH 209/482] print an exception if the UI thread is not used to update the affines --- .../sdk/addons/kinematics/TransformFactory.java | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java index f0787347..8bff10dd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java @@ -1,6 +1,8 @@ package com.neuronrobotics.sdk.addons.kinematics; import java.awt.Color; + +import javafx.application.Platform; import javafx.scene.Group; import javafx.scene.transform.Affine; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; @@ -83,6 +85,9 @@ public static TransformNR affineToNr(TransformNR outputValue ,Affine rotations){ * @return the transform */ public static Affine nrToAffine(TransformNR input ,Affine rotations){ + if (!Platform.isFxApplicationThread()) { + new RuntimeException("This method must be in UI thread!").printStackTrace(); + } double[][] poseRot = input .getRotationMatrixArray(); From e8128044db093c42046e0f77acdc25d37aebacb3 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 22 Dec 2019 12:41:42 -0500 Subject: [PATCH 210/482] more data validation for UI thread interactions --- .../kinematics/AbstractKinematicsNR.java | 5 ++- .../addons/kinematics/TransformFactory.java | 33 +++++++++++-------- 2 files changed, 24 insertions(+), 14 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index d800debd..e89c87ed 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -815,7 +815,10 @@ public void setBaseToZframeTransform(TransformNR baseToFiducial) { @Override public void run() { - TransformFactory.nrToAffine(forwardOffset(new TransformNR()), getRootListener()); + + TransformNR forwardOffset = forwardOffset(new TransformNR()); + if(forwardOffset!=null && getRootListener()!=null) + TransformFactory.nrToAffine(forwardOffset, getRootListener()); } }); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java index 8bff10dd..294465fb 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java @@ -88,21 +88,28 @@ public static Affine nrToAffine(TransformNR input ,Affine rotations){ if (!Platform.isFxApplicationThread()) { new RuntimeException("This method must be in UI thread!").printStackTrace(); } + if(input==null ) + return rotations; + if( rotations==null) + rotations=new Affine(); double[][] poseRot = input .getRotationMatrixArray(); - - rotations.setMxx(poseRot[0][0]); - rotations.setMxy(poseRot[0][1]); - rotations.setMxz(poseRot[0][2]); - rotations.setMyx(poseRot[1][0]); - rotations.setMyy(poseRot[1][1]); - rotations.setMyz(poseRot[1][2]); - rotations.setMzx(poseRot[2][0]); - rotations.setMzy(poseRot[2][1]); - rotations.setMzz(poseRot[2][2]); - rotations.setTx(input.getX()); - rotations.setTy(input.getY()); - rotations.setTz(input.getZ()); + try { + rotations.setMxx(poseRot[0][0]); + rotations.setMxy(poseRot[0][1]); + rotations.setMxz(poseRot[0][2]); + rotations.setMyx(poseRot[1][0]); + rotations.setMyy(poseRot[1][1]); + rotations.setMyz(poseRot[1][2]); + rotations.setMzx(poseRot[2][0]); + rotations.setMzy(poseRot[2][1]); + rotations.setMzz(poseRot[2][2]); + rotations.setTx(input.getX()); + rotations.setTy(input.getY()); + rotations.setTz(input.getZ()); + }catch(Exception e) { + e.printStackTrace(); + } return rotations; } From fe9ebb93a18849fc542b579063d901e44c7cf9fc Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 22 Dec 2019 13:15:20 -0500 Subject: [PATCH 211/482] fix the travis javadoc --- .../sdk/addons/kinematics/DHParameterKinematics.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 3199e817..b11f83e9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -754,7 +754,7 @@ public double getDH_Alpha(int index) { /** * Gets the theta. * - * @return the theta + * */ public void setDH_Theta(int index, double value) { @@ -763,7 +763,7 @@ public void setDH_Theta(int index, double value) { /** * Gets the d. * - * @return the d + * */ public void setDH_D(int index, double value) { getChain().getLinks().get(index).setDelta(value); @@ -774,7 +774,7 @@ public void setDH_D(int index, double value) { /** * Gets the r. * - * @return the r + * */ public void setDH_R(int index, double value) { getChain().getLinks().get(index).setRadius(value); @@ -783,7 +783,7 @@ public void setDH_R(int index, double value) { /** * Gets the alpha. * - * @return the alpha + * */ public void setDH_Alpha(int index, double value) { getChain().getLinks().get(index).setAlpha(value); From f9374e9da334598f3ea9175b6167c4f7436d4e23 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 31 Dec 2019 16:31:12 -0500 Subject: [PATCH 212/482] use traditional for loops for disconnect --- .../neuronrobotics/sdk/common/BowlerAbstractDevice.java | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java index b78046d3..dd44a25c 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java @@ -82,7 +82,9 @@ public boolean isAvailable() throws InvalidConnectionException{ * Set the connection to use when communicating commands with a device. */ protected void fireDisconnectEvent() { - for(IDeviceConnectionEventListener l:getDisconnectListeners()) { + ArrayList disconnectListeners2 = getDisconnectListeners(); + for (int i = 0; i < disconnectListeners2.size(); i++) { + IDeviceConnectionEventListener l = disconnectListeners2.get(i); l.onDisconnect(getDevice()); } } @@ -91,7 +93,9 @@ protected void fireDisconnectEvent() { * Fire connect event. */ protected void fireConnectEvent() { - for(IDeviceConnectionEventListener l:getDisconnectListeners()) { + ArrayList disconnectListeners2 = getDisconnectListeners(); + for (int i = 0; i < disconnectListeners2.size(); i++) { + IDeviceConnectionEventListener l = disconnectListeners2.get(i); l.onConnect(getDevice()); } } From 0d6fc39a08056bdaf9bf5081ec92e2b3b35f2882 Mon Sep 17 00:00:00 2001 From: Ryan Benasutti Date: Sat, 18 Jan 2020 17:38:52 -0500 Subject: [PATCH 213/482] Ignore out --- .gitignore | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.gitignore b/.gitignore index 2bb85398..3429ebf3 100644 --- a/.gitignore +++ b/.gitignore @@ -12,3 +12,5 @@ gradle.properties /unknownLink2.xml /hs_err_pid8155.log /carlRobot2.xml +out + From 959b369c875b2668e7656825207219d8636b6691 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 7 Feb 2020 17:13:00 -0500 Subject: [PATCH 214/482] convert to conventional for loop to allow removal from withing an event --- .../java/com/neuronrobotics/sdk/util/FileChangeWatcher.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java b/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java index 293f4e28..5f7108c8 100644 --- a/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java +++ b/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java @@ -79,7 +79,9 @@ public static void startThread() { public void run() { setName("File Watcher Thread"); while (runThread) { - for (String key : activeListener.keySet()) { + Object[] array = activeListener.keySet().toArray(); + for (int i = 0; i < array.length; i++) { + Object key = array[i]; try { FileChangeWatcher w = activeListener.get(key); if (!w.run) { From 6055ab8270f3a06b1b550a2ae25e0157134aa156 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 24 Feb 2020 21:27:18 -0500 Subject: [PATCH 215/482] standard for loop --- .../neuronrobotics/sdk/addons/kinematics/AbstractLink.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index b007f4fa..8eb7ba86 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -180,7 +180,9 @@ public void removeLinkListener(ILinkListener l){ * @param linkUnitsValue the link units value */ public void fireLinkListener(double linkUnitsValue){ - for(ILinkListener l:getLinks()){ + ArrayList links2 = getLinks(); + for (int i = 0; i < links2.size(); i++) { + ILinkListener l = links2.get(i); //Log.info("Link Event, RAW="+linkUnitsValue); l.onLinkPositionUpdate(this,toEngineeringUnits(linkUnitsValue)); } From 72f05a57fade66d9c0bd2c6378d53a5b462063f0 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 3 Apr 2020 10:11:18 -0400 Subject: [PATCH 216/482] update to gradle 6.2 --- gradle/wrapper/gradle-wrapper.jar | Bin 53636 -> 58695 bytes gradle/wrapper/gradle-wrapper.properties | 3 +-- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar index fd7e590e5154e82211909581e71018372134fb27..f3d88b1c2faf2fc91d853cd5d4242b5547257070 100644 GIT binary patch literal 58695 zcma&OV~}Oh(k5J8>Mq;vvTfV8ZQE5{wr$(iDciPf+tV}m-if*I+;_h3N1nY;M6TF7 zBc7A_WUgl&IY|&uNFbnJzkq;%`2QLZ5b*!{1OkHidzBVe;-?mu5upVElKVGD>pC88 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zcAoGL5USX7RTor*GN=gVS3m=3p#Pk}9}v-&-f|yk5$FNbk{quTf!(pOj}oIe^QEa3f7b=>hd0vi;VX^Zj~Tf*PiI{!|*KR^*}%zvbw^5j2b zfUeX5J!p~ZZzSlm&L5BL5BR$XGSh!8VYTaBcrQrp&!F+(b^Xja{+y%;js+x{!T6(& z%v>YYG^l=*AUbNgS0%Xdg1`*_sPaFVZowE{0pr9$*MSh2&43PsoBykc|4kkC->Vy; z_%sPK_ga0se1Iw3ip?;qOBwfaXdJ?rV1PUw@|I1}< zu#5#&=bvT>v~$G=J~eq42lQ@qtW-5=mTOi!Tui075WMrRO^9w?aeZ}G2~a$bQK-Tp`oEGGeWZT+R| ze;Gyo#@G4ddi~M0VH@v{3jc(vgQh>cf1^O3b^fP*e^gNTg8q-xe?y}Gd*>Ym0KrEn zfJWOGf2977zVZeIz$1dB^1qVW9RWPsmiYtvHyR5JOzIUVDe6y!Zr9lU0RIiA`ERij zu^=D?D7faYV*hnx_-`k6p8H24N;n2kXzi~i`sZ~qsK0sL<89}Iz+Awv&A)*EzNG`r z4qxfnUj(vK!GCNN_&N$^RNia3!c{dLVBm&OeR*dl?8H z)RtzTz7f=k{j=5iyVrogM8J$?!avRQYDMH9*zZfZQ2VF$(QAKM{qKjQ-&f}sNFv`W zAW;+W{=2|G6?*mL^a^<1{6`{7>A%MDY7+elEYZZmcs(2V7hUJS(g~Uy YP+~!YZi(Nw85 Date: Fri, 3 Apr 2020 10:12:52 -0400 Subject: [PATCH 217/482] update to gradle 6.2 --- gradlew | 115 ++++++++++++++++++++++++++++++---------------------- gradlew.bat | 33 ++++++++++----- 2 files changed, 90 insertions(+), 58 deletions(-) mode change 100644 => 100755 gradlew.bat diff --git a/gradlew b/gradlew index 91a7e269..2fe81a7d 100755 --- a/gradlew +++ b/gradlew @@ -1,4 +1,20 @@ -#!/usr/bin/env bash +#!/usr/bin/env sh + +# +# Copyright 2015 the original author or authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ############################################################################## ## @@ -6,20 +22,38 @@ ## ############################################################################## -# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -DEFAULT_JVM_OPTS="" +# Attempt to set APP_HOME +# Resolve links: $0 may be a link +PRG="$0" +# Need this for relative symlinks. +while [ -h "$PRG" ] ; do + ls=`ls -ld "$PRG"` + link=`expr "$ls" : '.*-> \(.*\)$'` + if expr "$link" : '/.*' > /dev/null; then + PRG="$link" + else + PRG=`dirname "$PRG"`"/$link" + fi +done +SAVED="`pwd`" +cd "`dirname \"$PRG\"`/" >/dev/null +APP_HOME="`pwd -P`" +cd "$SAVED" >/dev/null APP_NAME="Gradle" APP_BASE_NAME=`basename "$0"` +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + # Use the maximum available, or set MAX_FD != -1 to use that value. MAX_FD="maximum" -warn ( ) { +warn () { echo "$*" } -die ( ) { +die () { echo echo "$*" echo @@ -30,6 +64,7 @@ die ( ) { cygwin=false msys=false darwin=false +nonstop=false case "`uname`" in CYGWIN* ) cygwin=true @@ -40,31 +75,11 @@ case "`uname`" in MINGW* ) msys=true ;; + NONSTOP* ) + nonstop=true + ;; esac -# For Cygwin, ensure paths are in UNIX format before anything is touched. -if $cygwin ; then - [ -n "$JAVA_HOME" ] && JAVA_HOME=`cygpath --unix "$JAVA_HOME"` -fi - -# Attempt to set APP_HOME -# Resolve links: $0 may be a link -PRG="$0" -# Need this for relative symlinks. -while [ -h "$PRG" ] ; do - ls=`ls -ld "$PRG"` - link=`expr "$ls" : '.*-> \(.*\)$'` - if expr "$link" : '/.*' > /dev/null; then - PRG="$link" - else - PRG=`dirname "$PRG"`"/$link" - fi -done -SAVED="`pwd`" -cd "`dirname \"$PRG\"`/" >&- -APP_HOME="`pwd -P`" -cd "$SAVED" >&- - CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar # Determine the Java command to use to start the JVM. @@ -90,7 +105,7 @@ location of your Java installation." fi # Increase the maximum file descriptors if we can. -if [ "$cygwin" = "false" -a "$darwin" = "false" ] ; then +if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then MAX_FD_LIMIT=`ulimit -H -n` if [ $? -eq 0 ] ; then if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then @@ -110,10 +125,11 @@ if $darwin; then GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" fi -# For Cygwin, switch paths to Windows format before running java -if $cygwin ; then +# For Cygwin or MSYS, switch paths to Windows format before running java +if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then APP_HOME=`cygpath --path --mixed "$APP_HOME"` CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` + JAVACMD=`cygpath --unix "$JAVACMD"` # We build the pattern for arguments to be converted via cygpath ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` @@ -138,27 +154,30 @@ if $cygwin ; then else eval `echo args$i`="\"$arg\"" fi - i=$((i+1)) + i=`expr $i + 1` done case $i in - (0) set -- ;; - (1) set -- "$args0" ;; - (2) set -- "$args0" "$args1" ;; - (3) set -- "$args0" "$args1" "$args2" ;; - (4) set -- "$args0" "$args1" "$args2" "$args3" ;; - (5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; - (6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; - (7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; - (8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; - (9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; + 0) set -- ;; + 1) set -- "$args0" ;; + 2) set -- "$args0" "$args1" ;; + 3) set -- "$args0" "$args1" "$args2" ;; + 4) set -- "$args0" "$args1" "$args2" "$args3" ;; + 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; + 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; + 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; + 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; + 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; esac fi -# Split up the JVM_OPTS And GRADLE_OPTS values into an array, following the shell quoting and substitution rules -function splitJvmOpts() { - JVM_OPTS=("$@") +# Escape application args +save () { + for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done + echo " " } -eval splitJvmOpts $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS -JVM_OPTS[${#JVM_OPTS[*]}]="-Dorg.gradle.appname=$APP_BASE_NAME" +APP_ARGS=`save "$@"` + +# Collect all arguments for the java command, following the shell quoting and substitution rules +eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS" -exec "$JAVACMD" "${JVM_OPTS[@]}" -classpath "$CLASSPATH" org.gradle.wrapper.GradleWrapperMain "$@" +exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat old mode 100644 new mode 100755 index aec99730..9109989e --- a/gradlew.bat +++ b/gradlew.bat @@ -1,3 +1,19 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem + @if "%DEBUG%" == "" @echo off @rem ########################################################################## @rem @@ -8,14 +24,17 @@ @rem Set local scope for the variables with windows NT shell if "%OS%"=="Windows_NT" setlocal -@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -set DEFAULT_JVM_OPTS= - set DIRNAME=%~dp0 if "%DIRNAME%" == "" set DIRNAME=. set APP_BASE_NAME=%~n0 set APP_HOME=%DIRNAME% +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + @rem Find java.exe if defined JAVA_HOME goto findJavaFromJavaHome @@ -46,10 +65,9 @@ echo location of your Java installation. goto fail :init -@rem Get command-line arguments, handling Windowz variants +@rem Get command-line arguments, handling Windows variants if not "%OS%" == "Windows_NT" goto win9xME_args -if "%@eval[2+2]" == "4" goto 4NT_args :win9xME_args @rem Slurp the command line arguments. @@ -60,11 +78,6 @@ set _SKIP=2 if "x%~1" == "x" goto execute set CMD_LINE_ARGS=%* -goto execute - -:4NT_args -@rem Get arguments from the 4NT Shell from JP Software -set CMD_LINE_ARGS=%$ :execute @rem Setup the command line From b903e36620e7d2512bcdcd9fdc0627887cc0cdc6 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 7 Apr 2020 15:11:57 -0400 Subject: [PATCH 218/482] update java serial --- build.gradle | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index e9a2101e..7123a92a 100644 --- a/build.gradle +++ b/build.gradle @@ -64,7 +64,7 @@ dependencies { compile 'org.usb4java:usb4java-javax:1.2.0' //compile fileTree (dir: '../doychinNRJAVASERISL/nrjavaserial/build/libs', includes: ['*.jar']) - compile "com.neuronrobotics:nrjavaserial:3.12.1" + compile "com.neuronrobotics:nrjavaserial:3.16.0" // https://mvnrepository.com/artifact/org.apache.commons/commons-math3 compile group: 'org.apache.commons', name: 'commons-math3', version: '3.6.1' From 0825b9b919f35fdabe74d327405fd4d6bbac655b Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 8 Apr 2020 10:04:17 -0400 Subject: [PATCH 219/482] windows binaries --- build.gradle | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index 7123a92a..0e39f318 100644 --- a/build.gradle +++ b/build.gradle @@ -64,7 +64,7 @@ dependencies { compile 'org.usb4java:usb4java-javax:1.2.0' //compile fileTree (dir: '../doychinNRJAVASERISL/nrjavaserial/build/libs', includes: ['*.jar']) - compile "com.neuronrobotics:nrjavaserial:3.16.0" + compile "com.neuronrobotics:nrjavaserial:3.16.1" // https://mvnrepository.com/artifact/org.apache.commons/commons-math3 compile group: 'org.apache.commons', name: 'commons-math3', version: '3.6.1' From 220114515b922f511bff6d39add183b80b9967f5 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 23 Apr 2020 17:16:13 -0400 Subject: [PATCH 220/482] removing stale code --- .../sdk/util/FileChangeWatcher.java | 343 ------------------ .../sdk/util/IFileChangeListener.java | 28 -- 2 files changed, 371 deletions(-) delete mode 100644 src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/util/IFileChangeListener.java diff --git a/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java b/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java deleted file mode 100644 index 5f7108c8..00000000 --- a/src/main/java/com/neuronrobotics/sdk/util/FileChangeWatcher.java +++ /dev/null @@ -1,343 +0,0 @@ -package com.neuronrobotics.sdk.util; - -/* - * Copyright (c) 2008, 2010, Oracle and/or its affiliates. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - * - Neither the name of Oracle nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS - * IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, - * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR - * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR - * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, - * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR - * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF - * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING - * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -import java.io.File; -import java.io.IOException; -import java.nio.file.*; - -import static java.nio.file.StandardWatchEventKinds.*; -import java.nio.file.attribute.*; -import java.util.*; - -// TODO: Auto-generated Javadoc -/** - * The Class FileChangeWatcher. - */ -public class FileChangeWatcher { - - /** The file to watch. */ - private File fileToWatch; - - /** The run. */ - private boolean run = true; - - /** The watcher. */ - private final WatchService watcher; - - /** The keys. */ - private final Map keys; - - /** The recursive. */ - private final boolean recursive = false; - - /** The listeners. */ - private ArrayList listeners = new ArrayList(); - private static boolean runThread = true; - - private static Hashtable activeListener = new Hashtable(); - private static Thread watcherThread = null; - static { - startThread(); - - } - /** - * start the watcher thread - */ - public static void startThread() { - runThread = true; - watcherThread = new Thread() { - public void run() { - setName("File Watcher Thread"); - while (runThread) { - Object[] array = activeListener.keySet().toArray(); - for (int i = 0; i < array.length; i++) { - Object key = array[i]; - try { - FileChangeWatcher w = activeListener.get(key); - if (!w.run) { - activeListener.remove(key); - break; - } - - w.run(); - } catch (Exception ex) { - ex.printStackTrace(); - } - } - try { - Thread.sleep(100); - } catch (InterruptedException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - } - } - }; - watcherThread.start(); - } - /** - * stop the watcher thread - */ - public static void stopThread() { - runThread = false; - } - /** - * clear the listeners - */ - public static void clearAll() { - activeListener.clear(); - } - - /** - * Start watching a file - * @param fileToWatch a file that should be watched - * @return the watcher object for this file - * @throws IOException - */ - - public static FileChangeWatcher watch(File fileToWatch) throws IOException { - String path = fileToWatch.getAbsolutePath(); - if (activeListener.get(path) == null) { - activeListener.put(path, new FileChangeWatcher(fileToWatch)); - } - return activeListener.get(path); - } - - /** - * Instantiates a new file change watcher. - * - * @param fileToWatch - * the file to watch - * @throws IOException - * Signals that an I/O exception has occurred. - */ - private FileChangeWatcher(File fileToWatch) throws IOException { - - this.setFileToWatch(fileToWatch); - - this.watcher = FileSystems.getDefault().newWatchService(); - this.keys = new HashMap(); - Path dir = Paths.get(fileToWatch.getParent()); - if (recursive) { - System.out.format("Scanning %s ...\n", dir); - registerAll(dir); - System.out.println("Done."); - } else { - register(dir); - } - } - - /** - * Adds the i file change listener. - * - * @param l - * the l - */ - public void addIFileChangeListener(IFileChangeListener l) { - if (!listeners.contains(l)) { - listeners.add(l); - } - } - - /** - * Removes the i file change listener. - * - * @param l - * the l - */ - public void removeIFileChangeListener(IFileChangeListener l) { - if (listeners.contains(l)) { - listeners.remove(l); - } - } - - /** - * Cast. - * - * @param - * the generic type - * @param event - * the event - * @return the watch event - */ - @SuppressWarnings("unchecked") - static WatchEvent cast(WatchEvent event) { - return (WatchEvent) event; - } - - /** - * Register the given directory with the WatchService. - * - * @param dir - * the dir - * @throws IOException - * Signals that an I/O exception has occurred. - */ - private void register(Path dir) throws IOException { - WatchKey key = dir.register(watcher, ENTRY_CREATE, ENTRY_DELETE, ENTRY_MODIFY); - - Path prev = keys.get(key); - if (prev == null) { - // System.out.format("register: %s\n", dir); - } else { - if (!dir.equals(prev)) { - // System.out.format("update: %s -> %s\n", prev, dir); - } - } - - keys.put(key, dir); - } - - /** - * Register the given directory, and all its sub-directories, with the - * WatchService. - * - * @param start - * the start - * @throws IOException - * Signals that an I/O exception has occurred. - */ - private void registerAll(final Path start) throws IOException { - // register directory and sub-directories - Files.walkFileTree(start, new SimpleFileVisitor() { - @Override - public FileVisitResult preVisitDirectory(Path dir, BasicFileAttributes attrs) throws IOException { - register(dir); - return FileVisitResult.CONTINUE; - } - }); - } - /** - * Perfom the watch execution - */ - public void run() { - - // wait for key to be signalled - WatchKey key; - try { - key = watcher.take(); - } catch (InterruptedException x) { - return; - } - - Path dir = keys.get(key); - if (dir == null) { - System.err.println("WatchKey not recognized!!"); - return; - } - - for (WatchEvent event : key.pollEvents()) { - WatchEvent.Kind kind = event.kind(); - - // TBD - provide example of how OVERFLOW event is handled - if (kind == OVERFLOW) { - continue; - } - - // Context for directory entry event is the file name of entry - WatchEvent ev = cast(event); - Path name = ev.context(); - Path child = dir.resolve(name); - try { - if (!child.toFile().getCanonicalPath().equals(fileToWatch.getCanonicalPath())) { - continue; - } - // print out event - // System.out.format("%s: %s\n", event.kind().name(), child); - for (int i = 0; i < listeners.size(); i++) { - listeners.get(i).onFileChange(child.toFile(), event); - Thread.sleep(50);// pad out the events to avoid file box - // overwrites - } - } catch (Exception e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - - } - - // reset key and remove from set if directory no longer accessible - boolean valid = key.reset(); - if (!valid) { - keys.remove(key); - - // all directories are inaccessible - if (keys.isEmpty()) { - return; - } - } - - } - - /** - * Gets the file to watch. - * - * @return the file to watch - */ - public File getFileToWatch() { - return fileToWatch; - } - - /** - * Sets the file to watch. - * - * @param fileToWatch - * the new file to watch - */ - public void setFileToWatch(File fileToWatch) { - this.fileToWatch = fileToWatch; - } - - /** - * Checks if is run. - * - * @return true, if is run - */ - public boolean isRun() { - return run; - } - - /** - * Close. - */ - public void close() { - this.run = false; - try { - watcher.close(); - } catch (IOException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - } - -} diff --git a/src/main/java/com/neuronrobotics/sdk/util/IFileChangeListener.java b/src/main/java/com/neuronrobotics/sdk/util/IFileChangeListener.java deleted file mode 100644 index d401e52e..00000000 --- a/src/main/java/com/neuronrobotics/sdk/util/IFileChangeListener.java +++ /dev/null @@ -1,28 +0,0 @@ -package com.neuronrobotics.sdk.util; - -import java.io.File; -import java.nio.file.WatchEvent; - -// TODO: Auto-generated Javadoc -/** - * The listener interface for receiving IFileChange events. - * The class that is interested in processing a IFileChange - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIFileChangeListener method. When - * the IFileChange event occurs, that object's appropriate - * method is invoked. - * - * @see WatchEvent - */ -public interface IFileChangeListener { - - /** - * On file change. - * - * @param fileThatChanged the file that changed - * @param event the event - */ - public void onFileChange(File fileThatChanged,WatchEvent event); - -} From b812b586d31ecf0a7fbc8ce924698c01b6fd6990 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 29 Apr 2020 15:26:51 -0400 Subject: [PATCH 221/482] adding a device max/min on the link. Links with different ranges can override these methods see https://github.com/CommonWealthRobotics/BowlerStudio/issues/195 --- .../sdk/addons/kinematics/AbstractLink.java | 14 ++++++++++++++ .../com/neuronrobotics/sdk/config/build.properties | 2 +- 2 files changed, 15 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 8eb7ba86..ea6b151b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -41,6 +41,20 @@ public abstract class AbstractLink implements IFlushable{ * The object for communicating IMU information and registering it with the hardware */ private IMU imu = new IMU(); + /** + * Override this method to specify a larger range + * @return the maximum value possible for a link + */ + public double getDeviceMaximumValue() { + return 180.0; + } + /** + * Override this method to specify a larger range + * @return the minimum value possible for a link + */ + public double getDeviceMinimumValue() { + return 0; + } /** * Instantiates a new abstract link. diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index a796656d..69cd9136 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.28.0 +app.version=3.30.0 app.javac.version=1.6 From 395f598dc5b6a870335fd77ca14c435a264d40d5 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 29 Apr 2020 15:45:00 -0400 Subject: [PATCH 222/482] adding engineering units interface https://github.com/CommonWealthRobotics/BowlerStudio/issues/195 --- .../sdk/addons/kinematics/AbstractLink.java | 23 +++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index ea6b151b..34387fb6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -56,6 +56,29 @@ public double getDeviceMinimumValue() { return 0; } + /** + * Gets the max engineering units. + * + * @return the max engineering units + */ + public double getDeviceMaxEngineeringUnits() { + if(conf.getScale()>0) + return toEngineeringUnits(getDeviceMaximumValue()); + else + return toEngineeringUnits(getDeviceMinimumValue()); + } + + /** + * Gets the min engineering units. + * + * @return the min engineering units + */ + public double getDeviceMinEngineeringUnits() { + if(conf.getScale()>0) + return toEngineeringUnits(getDeviceMinimumValue()); + else + return toEngineeringUnits(getDeviceMaximumValue()); + } /** * Instantiates a new abstract link. * From 1b27a6e0f8b7ff3624b5d060091009de0ce47792 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 29 Apr 2020 17:55:32 -0400 Subject: [PATCH 223/482] Adding comments to the iDriveEngine and default methods --- .../sdk/addons/kinematics/IDriveEngine.java | 23 +++++++++++++++++-- 1 file changed, 21 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java index 821d1da7..99718ce1 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java @@ -1,5 +1,6 @@ package com.neuronrobotics.sdk.addons.kinematics; +import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; // TODO: Auto-generated Javadoc @@ -12,6 +13,20 @@ public interface IDriveEngine { * Driving kinematics should be implemented in here * Before driving, a reset for each drive wheel should be called * NOTE This should obey the right-hand rule. + * This method should not block You will get that called every 0.1 to 0.01 seconds + * by the jog widget with a small displacement transform. If the last command + * finishes before a new one comes in, reset the driving device. + * if a new command comes in then keep moving. Assume that the most important + * thing here is time synchronicity.you may get it called with a large transform, + * larger than you can take in one step,a nd you may get a transform with a step size so + * small it would never move. You will need to warp and stretch the transform coming in + * to make sure there are an integer number of steps, with a t least some minimum step length. + * Be sure to have any threads you create timeout and die, don't wait for disconnect, as you + * are developing that will be a pain in the ass + * Essentially, this command defines a velocity (transform/second)and you need to maintain + * that velocity, descretized into steps, and stop as soon as the last velocity term times out + * also, do not assume it will ever be pure rotation nor pure translation, assume all + * commands are a combo of both. * * @param source the source * @param newPose the new pose that should be achived. @@ -27,7 +42,9 @@ public interface IDriveEngine { * @param source the source * @param cmPerSecond the cm per second */ - public abstract void DriveVelocityStraight(MobileBase source,double cmPerSecond); + public default void DriveVelocityStraight(MobileBase source,double cmPerSecond) { + DriveArc(source,new TransformNR(cmPerSecond,0,0,new RotationNR()),1); + } /** * Tells the robot to start driving at a speed without any endpoint. @@ -38,5 +55,7 @@ public interface IDriveEngine { * @param degreesPerSecond is now much orientation will change over time * @param cmRadius is the radius of the turn. 0 is turn on center, infinity is driving straight */ - public abstract void DriveVelocityArc(MobileBase source,double degreesPerSecond, double cmRadius); + public default void DriveVelocityArc(MobileBase source,double degreesPerSecond, double cmRadius) { + DriveArc(source,new TransformNR(0,cmRadius,0,new RotationNR(0, degreesPerSecond, 0)),1); + } } From 0be06e47662a68ffb4f9342e3039f7f53df5b4f2 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 29 Apr 2020 17:59:09 -0400 Subject: [PATCH 224/482] comments --- .../neuronrobotics/sdk/addons/kinematics/IDriveEngine.java | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java index 99718ce1..d83784f8 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java @@ -11,8 +11,8 @@ public interface IDriveEngine { /** * Driving kinematics should be implemented in here - * Before driving, a reset for each drive wheel should be called - * NOTE This should obey the right-hand rule. + * + * * This method should not block You will get that called every 0.1 to 0.01 seconds * by the jog widget with a small displacement transform. If the last command * finishes before a new one comes in, reset the driving device. @@ -21,8 +21,10 @@ public interface IDriveEngine { * larger than you can take in one step,a nd you may get a transform with a step size so * small it would never move. You will need to warp and stretch the transform coming in * to make sure there are an integer number of steps, with a t least some minimum step length. + * * Be sure to have any threads you create timeout and die, don't wait for disconnect, as you * are developing that will be a pain in the ass + * * Essentially, this command defines a velocity (transform/second)and you need to maintain * that velocity, descretized into steps, and stop as soon as the last velocity term times out * also, do not assume it will ever be pure rotation nor pure translation, assume all From 9988d73ad380f66fee9699859496cb31401a80e3 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 29 Apr 2020 17:59:36 -0400 Subject: [PATCH 225/482] comments --- .../com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java index d83784f8..e36827b9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java @@ -3,7 +3,6 @@ import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -// TODO: Auto-generated Javadoc /** * The Interface IDriveEngine. */ From 0ca77c742b66074a654ad329448c6280dbc270b6 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 29 Apr 2020 18:06:11 -0400 Subject: [PATCH 226/482] spelling --- .../com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java index e36827b9..bc28a665 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDriveEngine.java @@ -19,7 +19,7 @@ public interface IDriveEngine { * thing here is time synchronicity.you may get it called with a large transform, * larger than you can take in one step,a nd you may get a transform with a step size so * small it would never move. You will need to warp and stretch the transform coming in - * to make sure there are an integer number of steps, with a t least some minimum step length. + * to make sure there are an integer number of steps, with at least some minimum step length. * * Be sure to have any threads you create timeout and die, don't wait for disconnect, as you * are developing that will be a pain in the ass From 32481b96a537398130a0e67357f7cf8834bb7391 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 29 Apr 2020 18:09:26 -0400 Subject: [PATCH 227/482] adding Mac Binaries to nrjavaserial --- build.gradle | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index 0e39f318..a9fba596 100644 --- a/build.gradle +++ b/build.gradle @@ -64,7 +64,7 @@ dependencies { compile 'org.usb4java:usb4java-javax:1.2.0' //compile fileTree (dir: '../doychinNRJAVASERISL/nrjavaserial/build/libs', includes: ['*.jar']) - compile "com.neuronrobotics:nrjavaserial:3.16.1" + compile "com.neuronrobotics:nrjavaserial:5.0.0" // https://mvnrepository.com/artifact/org.apache.commons/commons-math3 compile group: 'org.apache.commons', name: 'commons-math3', version: '3.6.1' From bd4fe6393fafc56350a117720b6cc9668e3652f1 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 30 Apr 2020 09:39:32 -0400 Subject: [PATCH 228/482] moving the device absolute max/min into the configuration file https://github.com/CommonWealthRobotics/BowlerStudio/issues/195 --- .../kinematics/AbstractKinematicsNR.java | 27 +++++++++++++++ .../sdk/addons/kinematics/AbstractLink.java | 18 ++++++++-- .../addons/kinematics/LinkConfiguration.java | 34 +++++++++++++++++-- 3 files changed, 74 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index e89c87ed..fe42bbf5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -1471,4 +1471,31 @@ public void setShaftType(int linkIndex,String shaftType) { public String getShaftSize(int linkIndex) { return getLinkConfiguration(linkIndex).getShaftSize(); } + /** + * Override this method to specify a larger range + */ + public void setDeviceMaximumValue(int linkIndex,double max) { + getLinkConfiguration(linkIndex).setDeviceTheoreticalMax(max); + } + /** + * Override this method to specify a larger range + + */ + public void setDeviceMinimumValue(int linkIndex,double min) { + getLinkConfiguration(linkIndex).setDeviceTheoreticalMin(min); + } + /** + * Override this method to specify a larger range + * @return the maximum value possible for a link + */ + public double getDeviceMaximumValue(int linkIndex) { + return getLinkConfiguration(linkIndex).getDeviceTheoreticalMax(); + } + /** + * Override this method to specify a larger range + * @return the minimum value possible for a link + */ + public double getDeviceMinimumValue(int linkIndex) { + return getLinkConfiguration(linkIndex).getDeviceTheoreticalMin(); + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 34387fb6..fd37fa3f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -46,16 +46,28 @@ public abstract class AbstractLink implements IFlushable{ * @return the maximum value possible for a link */ public double getDeviceMaximumValue() { - return 180.0; + return conf.getDeviceTheoreticalMax(); } /** * Override this method to specify a larger range * @return the minimum value possible for a link */ public double getDeviceMinimumValue() { - return 0; + return conf.getDeviceTheoreticalMin(); + } + /** + * Override this method to specify a larger range + */ + public void setDeviceMaximumValue(double max) { + conf.setDeviceTheoreticalMax(max); + } + /** + * Override this method to specify a larger range + + */ + public void setDeviceMinimumValue(double min) { + conf.setDeviceTheoreticalMin(min); } - /** * Gets the max engineering units. * diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 6611fe9c..49612c5c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -78,7 +78,8 @@ public class LinkConfiguration { /** The device scripting name. */ private String deviceScriptingName=null; - + private double deviceTheoreticalMax =180; + private double deviceTheoreticalMin =0; private double mass=0.01;// KG private TransformNR centerOfMassFromCentroid=new TransformNR(); private TransformNR imuFromCentroid=new TransformNR(); @@ -157,6 +158,17 @@ public LinkConfiguration(Element eElement){ }catch (Exception e){ } + + try{ + setDeviceTheoreticalMax(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMax",eElement))); + }catch (Exception e){ + + }try{ + setDeviceTheoreticalMin(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMin",eElement))); + }catch (Exception e){ + + } + try{ setMassKg(Double.parseDouble(XmlFactory.getTagValue("mass",eElement))); }catch (Exception e){ @@ -387,6 +399,8 @@ public String getXml(){ "\t"+upperVelocity+"\n"+ "\t"+lowerVelocity+"\n"+ "\t"+staticOffset+"\n"+ + "\t"+deviceTheoreticalMax+"\n"+ + "\t"+deviceTheoreticalMin+"\n"+ "\t"+isLatch+"\n"+ "\t"+indexLatch+"\n"+ "\t"+isStopOnLatch+"\n"+ @@ -975,6 +989,22 @@ public boolean isPrismatic(){ return false; } - } + } + + public double getDeviceTheoreticalMax() { + return deviceTheoreticalMax; + } + + public void setDeviceTheoreticalMax(double deviceTheoreticalMax) { + this.deviceTheoreticalMax = deviceTheoreticalMax; + } + + public double getDeviceTheoreticalMin() { + return deviceTheoreticalMin; + } + + public void setDeviceTheoreticalMin(double deviceTheoreticalMin) { + this.deviceTheoreticalMin = deviceTheoreticalMin; + } } From 3a7a2e242f0d26fabee065f30e30164416985540 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 30 Apr 2020 10:42:55 -0400 Subject: [PATCH 229/482] load order --- .../addons/kinematics/LinkConfiguration.java | 35 ++++++++++--------- 1 file changed, 18 insertions(+), 17 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 49612c5c..0f0e75af 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -113,6 +113,15 @@ public LinkConfiguration(Element eElement){ setName(XmlFactory.getTagValue("name",eElement)); setHardwareIndex(Integer.parseInt(XmlFactory.getTagValue("index",eElement))); setScale(Double.parseDouble(XmlFactory.getTagValue("scale",eElement))); + try{ + setDeviceTheoreticalMax(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMax",eElement))); + }catch (Exception e){ + + }try{ + setDeviceTheoreticalMin(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMin",eElement))); + }catch (Exception e){ + + } setUpperLimit(Double.parseDouble(XmlFactory.getTagValue("upperLimit",eElement))); setLowerLimit(Double.parseDouble(XmlFactory.getTagValue("lowerLimit",eElement))); try{ @@ -159,15 +168,7 @@ public LinkConfiguration(Element eElement){ } - try{ - setDeviceTheoreticalMax(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMax",eElement))); - }catch (Exception e){ - - }try{ - setDeviceTheoreticalMin(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMin",eElement))); - }catch (Exception e){ - - } + try{ setMassKg(Double.parseDouble(XmlFactory.getTagValue("mass",eElement))); @@ -396,14 +397,14 @@ public String getXml(){ "\t"+getScale()+"\n"+ "\t"+getUpperLimit()+"\n"+ "\t"+getLowerLimit()+"\n"+ - "\t"+upperVelocity+"\n"+ - "\t"+lowerVelocity+"\n"+ - "\t"+staticOffset+"\n"+ - "\t"+deviceTheoreticalMax+"\n"+ - "\t"+deviceTheoreticalMin+"\n"+ - "\t"+isLatch+"\n"+ - "\t"+indexLatch+"\n"+ - "\t"+isStopOnLatch+"\n"+ + "\t"+getUpperVelocity()+"\n"+ + "\t"+getLowerVelocity()+"\n"+ + "\t"+getStaticOffset()+"\n"+ + "\t"+getDeviceTheoreticalMax()+"\n"+ + "\t"+getDeviceTheoreticalMin()+"\n"+ + "\t"+isLatch()+"\n"+ + "\t"+getIndexLatch()+"\n"+ + "\t"+isStopOnLatch()+"\n"+ "\t"+getHomingTicksPerSecond()+"\n"+ "\n\t\n"+allVitamins+"\n\t\n"+ "\t"+isPassive()+"\n"+ From 66206c60e628469ac4a8e8beb420048ee273f610 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 30 Apr 2020 11:26:22 -0400 Subject: [PATCH 230/482] Adding link configuration change listener --- .../kinematics/AbstractKinematicsNR.java | 9 +++ .../sdk/addons/kinematics/AbstractLink.java | 9 +++ .../ILinkConfigurationChangeListener.java | 5 ++ .../addons/kinematics/LinkConfiguration.java | 70 ++++++++++++++++++- 4 files changed, 92 insertions(+), 1 deletion(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/ILinkConfigurationChangeListener.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index fe42bbf5..e5aba6a8 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -1498,4 +1498,13 @@ public double getDeviceMaximumValue(int linkIndex) { public double getDeviceMinimumValue(int linkIndex) { return getLinkConfiguration(linkIndex).getDeviceTheoreticalMin(); } + public void addChangeListener(int linkIndex,ILinkConfigurationChangeListener l) { + getLinkConfiguration(linkIndex).addChangeListener(l); + } + public void removeChangeListener(int linkIndex,ILinkConfigurationChangeListener l) { + getLinkConfiguration(linkIndex).removeChangeListener(l); + } + public void clearChangeListener(int linkIndex) { + getLinkConfiguration(linkIndex).clearChangeListener(); + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index fd37fa3f..7073d0aa 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -608,4 +608,13 @@ public void setSlaveFactory(LinkFactory slaveFactory) { public IMU getImu() { return imu; } + public void addChangeListener(ILinkConfigurationChangeListener l) { + conf.addChangeListener(l); + } + public void removeChangeListener(ILinkConfigurationChangeListener l) { + conf.removeChangeListener(l); + } + public void clearChangeListener() { + conf.clearChangeListener(); + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ILinkConfigurationChangeListener.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ILinkConfigurationChangeListener.java new file mode 100644 index 00000000..8c681379 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ILinkConfigurationChangeListener.java @@ -0,0 +1,5 @@ +package com.neuronrobotics.sdk.addons.kinematics; + +public interface ILinkConfigurationChangeListener { + public abstract void event(LinkConfiguration newConf); +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 0f0e75af..2945279c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -26,7 +26,7 @@ * The Class LinkConfiguration. */ public class LinkConfiguration { - + private ArrayList listeners=null; /** The name. */ private String name="newLink";// = getTagValue("name",eElement); @@ -262,6 +262,7 @@ public LinkConfiguration(Object[] args) { setLowerLimit((Integer)args[3]); setType(LinkType.PID); setTotlaNumberOfLinks((Integer)args[1]); + fireChangeEvent(); } /** * Gets the vitamins. @@ -306,6 +307,7 @@ public void setVitamin(String name, String type, String id){ } getVitamins().get(name)[0]=type; getVitamins().get(name)[1]=id; + fireChangeEvent(); } /** * Set a purchasing code for a vitamin @@ -314,6 +316,7 @@ public void setVitamin(String name, String type, String id){ */ public void setVitaminVariant(String name, String tagValue2) { vitaminVariant.put(name, tagValue2); + fireChangeEvent(); } /** * Get a purchaing code for a vitamin @@ -344,6 +347,7 @@ public LinkConfiguration(int home, int llimit, int ulimit, double d) { setUpperLimit(ulimit); setLowerLimit(llimit); setStaticOffset(home); + fireChangeEvent(); } /* (non-Javadoc) @@ -422,6 +426,7 @@ public String getXml(){ public void setName(String name) { Log.info("Setting controller name: "+name); this.name = name; + fireChangeEvent(); } /** @@ -440,6 +445,7 @@ public String getName() { */ public void setHardwareIndex(int index) { this.index = index; + fireChangeEvent(); } /** @@ -458,6 +464,7 @@ public int getHardwareIndex() { */ public void setScale(double scale) { this.scale = scale; + fireChangeEvent(); } /** @@ -476,6 +483,7 @@ public double getScale() { */ public void setUpperLimit(double upperLimit) { this.upperLimit = upperLimit; + fireChangeEvent(); } /** @@ -494,6 +502,7 @@ public double getUpperLimit() { */ public void setLowerLimit(double lowerLimit) { this.lowerLimit = lowerLimit; + fireChangeEvent(); } /** @@ -539,6 +548,7 @@ public double getKD() { */ public void setKP(double kP) { k[0] = kP; + fireChangeEvent(); } /** @@ -548,6 +558,7 @@ public void setKP(double kP) { */ public void setKI(double kI) { k[1] = kI; + fireChangeEvent(); } /** @@ -557,6 +568,7 @@ public void setKI(double kI) { */ public void setKD(double kD) { k[2] = kD; + fireChangeEvent(); } /** @@ -566,6 +578,7 @@ public void setKD(double kD) { */ public void setInverted(boolean inverted) { this.inverted = inverted; + fireChangeEvent(); } /** @@ -584,6 +597,7 @@ public boolean isInverted() { */ public void setIndexLatch(int indexLatch) { this.indexLatch = indexLatch; + fireChangeEvent(); } /** @@ -620,6 +634,7 @@ public boolean isLatch() { */ public void setStopOnLatch(boolean isStopOnLatch) { this.isStopOnLatch = isStopOnLatch; + fireChangeEvent(); } /** @@ -638,6 +653,7 @@ public boolean isStopOnLatch() { */ public void setHomingTicksPerSecond(int homingTicksPerSecond) { this.homingTicksPerSecond = homingTicksPerSecond; + fireChangeEvent(); } /** @@ -659,6 +675,7 @@ public void setType(LinkType type) { this.type = type; else this.type=LinkType.VIRTUAL; + fireChangeEvent(); } /** @@ -677,6 +694,7 @@ public LinkType getTypeEnum() { */ public void setUpperVelocity(double upperVelocity) { this.upperVelocity = upperVelocity; + fireChangeEvent(); } /** @@ -695,6 +713,7 @@ public double getUpperVelocity() { */ public void setLowerVelocity(double lowerVelocity) { this.lowerVelocity = lowerVelocity; + fireChangeEvent(); } /** @@ -722,6 +741,7 @@ public int getLinkIndex() { */ public void setLinkIndex(int linkIndex) { this.linkIndex = linkIndex; + fireChangeEvent(); } /** @@ -740,6 +760,7 @@ public int getTotlaNumberOfLinks() { */ public void setTotlaNumberOfLinks(int totlaNumberOfLinks) { this.totlaNumberOfLinks = totlaNumberOfLinks; + fireChangeEvent(); } /** @@ -777,6 +798,7 @@ public void setPidConfiguration(IPidControlNamespace pid) { isLatch=conf.isUseLatch(); indexLatch=(int) conf.getIndexLatch(); isStopOnLatch=conf.isStopOnIndex(); + fireChangeEvent(); // if(indexLatch>getUpperLimit() || indexLatch getSlaveLinks() { @@ -833,6 +858,7 @@ public ArrayList getSlaveLinks() { public void setSlaveLinks(ArrayList slaveLinks) { this.slaveLinks = slaveLinks; + fireChangeEvent(); } public double getMassKg() { @@ -840,18 +866,21 @@ public double getMassKg() { } public void setMassKg(double mass) { this.mass = mass; + fireChangeEvent(); } public TransformNR getCenterOfMassFromCentroid() { return centerOfMassFromCentroid; } public void setCenterOfMassFromCentroid(TransformNR centerOfMassFromCentroid) { this.centerOfMassFromCentroid = centerOfMassFromCentroid; + fireChangeEvent(); } public TransformNR getimuFromCentroid() { return imuFromCentroid; } public void setimuFromCentroid(TransformNR centerOfMassFromCentroid) { this.imuFromCentroid = centerOfMassFromCentroid; + fireChangeEvent(); } // private String electroMechanicalType = "hobbyServo"; // private String electroMechanicalSize = "standardMicro"; @@ -876,6 +905,7 @@ public String getElectroMechanicalType() { public void setElectroMechanicalType(String electroMechanicalType) { getCoreEmPart()[0] = electroMechanicalType; + fireChangeEvent(); } public String getElectroMechanicalSize() { @@ -884,6 +914,7 @@ public String getElectroMechanicalSize() { public void setElectroMechanicalSize(String electroMechanicalSize) { getCoreEmPart()[1] = electroMechanicalSize; + fireChangeEvent(); } public String getShaftType() { @@ -892,6 +923,7 @@ public String getShaftType() { public void setShaftType(String shaftType) { getCoreShaftPart()[0] = shaftType; + fireChangeEvent(); } public String getShaftSize() { @@ -900,6 +932,7 @@ public String getShaftSize() { public void setShaftSize(String shaftSize) { getCoreShaftPart()[1] = shaftSize; + fireChangeEvent(); } public boolean isPassive() { @@ -908,6 +941,7 @@ public boolean isPassive() { public void setPassive(boolean passive) { this.passive = passive; + fireChangeEvent(); } public HashMap getVitamins() { @@ -916,6 +950,7 @@ public void setPassive(boolean passive) { public void setVitamins(HashMap vitamins) { this.vitamins = vitamins; + fireChangeEvent(); } public String getTypeString() { @@ -924,6 +959,7 @@ public String getTypeString() { public void setTypeString(String typeString) { this.typeString = typeString; + fireChangeEvent(); } /** @@ -998,6 +1034,7 @@ public double getDeviceTheoreticalMax() { public void setDeviceTheoreticalMax(double deviceTheoreticalMax) { this.deviceTheoreticalMax = deviceTheoreticalMax; + fireChangeEvent(); } public double getDeviceTheoreticalMin() { @@ -1006,6 +1043,37 @@ public double getDeviceTheoreticalMin() { public void setDeviceTheoreticalMin(double deviceTheoreticalMin) { this.deviceTheoreticalMin = deviceTheoreticalMin; + fireChangeEvent(); + } + + public void addChangeListener(ILinkConfigurationChangeListener l) { + if(!getListeners().contains(l)) + getListeners().add(l); + } + public void removeChangeListener(ILinkConfigurationChangeListener l) { + if(getListeners().contains(l)) + getListeners().remove(l); + } + public void clearChangeListener() { + getListeners().clear(); + listeners=null; + } + public ArrayList getListeners() { + if(listeners==null) + listeners=new ArrayList(); + return listeners; + } + + private void fireChangeEvent() { + if(listeners!=null) { + for(int i=0;i Date: Thu, 30 Apr 2020 14:43:05 -0400 Subject: [PATCH 231/482] adding a transform change event --- .../addons/kinematics/LinkConfiguration.java | 22 ++++-- .../addons/kinematics/TransformFactory.java | 6 +- .../math/ITransformNRChangeListener.java | 5 ++ .../addons/kinematics/math/RotationNR.java | 5 ++ .../addons/kinematics/math/TransformNR.java | 76 +++++++++++++++---- 5 files changed, 89 insertions(+), 25 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/ITransformNRChangeListener.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 2945279c..05d7d994 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -10,6 +10,7 @@ import org.w3c.dom.Node; import org.w3c.dom.NodeList; +import com.neuronrobotics.sdk.addons.kinematics.math.ITransformNRChangeListener; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; @@ -25,7 +26,7 @@ /** * The Class LinkConfiguration. */ -public class LinkConfiguration { +public class LinkConfiguration implements ITransformNRChangeListener { private ArrayList listeners=null; /** The name. */ private String name="newLink";// = getTagValue("name",eElement); @@ -871,15 +872,21 @@ public void setMassKg(double mass) { public TransformNR getCenterOfMassFromCentroid() { return centerOfMassFromCentroid; } - public void setCenterOfMassFromCentroid(TransformNR centerOfMassFromCentroid) { - this.centerOfMassFromCentroid = centerOfMassFromCentroid; + public void setCenterOfMassFromCentroid(TransformNR com) { + if(this.centerOfMassFromCentroid!=null) + this.centerOfMassFromCentroid.removeChangeListener(this); + this.centerOfMassFromCentroid = com; + this.centerOfMassFromCentroid.addChangeListener(this); fireChangeEvent(); } public TransformNR getimuFromCentroid() { return imuFromCentroid; } - public void setimuFromCentroid(TransformNR centerOfMassFromCentroid) { - this.imuFromCentroid = centerOfMassFromCentroid; + public void setimuFromCentroid(TransformNR imu) { + if(this.imuFromCentroid!=null) + this.imuFromCentroid.removeChangeListener(this); + this.imuFromCentroid = imu; + this.imuFromCentroid.addChangeListener(this); fireChangeEvent(); } // private String electroMechanicalType = "hobbyServo"; @@ -1074,6 +1081,11 @@ private void fireChangeEvent() { } } } + } + + @Override + public void event(TransformNR changed) { + fireChangeEvent(); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java index 294465fb..a568c798 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java @@ -69,11 +69,7 @@ public static TransformNR affineToNr(TransformNR outputValue ,Affine rotations){ poseRot[2][1]=rotations.getMzy(); poseRot[2][2]=rotations.getMzz(); - outputValue.setX(rotations.getTx()); - outputValue.setY(rotations.getTy()); - outputValue.setZ(rotations.getTz()); - - outputValue.setRotation(new RotationNR(poseRot)); + outputValue.set(rotations.getTx(),rotations.getTy(),rotations.getTz(),poseRot); return outputValue; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/ITransformNRChangeListener.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/ITransformNRChangeListener.java new file mode 100644 index 00000000..b24beb45 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/ITransformNRChangeListener.java @@ -0,0 +1,5 @@ +package com.neuronrobotics.sdk.addons.kinematics.math; + +public interface ITransformNRChangeListener { + public abstract void event(TransformNR changed); +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index d5b318a6..9d3cd600 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -25,6 +25,7 @@ public class RotationNR { private Rotation storage = new Rotation(1, 0, 0, 0, false); private static RotationOrder order = RotationOrder.ZYX; private static RotationConvention convention = RotationConvention.VECTOR_OPERATOR; + /** * Null constructor forms a. @@ -440,4 +441,8 @@ public void setStorage(Rotation storage) { this.storage = storage; } + public void set(double[][] poseRot) { + loadRotations(poseRot); + } + } \ No newline at end of file diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 826d1311..2cc78202 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -3,9 +3,6 @@ import java.math.BigDecimal; import java.text.DecimalFormat; import java.util.ArrayList; -import org.apache.commons.math3.geometry.euclidean.threed.Rotation; -import org.apache.commons.math3.util.FastMath; -import com.neuronrobotics.sdk.addons.kinematics.DHLink; import com.neuronrobotics.sdk.common.Log; import Jama.Matrix; @@ -14,7 +11,7 @@ * The Class TransformNR. */ public class TransformNR { - + private ArrayList listeners=null; /** The x. */ private double x; @@ -394,16 +391,32 @@ public TransformNR translateZ(double translation) { setZ(getZ() + translation); return this; } + + public TransformNR set(double tx, double ty, double tz, double[][] poseRot) { + if (Double.isNaN(tx)) + throw new RuntimeException("Value can not be NaN"); + x = tx; + if (Double.isNaN(ty)) + throw new RuntimeException("Value can not be NaN"); + y = ty; + if (Double.isNaN(tz)) + throw new RuntimeException("Value can not be NaN"); + z = tz; + getRotation().set(poseRot); + fireChangeEvent(); + return this; + } /** * Sets the x. * * @param translation the new x */ - public TransformNR setX(double translation) { - if (Double.isNaN(translation)) + public TransformNR setX(double tx) { + if (Double.isNaN(tx)) throw new RuntimeException("Value can not be NaN"); - x = translation; + x = tx; + fireChangeEvent(); return this; } @@ -412,10 +425,11 @@ public TransformNR setX(double translation) { * * @param translation the new y */ - public TransformNR setY(double translation) { - if (Double.isNaN(translation)) + public TransformNR setY(double ty) { + if (Double.isNaN(ty)) throw new RuntimeException("Value can not be NaN"); - y = translation; + y = ty; + fireChangeEvent(); return this; } @@ -424,10 +438,11 @@ public TransformNR setY(double translation) { * * @param translation the new z */ - public TransformNR setZ(double translation) { - if (Double.isNaN(translation)) + public TransformNR setZ(double tz) { + if (Double.isNaN(tz)) throw new RuntimeException("Value can not be NaN"); - z = translation; + z = tz; + fireChangeEvent(); return this; } @@ -465,8 +480,39 @@ public String getXml() { */ public void setRotation(RotationNR rotation) { this.rotation = rotation; - } - + fireChangeEvent(); + } + + + public void addChangeListener(ITransformNRChangeListener l) { + if(!getListeners().contains(l)) + getListeners().add(l); + } + public void removeChangeListener(ITransformNRChangeListener l) { + if(getListeners().contains(l)) + getListeners().remove(l); + } + public void clearChangeListener() { + getListeners().clear(); + listeners=null; + } + public ArrayList getListeners() { + if(listeners==null) + listeners=new ArrayList(); + return listeners; + } + + void fireChangeEvent() { + if(listeners!=null) { + for(int i=0;i Date: Thu, 30 Apr 2020 14:43:53 -0400 Subject: [PATCH 232/482] indicated newer transform listener archetecture --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 69cd9136..fd7961f8 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.30.0 +app.version=3.31.0 app.javac.version=1.6 From d9d5ad729d74e05fff26350733434d2e8ccad3e2 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 30 Apr 2020 19:15:16 -0400 Subject: [PATCH 233/482] fix javadoc --- .../sdk/addons/kinematics/math/TransformNR.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 2cc78202..9f996a04 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -410,7 +410,7 @@ public TransformNR set(double tx, double ty, double tz, double[][] poseRot) { /** * Sets the x. * - * @param translation the new x + * @param tx the new x */ public TransformNR setX(double tx) { if (Double.isNaN(tx)) @@ -423,7 +423,7 @@ public TransformNR setX(double tx) { /** * Sets the y. * - * @param translation the new y + * @param ty the new y */ public TransformNR setY(double ty) { if (Double.isNaN(ty)) @@ -436,7 +436,7 @@ public TransformNR setY(double ty) { /** * Sets the z. * - * @param translation the new z + * @param tz the new z */ public TransformNR setZ(double tz) { if (Double.isNaN(tz)) From e8466d183e8d1203f6e35bd9f8b2bb6f05de5371 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 1 May 2020 11:42:46 -0400 Subject: [PATCH 234/482] safer bounds checking --- .../neuronrobotics/sdk/addons/kinematics/AbstractLink.java | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 7073d0aa..15bd1241 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -391,10 +391,13 @@ protected void setTargetValue(double val) { double ub = getMaxEngineeringUnits(); double lb = getMinEngineeringUnits(); + boolean flip = getScale()<0; + boolean belowLower = targetValuegetUpperLimit(); String execpt = "Attempted="+toEngineeringUnits(targetValue)+" (engineering units) Device Units="+targetValue +" \nUpper Bound="+ub+" (engineering units) Device Units="+getUpperLimit() + "\nLower Bound="+lb+" (engineering units) Device Units="+getLowerLimit(); - if(val>getUpperLimit()){ + if(flip?belowLower:aboveUpper){ this.targetValue = getUpperLimit(); for(LinkConfiguration c:slaveLinks){ //generate the links @@ -412,7 +415,7 @@ protected void setTargetValue(double val) { ); if(isUseLimits())throw new RuntimeException("Joint hit Upper software bound\n"+execpt); } - if(val Date: Fri, 1 May 2020 12:45:40 -0400 Subject: [PATCH 235/482] adding the limb info to a link limit as the exception percolates up. --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 2 +- .../com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index e5aba6a8..34b18897 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -653,7 +653,7 @@ public double[] setDesiredJointSpaceVector(double[] jointSpaceVect, double seco } } while (except > 0 && except < getRetryNumberBeforeFail()); if (e != null) - throw e; + throw new RuntimeException("Limit On "+getScriptingName()+" "+e.getMessage()); for(int i=0;i Date: Sun, 3 May 2020 15:32:32 -0400 Subject: [PATCH 236/482] Bound the limits to the device theoretical bounds --- .../sdk/addons/kinematics/LinkConfiguration.java | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 05d7d994..c8ddb9be 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -484,6 +484,8 @@ public double getScale() { */ public void setUpperLimit(double upperLimit) { this.upperLimit = upperLimit; + if(upperLimit>getDeviceTheoreticalMax()) + this.upperLimit=getDeviceTheoreticalMax(); fireChangeEvent(); } @@ -503,6 +505,8 @@ public double getUpperLimit() { */ public void setLowerLimit(double lowerLimit) { this.lowerLimit = lowerLimit; + if(lowerLimit Date: Sun, 3 May 2020 16:54:21 -0400 Subject: [PATCH 237/482] bounding the configuration valuse in order --- .../addons/kinematics/LinkConfiguration.java | 17 +++++++++++++---- 1 file changed, 13 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index c8ddb9be..7db90f74 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -63,7 +63,7 @@ public class LinkConfiguration implements ITransformNRChangeListener { private boolean isLatch=false; /** The index latch. */ - private int indexLatch=0; + private double indexLatch=0; /** The is stop on latch. */ private boolean isStopOnLatch=false; @@ -243,7 +243,7 @@ public LinkConfiguration(Element eElement){ } } isLatch=XmlFactory.getTagValue("isLatch",eElement).contains("true"); - indexLatch=Integer.parseInt(XmlFactory.getTagValue("indexLatch",eElement)); + setIndexLatch(Double.parseDouble(XmlFactory.getTagValue("indexLatch",eElement))); isStopOnLatch=XmlFactory.getTagValue("isStopOnLatch",eElement).contains("true"); if(staticOffset>getUpperLimit() || staticOffsetgetDeviceTheoreticalMax()) + indexLatch= getDeviceTheoreticalMax(); + if(indexLatchgetUpperLimit()) + staticOffset= getUpperLimit(); + if(staticOffset Date: Sun, 3 May 2020 17:33:00 -0400 Subject: [PATCH 238/482] Setting default device max and mins --- .../neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java | 2 ++ .../neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java | 2 ++ .../neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java | 3 +++ .../sdk/addons/kinematics/StepperPrismaticLink.java | 2 ++ .../sdk/addons/kinematics/StepperRotoryLink.java | 2 ++ .../sdk/addons/kinematics/gcodebridge/GcodeDevice.java | 2 ++ 6 files changed, 13 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java index 8ab96275..d190c3df 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java @@ -21,6 +21,8 @@ public MockRotoryLink(LinkConfiguration conf) { setUpperLimit(355); setScale(Math.PI/180); setTargetValue(35); + conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); + conf.setDeviceTheoreticalMax(Integer.MIN_VALUE); } /* (non-Javadoc) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java index ef3602d6..10e2cf34 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java @@ -22,6 +22,8 @@ public class PidPrismaticLink extends AbstractPrismaticLink{ */ public PidPrismaticLink(PIDChannel c,LinkConfiguration conf) { super(conf); + conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); + conf.setDeviceTheoreticalMax(Integer.MIN_VALUE); setPIDChannel(c); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java index a5249696..16a61c72 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java @@ -22,6 +22,9 @@ public class PidRotoryLink extends AbstractRotoryLink{ */ public PidRotoryLink(PIDChannel c,LinkConfiguration conf) { super(conf); + conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); + conf.setDeviceTheoreticalMax(Integer.MIN_VALUE); + setPIDChannel(c); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java index 70ba4400..d860551b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java @@ -20,6 +20,8 @@ public class StepperPrismaticLink extends AbstractPrismaticLink { */ public StepperPrismaticLink(CounterOutputChannel chan, LinkConfiguration conf) { super(conf); + conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); + conf.setDeviceTheoreticalMax(Integer.MIN_VALUE); this.setChannel(chan); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java index 2b2c16db..4ae175d9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java @@ -20,6 +20,8 @@ public class StepperRotoryLink extends AbstractRotoryLink { */ public StepperRotoryLink(CounterOutputChannel chan, LinkConfiguration conf) { super(conf); + conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); + conf.setDeviceTheoreticalMax(Integer.MIN_VALUE); this.setChannel(chan); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 8a040fb1..8ceaa3e7 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -61,6 +61,8 @@ public AbstractLink getLink(LinkConfiguration axis){ return (AbstractLink)links.get(axis); String gcodeAxis = ""; AbstractLink tmp=null; + axis.setDeviceTheoreticalMax(Integer.MAX_VALUE); + axis.setDeviceTheoreticalMax(Integer.MIN_VALUE); switch(axis.getTypeEnum()){ case GCODE_STEPPER_PRISMATIC: case GCODE_STEPPER_ROTORY: From 38b903ca29be1df65d57717ca33f2cbdad5b22f6 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 3 May 2020 17:42:02 -0400 Subject: [PATCH 239/482] bugfix --- .../neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java | 4 ++-- .../sdk/addons/kinematics/PidPrismaticLink.java | 2 +- .../neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java | 3 +-- .../sdk/addons/kinematics/StepperPrismaticLink.java | 2 +- .../sdk/addons/kinematics/StepperRotoryLink.java | 2 +- .../sdk/addons/kinematics/gcodebridge/GcodeDevice.java | 2 +- 6 files changed, 7 insertions(+), 8 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java index d190c3df..f5182f2f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java @@ -22,8 +22,8 @@ public MockRotoryLink(LinkConfiguration conf) { setScale(Math.PI/180); setTargetValue(35); conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); - conf.setDeviceTheoreticalMax(Integer.MIN_VALUE); - } + conf.setDeviceTheoreticalMin(Integer.MIN_VALUE); + } /* (non-Javadoc) * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#cacheTargetValueDevice() diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java index 10e2cf34..6b4e163a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java @@ -23,7 +23,7 @@ public class PidPrismaticLink extends AbstractPrismaticLink{ public PidPrismaticLink(PIDChannel c,LinkConfiguration conf) { super(conf); conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); - conf.setDeviceTheoreticalMax(Integer.MIN_VALUE); + conf.setDeviceTheoreticalMin(Integer.MIN_VALUE); setPIDChannel(c); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java index 16a61c72..7b4c4601 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java @@ -23,8 +23,7 @@ public class PidRotoryLink extends AbstractRotoryLink{ public PidRotoryLink(PIDChannel c,LinkConfiguration conf) { super(conf); conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); - conf.setDeviceTheoreticalMax(Integer.MIN_VALUE); - + conf.setDeviceTheoreticalMin(Integer.MIN_VALUE); setPIDChannel(c); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java index d860551b..e192b605 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java @@ -21,7 +21,7 @@ public class StepperPrismaticLink extends AbstractPrismaticLink { public StepperPrismaticLink(CounterOutputChannel chan, LinkConfiguration conf) { super(conf); conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); - conf.setDeviceTheoreticalMax(Integer.MIN_VALUE); + conf.setDeviceTheoreticalMin(Integer.MIN_VALUE); this.setChannel(chan); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java index 4ae175d9..1429eb64 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java @@ -21,7 +21,7 @@ public class StepperRotoryLink extends AbstractRotoryLink { public StepperRotoryLink(CounterOutputChannel chan, LinkConfiguration conf) { super(conf); conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); - conf.setDeviceTheoreticalMax(Integer.MIN_VALUE); + conf.setDeviceTheoreticalMin(Integer.MIN_VALUE); this.setChannel(chan); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 8ceaa3e7..9a8ccb0d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -62,7 +62,7 @@ public AbstractLink getLink(LinkConfiguration axis){ String gcodeAxis = ""; AbstractLink tmp=null; axis.setDeviceTheoreticalMax(Integer.MAX_VALUE); - axis.setDeviceTheoreticalMax(Integer.MIN_VALUE); + axis.setDeviceTheoreticalMin(Integer.MIN_VALUE); switch(axis.getTypeEnum()){ case GCODE_STEPPER_PRISMATIC: case GCODE_STEPPER_ROTORY: From 5d809bef337047424e7449f12d14438e3b6c4bb3 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 4 May 2020 11:41:07 -0400 Subject: [PATCH 240/482] bound to limits if no device bounds present in config file --- .../addons/kinematics/LinkConfiguration.java | 61 +++++++++++-------- 1 file changed, 37 insertions(+), 24 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 7db90f74..7c9bf552 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -19,6 +19,7 @@ //import org.w3c.dom.NodeList; import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; import com.neuronrobotics.sdk.pid.PIDConfiguration; +import com.sun.org.apache.bcel.internal.generic.NEWARRAY; @@ -103,7 +104,7 @@ public class LinkConfiguration implements ITransformNRChangeListener { private HashMap vitamins= new HashMap(); private HashMap vitaminVariant= new HashMap(); private boolean passive = false; - + private boolean newAbs=false; private String typeString; /** * Instantiates a new link configuration. @@ -117,11 +118,11 @@ public LinkConfiguration(Element eElement){ try{ setDeviceTheoreticalMax(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMax",eElement))); }catch (Exception e){ - + newAbs=true; }try{ setDeviceTheoreticalMin(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMin",eElement))); }catch (Exception e){ - + newAbs=true; } setUpperLimit(Double.parseDouble(XmlFactory.getTagValue("upperLimit",eElement))); setLowerLimit(Double.parseDouble(XmlFactory.getTagValue("lowerLimit",eElement))); @@ -477,6 +478,24 @@ public double getScale() { return scale; } + public double getDeviceTheoreticalMax() { + return deviceTheoreticalMax; + } + + public void setDeviceTheoreticalMax(double deviceTheoreticalMax) { + this.deviceTheoreticalMax = deviceTheoreticalMax; + fireChangeEvent(); + } + + public double getDeviceTheoreticalMin() { + return deviceTheoreticalMin; + } + + public void setDeviceTheoreticalMin(double deviceTheoreticalMin) { + this.deviceTheoreticalMin = deviceTheoreticalMin; + fireChangeEvent(); + } + /** * Sets the upper limit. * @@ -484,8 +503,13 @@ public double getScale() { */ public void setUpperLimit(double upperLimit) { this.upperLimit = upperLimit; - if(upperLimit>getDeviceTheoreticalMax()) - this.upperLimit=getDeviceTheoreticalMax(); + if(upperLimit>getDeviceTheoreticalMax()) { + if(!newAbs) + this.upperLimit=getDeviceTheoreticalMax(); + else + setDeviceTheoreticalMax(upperLimit); + + } fireChangeEvent(); } @@ -506,7 +530,14 @@ public double getUpperLimit() { public void setLowerLimit(double lowerLimit) { this.lowerLimit = lowerLimit; if(lowerLimit Date: Mon, 4 May 2020 13:59:42 -0400 Subject: [PATCH 241/482] scale should return transform --- .../neuronrobotics/sdk/addons/kinematics/math/TransformNR.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 9f996a04..3614d41a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -478,9 +478,10 @@ public String getXml() { * * @param rotation the new rotation */ - public void setRotation(RotationNR rotation) { + public TransformNR setRotation(RotationNR rotation) { this.rotation = rotation; fireChangeEvent(); + return this; } From 0b86fd78fc887316813a4f7253c66bc53b528fb9 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 4 May 2020 16:32:52 -0400 Subject: [PATCH 242/482] Do not set the hardware vounds on a virtual link --- .../sdk/addons/kinematics/LinkFactory.java | 10 +++++----- .../sdk/addons/kinematics/PidPrismaticLink.java | 12 +++++++++--- .../sdk/addons/kinematics/PidRotoryLink.java | 12 +++++++++--- .../utilities/ExternalLinkProviderTest.java | 2 +- 4 files changed, 24 insertions(+), 12 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index d79373d0..5b365773 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -174,13 +174,13 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ case PID: if(getPid(c)!=null){ tmp=new PidRotoryLink( getPid(c).getPIDChannel(c.getHardwareIndex()), - c); + c,false); } break; case PID_PRISMATIC: if(getPid(c)!=null){ tmp=new PidPrismaticLink( getPid(c).getPIDChannel(c.getHardwareIndex()), - c); + c,false); } break; case SERVO_PRISMATIC: @@ -220,7 +220,7 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ DeviceManager.addConnection(virtual, myVirtualDevName); } tmp=new PidRotoryLink( virtual.getPIDChannel(c.getHardwareIndex()), - c); + c,true); break; case CAMERA: String myVirtualDevName1=c.getDeviceScriptingName(); @@ -261,10 +261,10 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ } if(!c.isPrismatic()){ tmp=new PidRotoryLink( virtual.getPIDChannel(c.getHardwareIndex()), - c); + c,true); }else{ tmp=new PidPrismaticLink(virtual.getPIDChannel(c.getHardwareIndex()), - c); + c,true); } } tmp.setLinkConfiguration(c); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java index 6b4e163a..4716aff9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java @@ -19,11 +19,17 @@ public class PidPrismaticLink extends AbstractPrismaticLink{ * * @param c the c * @param conf the conf + * @param b */ - public PidPrismaticLink(PIDChannel c,LinkConfiguration conf) { + public PidPrismaticLink(PIDChannel c,LinkConfiguration conf, boolean b) { super(conf); - conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); - conf.setDeviceTheoreticalMin(Integer.MIN_VALUE); + if(!b) { + conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); + conf.setDeviceTheoreticalMin(Integer.MIN_VALUE); + }else { +// conf.setDeviceTheoreticalMax(conf.getUpperLimit()); +// conf.setDeviceTheoreticalMin(conf.getLowerLimit()); + } setPIDChannel(c); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java index 7b4c4601..bf93687e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java @@ -19,11 +19,17 @@ public class PidRotoryLink extends AbstractRotoryLink{ * * @param c the c * @param conf the conf + * @param b */ - public PidRotoryLink(PIDChannel c,LinkConfiguration conf) { + public PidRotoryLink(PIDChannel c,LinkConfiguration conf, boolean b) { super(conf); - conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); - conf.setDeviceTheoreticalMin(Integer.MIN_VALUE); + if(!b) { + conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); + conf.setDeviceTheoreticalMin(Integer.MIN_VALUE); + }else { +// conf.setDeviceTheoreticalMax(conf.getUpperLimit()); +// conf.setDeviceTheoreticalMin(conf.getLowerLimit()); + } setPIDChannel(c); } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java index abe31755..94d536bb 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java @@ -37,7 +37,7 @@ public void test() throws Exception { private static class myLinkImplementation extends PidRotoryLink{ public myLinkImplementation( LinkConfiguration conf) { - super(virtual.getPIDChannel(conf.getHardwareIndex()), conf); + super(virtual.getPIDChannel(conf.getHardwareIndex()), conf,true); System.out.println("Loading MY link"); } } From b1cd0de89c4e71383d498f821a8433e785c6d83b Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 5 May 2020 18:02:45 -0400 Subject: [PATCH 243/482] updated the nrjavaserial --- build.gradle | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index a9fba596..1a848dd0 100644 --- a/build.gradle +++ b/build.gradle @@ -64,7 +64,7 @@ dependencies { compile 'org.usb4java:usb4java-javax:1.2.0' //compile fileTree (dir: '../doychinNRJAVASERISL/nrjavaserial/build/libs', includes: ['*.jar']) - compile "com.neuronrobotics:nrjavaserial:5.0.0" + compile "com.neuronrobotics:nrjavaserial:5.0.2" // https://mvnrepository.com/artifact/org.apache.commons/commons-math3 compile group: 'org.apache.commons', name: 'commons-math3', version: '3.6.1' From 2ec9994172656d912109bc6ac6122e73f6dc7a72 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 7 May 2020 09:36:06 -0400 Subject: [PATCH 244/482] Ensure the target rotation is only updated when done explicately. --- .../kinematics/AbstractKinematicsNR.java | 28 ++++++++++++++----- .../sdk/config/build.properties | 2 +- 2 files changed, 22 insertions(+), 8 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 34b18897..7da0564d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -580,7 +580,7 @@ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, dou double[] jointSpaceVect = inverseKinematics(inverseOffset(taskSpaceTransform)); if (jointSpaceVect == null) throw new RuntimeException("The kinematics model must return and array, not null"); - setDesiredJointSpaceVector(jointSpaceVect, seconds); + _setDesiredJointSpaceVector(jointSpaceVect, seconds,false); return jointSpaceVect; } @@ -629,6 +629,19 @@ public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform) { * @throws Exception If there is a workspace error */ public double[] setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds) throws Exception { + + return _setDesiredJointSpaceVector(jointSpaceVect,seconds,true); + } + /** + * This calculates the target pose . + * + * @param jointSpaceVect the joint space vect + * @param seconds the time for the transition to take from current + * position to target, unit seconds + * @return The joint space vector is returned for target arrival referance + * @throws Exception If there is a workspace error + */ + public double[] _setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds, boolean fireTaskUpdate) throws Exception { if (jointSpaceVect.length != getNumberOfLinks()) { throw new IndexOutOfBoundsException("Vector must be " + getNumberOfLinks() + " links, actual number of links = " + jointSpaceVect.length); @@ -658,10 +671,12 @@ public double[] setDesiredJointSpaceVector(double[] jointSpaceVect, double seco currentJointSpaceTarget[i] = jointSpaceVect[i]; TransformNR fwd = forwardKinematics(currentJointSpaceTarget); fireTargetJointsUpdate(currentJointSpaceTarget, fwd); + if(fireTaskUpdate) { + setCurrentPoseTarget(forwardOffset(fwd)); + } } return jointSpaceVect; } - /** * Calc forward. * @@ -764,11 +779,7 @@ protected void firePoseUpdate() { */ protected void fireTargetJointsUpdate(double[] jointSpaceVector, TransformNR fwd) { - setCurrentPoseTarget(forwardOffset(fwd)); - for (ITaskSpaceUpdateListenerNR p : taskSpaceUpdateListeners) { - p.onTargetTaskSpaceUpdate(this, getCurrentPoseTarget()); - // new RuntimeException("Fireing "+p.getClass().getName()).printStackTrace(); - } + for (IJointSpaceUpdateListenerNR p : jointSpaceUpdateListeners) { p.onJointSpaceTargetUpdate(this, currentJointSpaceTarget); } @@ -1194,6 +1205,9 @@ public TransformNR getCurrentPoseTarget() { */ public void setCurrentPoseTarget(TransformNR currentPoseTarget) { this.currentPoseTarget = currentPoseTarget; + for (ITaskSpaceUpdateListenerNR p : taskSpaceUpdateListeners) { + p.onTargetTaskSpaceUpdate(this, currentPoseTarget); + } } /** diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index fd7961f8..605f2490 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.31.0 +app.version=3.32.0 app.javac.version=1.6 From db3257e2c63b313a0e343a99d46f2255348d41b3 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 7 May 2020 09:36:59 -0400 Subject: [PATCH 245/482] Adding an interface to jog the euler rotations to the transform. These jogs produce a change in the rotation and a transform change event to be fired. --- .../addons/kinematics/math/RotationNR.java | 2 + .../addons/kinematics/math/TransformNR.java | 51 +++++++++++++++++++ 2 files changed, 53 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 9d3cd600..8de27039 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -445,4 +445,6 @@ public void set(double[][] poseRot) { loadRotations(poseRot); } + + } \ No newline at end of file diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 3614d41a..7ce32d09 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -515,5 +515,56 @@ void fireChangeEvent() { } } + public void setTiltDegrees(double newAngleDegrees) { + double e=0; + try{ + e=Math.toDegrees(getRotation().getRotationElevation()); + }catch(Exception ex){ + ex.printStackTrace(); + } + double a=0; + try{ + a=Math.toDegrees(getRotation().getRotationAzimuth()); + }catch(Exception ex){ + ex.printStackTrace(); + } + + setRotation(new RotationNR(newAngleDegrees, a, e)); + + + } + + public void setElevationDegrees(double newAngleDegrees) { + double t=0; + try{ + t=Math.toDegrees(getRotation().getRotationTilt()); + }catch(Exception ex){ + ex.printStackTrace(); + } + + double a=0; + try{ + a=Math.toDegrees(getRotation().getRotationAzimuth()); + }catch(Exception ex){ + ex.printStackTrace(); + } + setRotation(new RotationNR(t, a, newAngleDegrees)); + } + public void setAzimuthDegrees(double newAngleDegrees) { + double t=0; + try{ + t=Math.toDegrees(getRotation().getRotationTilt()); + }catch(Exception ex){ + ex.printStackTrace(); + } + + double e=0; + try{ + e=Math.toDegrees(getRotation().getRotationElevation()); + }catch(Exception ex){ + ex.printStackTrace(); + } + setRotation(new RotationNR(t, newAngleDegrees, e)); + } } From 6ecc4caa10d0227f4dfddd3485e51dfb7b649123 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 7 May 2020 10:44:48 -0400 Subject: [PATCH 246/482] make internal function private --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 7da0564d..d2cc49ab 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -641,7 +641,7 @@ public double[] setDesiredJointSpaceVector(double[] jointSpaceVect, double seco * @return The joint space vector is returned for target arrival referance * @throws Exception If there is a workspace error */ - public double[] _setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds, boolean fireTaskUpdate) throws Exception { + private double[] _setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds, boolean fireTaskUpdate) throws Exception { if (jointSpaceVect.length != getNumberOfLinks()) { throw new IndexOutOfBoundsException("Vector must be " + getNumberOfLinks() + " links, actual number of links = " + jointSpaceVect.length); From b7ce87323138b4b7c35eb5533fd8319a661205fe Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 9 May 2020 13:40:14 -0400 Subject: [PATCH 247/482] adding the latest nrjavaserial --- build.gradle | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index 1a848dd0..cbcf052b 100644 --- a/build.gradle +++ b/build.gradle @@ -64,7 +64,7 @@ dependencies { compile 'org.usb4java:usb4java-javax:1.2.0' //compile fileTree (dir: '../doychinNRJAVASERISL/nrjavaserial/build/libs', includes: ['*.jar']) - compile "com.neuronrobotics:nrjavaserial:5.0.2" + compile "com.neuronrobotics:nrjavaserial:5.1.1" // https://mvnrepository.com/artifact/org.apache.commons/commons-math3 compile group: 'org.apache.commons', name: 'commons-math3', version: '3.6.1' From a511d40c690a277c5f6d793bd1b20ae2760bd9cf Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 12 May 2020 17:40:09 -0400 Subject: [PATCH 248/482] catch all --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index d2cc49ab..6ec4eee0 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -603,7 +603,7 @@ public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev, Transfor return false; } } - } catch (Exception ex) { + } catch (Throwable ex) { return false; } return true; From a0eba99160c359247f64f9c1b9dc249cd71abc50 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 13 May 2020 14:16:23 -0400 Subject: [PATCH 249/482] single link sets should update the target --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 6ec4eee0..9dafafc0 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -740,6 +740,7 @@ public void setDesiredJointAxisValue(int axis, double value, double seconds) th } TransformNR fwd = forwardKinematics(currentJointSpaceTarget); fireTargetJointsUpdate(currentJointSpaceTarget, fwd); + setCurrentPoseTarget(forwardOffset(fwd)); } return; } From 7ac180dfe10d6a5794a167f643ecc9117086378a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 May 2020 14:29:25 -0400 Subject: [PATCH 250/482] adding a getter for the user defined types --- .../sdk/addons/kinematics/LinkType.java | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java index d30c5834..e978af17 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java @@ -1,5 +1,6 @@ package com.neuronrobotics.sdk.addons.kinematics; +import java.util.ArrayList; import java.util.HashMap; import java.util.Map; import java.util.NoSuchElementException; @@ -75,6 +76,17 @@ public enum LinkType { map.put(type.name, type); } } + + static ArrayList getUserDefined(){ + ArrayList back = new ArrayList(); + for(String s:map.keySet()) { + if(map.get(s)==USERDEFINED) { + back.add(s); + } + } + return back; + + } /** * Only classes in this package should add types, and only from LinkFactory * @param type a new type name to regester as user defined From 20d2999b8305144743626662be740bfabbcec2e0 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 May 2020 14:30:57 -0400 Subject: [PATCH 251/482] public --- .../com/neuronrobotics/sdk/addons/kinematics/LinkType.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java index e978af17..b6f4b166 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java @@ -77,7 +77,7 @@ public enum LinkType { } } - static ArrayList getUserDefined(){ + public static ArrayList getUserDefined(){ ArrayList back = new ArrayList(); for(String s:map.keySet()) { if(map.get(s)==USERDEFINED) { @@ -91,7 +91,7 @@ static ArrayList getUserDefined(){ * Only classes in this package should add types, and only from LinkFactory * @param type a new type name to regester as user defined */ - static void addType(String type){ + public static void addType(String type){ map.put(type, USERDEFINED); } From 7ed148edda23fec2502ab625b806c47aab693505 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 May 2020 15:29:33 -0400 Subject: [PATCH 252/482] Always return the wrapped device, never the wrapper --- .../com/neuronrobotics/sdk/common/DeviceManager.java | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java index 5b1c013d..2fd35f52 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java @@ -66,7 +66,7 @@ private static void addConnectionBAD(final BowlerAbstractDevice newDevice, Strin if ( DMDevice.class.isInstance(newDevice)) { DMDevice incoming = (DMDevice) newDevice; for(String s:listConnectedDevice() ){ - BowlerAbstractDevice sDev = DeviceManager.getSpecificDevice(s); + Object sDev = DeviceManager.getSpecificDevice(s); if(DMDevice.class.isInstance(sDev)) { DMDevice inside = (DMDevice) sDev; if (inside.getWrapped() == incoming.getWrapped()) { @@ -281,7 +281,7 @@ public static Object getSpecificDevice(String name, IDeviceProvider provider) { * the name * @return the specific device */ - public static BowlerAbstractDevice getSpecificDevice(String name) { + public static Object getSpecificDevice(String name) { if(name.contains("*")) { name = name.split("\\*")[0]; } @@ -289,6 +289,9 @@ public static BowlerAbstractDevice getSpecificDevice(String name) { String devname = devices.get(i).getScriptingName(); if (devname.contains(name)) { BowlerAbstractDevice dev = devices.get(i); + if(DMDevice.class.isInstance(dev)) { + return ((DMDevice)dev).getWrapped(); + } return dev; } } @@ -304,7 +307,7 @@ public static BowlerAbstractDevice getSpecificDevice(String name) { * the name * @return the specific device */ - public static BowlerAbstractDevice getSpecificDevice(Class class1, String name) { + public static Object getSpecificDevice(Class class1, String name) { if(name.contains("*")) { name = name.split("\\*")[0]; } From 303b8372c0357bffcbab2103d879bfb2776897a1 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 May 2020 15:55:13 -0400 Subject: [PATCH 253/482] ensure teh export produces a working xml --- .../java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java index f4362076..c6486c96 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java @@ -143,7 +143,7 @@ public void removeDhLinkPositionListener(IDhLinkPositionListener l){ * Generate the xml configuration to generate a link of this configuration. */ public String getXml(){ - String mb = embedableXml==null?"":"\n\t\t"+embedableXml+"\n"; + String mb = embedableXml==null?"":"\n\t\t"+embedableXml.getEmbedableXml() +"\n"; return "\n\t\n"+ "\t\t"+d+"\n"+ "\t\t"+Math.toDegrees(theta)+"\n"+ From eb81e69c27b1b268c5beab2aa5ca03a1eefb415b Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 May 2020 16:13:28 -0400 Subject: [PATCH 254/482] public geters and setters for sub bases --- .../sdk/addons/kinematics/DHLink.java | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java index c6486c96..b8be3bec 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java @@ -70,7 +70,7 @@ public class DHLink { private ArrayList dhlisteners = new ArrayList(); /** The embedable xml. */ - private MobileBase embedableXml=null; + private MobileBase slaveMobileBase=null; /** @@ -143,7 +143,7 @@ public void removeDhLinkPositionListener(IDhLinkPositionListener l){ * Generate the xml configuration to generate a link of this configuration. */ public String getXml(){ - String mb = embedableXml==null?"":"\n\t\t"+embedableXml.getEmbedableXml() +"\n"; + String mb = getSlaveMobileBase()==null?"":"\n\t\t"+getSlaveMobileBase().getEmbedableXml() +"\n"; return "\n\t\n"+ "\t\t"+d+"\n"+ "\t\t"+Math.toDegrees(theta)+"\n"+ @@ -617,7 +617,15 @@ public void setLinkType(DhLinkType type) { * @param embedableXml the new mobile base xml */ public void setMobileBaseXml(MobileBase embedableXml) { - this.embedableXml = embedableXml; + this.setSlaveMobileBase(embedableXml); + } + + public MobileBase getSlaveMobileBase() { + return slaveMobileBase; + } + + public void setSlaveMobileBase(MobileBase embedableXml) { + this.slaveMobileBase = embedableXml; } } From 7dd57a30520d723e1caeacfb5622d6f2cd610bc8 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 May 2020 17:11:23 -0400 Subject: [PATCH 255/482] adding public API for DH link and link listener --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 12 ++++++++++++ .../sdk/addons/kinematics/DHParameterKinematics.java | 7 +++++++ 2 files changed, 19 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 9dafafc0..ae7fff1d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -25,6 +25,7 @@ import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.BowlerAbstractDevice; import com.neuronrobotics.sdk.common.BowlerDatagram; +import com.neuronrobotics.sdk.common.IDeviceConnectionEventListener; import com.neuronrobotics.sdk.common.InvalidConnectionException; //import com.neuronrobotics.sdk.addons.kinematics.PidRotoryLink; import com.neuronrobotics.sdk.common.Log; @@ -295,6 +296,17 @@ public void onLinkGlobalPositionChange(TransformNR newPose) { newMobileBase.setGlobalToFiducialTransform(newPose); } }); + addConnectionEventListener(new IDeviceConnectionEventListener() { + + @Override + public void onDisconnect(BowlerAbstractDevice source) { + newMobileBase.disconnect(); + mobileBases.remove(newMobileBase); + } + + @Override + public void onConnect(BowlerAbstractDevice source) {} + }); } } } else { diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index b11f83e9..40212052 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -788,4 +788,11 @@ public void setDH_R(int index, double value) { public void setDH_Alpha(int index, double value) { getChain().getLinks().get(index).setAlpha(value); } + + public DHLink getDhLink(int i) { + return getDhChain().getLinks().get(i); + } + public Affine getListener(int i) { + return getDhChain().getLinks().get(i).getListener(); + } } From 1e03c9b2c2f0b0b6284e817b6c7bdcdc7889afcc Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 May 2020 17:34:29 -0400 Subject: [PATCH 256/482] Adding the global pose listener again --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 2 -- .../java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java | 3 ++- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index ae7fff1d..7ca95667 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -292,7 +292,6 @@ protected ArrayList loadConfig(Element doc) { newLink.addDhLinkPositionListener(new IDhLinkPositionListener() { @Override public void onLinkGlobalPositionChange(TransformNR newPose) { - Log.debug("Motion in the D-H link has caused this mobile base to move"); newMobileBase.setGlobalToFiducialTransform(newPose); } }); @@ -300,7 +299,6 @@ public void onLinkGlobalPositionChange(TransformNR newPose) { @Override public void onDisconnect(BowlerAbstractDevice source) { - newMobileBase.disconnect(); mobileBases.remove(newMobileBase); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 9cbcc70f..84ee332c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -207,7 +207,8 @@ private Matrix forwardKinematicsMatrix(double[] jointSpaceVector, ArrayList Date: Mon, 25 May 2020 15:29:44 -0400 Subject: [PATCH 257/482] cascade the connection event from main base to all sub-bases --- .../addons/kinematics/AbstractKinematicsNR.java | 3 ++- .../sdk/addons/kinematics/MobileBase.java | 14 +++++++++++++- 2 files changed, 15 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 7ca95667..7ff583f3 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -303,7 +303,8 @@ public void onDisconnect(BowlerAbstractDevice source) { } @Override - public void onConnect(BowlerAbstractDevice source) {} + public void onConnect(BowlerAbstractDevice source) { + } }); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 8b2f1056..0a699470 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -815,7 +815,19 @@ private HashMap getParallelGroups() { return parallelGroups; } - + @Override + public boolean connect(){ + super.connect(); + for(DHParameterKinematics kin:this.getAllDHChains()) { + for(int i=0;i Date: Mon, 25 May 2020 17:09:00 -0400 Subject: [PATCH 258/482] update all the link locations when the root is set --- .../kinematics/DHParameterKinematics.java | 34 +++++++++++++------ 1 file changed, 23 insertions(+), 11 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 40212052..2633ea2a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -4,10 +4,6 @@ import java.io.FileInputStream; import java.io.FileNotFoundException; import java.io.InputStream; -import java.net.URL; -//import java.net.URL; -import java.nio.file.Files; -import java.nio.file.StandardCopyOption; import java.util.ArrayList; import org.w3c.dom.Element; @@ -19,15 +15,8 @@ import com.neuronrobotics.sdk.addons.kinematics.TransformFactory; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; -import com.neuronrobotics.sdk.common.BowlerAbstractConnection; import com.neuronrobotics.sdk.common.BowlerAbstractDevice; -import com.neuronrobotics.sdk.common.DeviceManager; -import com.neuronrobotics.sdk.common.IConnectionEventListener; import com.neuronrobotics.sdk.common.IDeviceConnectionEventListener; -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.pid.GenericPIDDevice; -import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; // TODO: Auto-generated Javadoc /** @@ -795,4 +784,27 @@ public DHLink getDhLink(int i) { public Affine getListener(int i) { return getDhChain().getLinks().get(i).getListener(); } + /** + * Sets the robot to fiducial transform. + * + * @param newTrans the new robot to fiducial transform + */ + @Override + public void setRobotToFiducialTransform(TransformNR newTrans) { + super.setBaseToZframeTransform(newTrans); + if(this.checkTaskSpaceTransform(this.getCurrentPoseTarget())) { + try { + this.setDesiredTaskSpaceTransform(this.getCurrentPoseTarget(), 0); + } catch (Exception e) { + throw new RuntimeException(e); + } + }else { + this.getCurrentTaskSpaceTransform(); + // this calls the render update function attachec as the on jointspace + // update + double[] joint = this.getCurrentJointSpaceVector(); + this.getChain().getChain(joint); + Platform.runLater(() -> this.onJointSpaceUpdate(this, joint)); + } + } } From ec90ede4b548f7de0e8d895cfb5be3c2b8f2f5c7 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 27 May 2020 16:40:12 -0400 Subject: [PATCH 259/482] move the refresh into seperate function --- .../sdk/addons/kinematics/DHParameterKinematics.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 2633ea2a..3858cc10 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -792,6 +792,9 @@ public Affine getListener(int i) { @Override public void setRobotToFiducialTransform(TransformNR newTrans) { super.setBaseToZframeTransform(newTrans); + } + + public void refreshPose() { if(this.checkTaskSpaceTransform(this.getCurrentPoseTarget())) { try { this.setDesiredTaskSpaceTransform(this.getCurrentPoseTarget(), 0); From 990dbabf6b8d58370cacaf6432b0ebbd3a060029 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 27 May 2020 18:08:12 -0400 Subject: [PATCH 260/482] only update the link pose when the link listener fires, not whenever FK is clled --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 4 ++-- .../neuronrobotics/sdk/addons/kinematics/DHChain.java | 2 +- .../sdk/addons/kinematics/DHParameterKinematics.java | 9 +++++++-- 3 files changed, 10 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 7ff583f3..153d5403 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -877,7 +877,7 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { } Log.info("Setting Global To Fiducial Transform " + frameToBase); this.fiducial2RAS = frameToBase; - synchronized (AbstractKinematicsNR.class) { + //synchronized (AbstractKinematicsNR.class) { for (IRegistrationListenerNR r : regListeners) { r.onFiducialToGlobalUpdate(this, frameToBase); } @@ -890,7 +890,7 @@ public void run() { TransformFactory.nrToAffine(tf, getRootListener()); } }); - } + //} } /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 84ee332c..92e77ef0 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -208,7 +208,7 @@ private Matrix forwardKinematicsMatrix(double[] jointSpaceVector, ArrayList ll = getChain().getChain(getCurrentJointSpaceVector()); for (int i = 0; i < ll.size(); i++) { @@ -628,7 +628,7 @@ public void updateCadLocations() { } catch (Exception ex) { // ex.printStackTrace(); } - } + //} } /* @@ -641,6 +641,11 @@ public void updateCadLocations() { @Override public void onJointSpaceUpdate(final AbstractKinematicsNR source, final double[] joints) { updateCadLocations(); + for(int i=0;i Date: Sat, 11 Jul 2020 12:42:07 -0400 Subject: [PATCH 261/482] close https://github.com/CommonWealthRobotics/BowlerStudio/issues/176 --- .../kinematics/DHParameterKinematics.java | 17 ++++++++++------- 1 file changed, 10 insertions(+), 7 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 3b2d6253..ea7a7642 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -605,7 +605,7 @@ public void removeLink(int index) { /** * Update cad locations. */ - public void updateCadLocations() { + public ArrayList updateCadLocations() { //synchronized (DHParameterKinematics.class) { try { ArrayList ll = getChain().getChain(getCurrentJointSpaceVector()); @@ -625,10 +625,12 @@ public void updateCadLocations() { } }); } + return ll; } catch (Exception ex) { // ex.printStackTrace(); } //} + return null; } /* @@ -640,12 +642,13 @@ public void updateCadLocations() { */ @Override public void onJointSpaceUpdate(final AbstractKinematicsNR source, final double[] joints) { - updateCadLocations(); - for(int i=0;i cached=updateCadLocations(); + if(cached!=null) + for(int i=0;i Date: Wed, 29 Jul 2020 14:26:53 -0400 Subject: [PATCH 262/482] updatig the paralell group code --- paralleloutput.xml | 6 +++--- .../kinematics/AbstractKinematicsNR.java | 3 +++ .../kinematics/DHParameterKinematics.java | 2 +- .../sdk/addons/kinematics/MobileBase.java | 18 +++++++++++++----- .../kinematics/parallel/ParallelGroup.java | 6 ++++-- 5 files changed, 24 insertions(+), 11 deletions(-) diff --git a/paralleloutput.xml b/paralleloutput.xml index 4350dc8a..6427dde9 100644 --- a/paralleloutput.xml +++ b/paralleloutput.xml @@ -5,7 +5,7 @@ LinkedCadEngine.groovy - https://gist.github.com/bcb4760a449190206170.git + https://github.com/madhephaestus/carl-the-hexapod.git WalkingDriveEngine.groovy @@ -34,7 +34,7 @@ LinkedCadEngine.groovy - https://gist.github.com/bcb4760a449190206170.git + https://github.com/madhephaestus/carl-the-hexapod.git DefaultDhSolver.groovy @@ -237,7 +237,7 @@ LinkedCadEngine.groovy - https://gist.github.com/bcb4760a449190206170.git + https://github.com/madhephaestus/carl-the-hexapod.git DefaultDhSolver.groovy diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 153d5403..bd6dbb0e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -212,6 +212,8 @@ public AbstractKinematicsNR() { */ public AbstractKinematicsNR(InputStream configFile, LinkFactory f) { this(); + if(configFile==null||f==null) + return; Document doc = XmlFactory.getAllNodesDocument(configFile); NodeList nodListofLinks = doc.getElementsByTagName("appendage"); for (int i = 0; i < 1; i++) { @@ -225,6 +227,7 @@ public AbstractKinematicsNR(InputStream configFile, LinkFactory f) { Log.info("Not Element Node"); } } + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index ea7a7642..e68bcc6c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -146,7 +146,7 @@ public DHParameterKinematics(BowlerAbstractDevice bad, File configFile) throws F * Instantiates a new DH parameter kinematics. */ public DHParameterKinematics() { - this(null, XmlFactory.getDefaultConfigurationStream("TrobotLinks.xml")); + this(null,(InputStream)null); } /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 0a699470..a645f0f8 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -131,8 +131,8 @@ public Set getParallelGroupNames() { return getParallelGroups().keySet(); } - public ArrayList getAllParallelGroups() { - ArrayList list = new ArrayList(); + public ArrayList getAllParallelGroups() { + ArrayList list = new ArrayList(); for (String name : getParallelGroupNames()) { list.add(getParallelGroup(name)); } @@ -322,19 +322,27 @@ private void loadLimb(Element doc, String tag, ArrayList if (kin == null) { kin = new DHParameterKinematics(e); - // DeviceManager.addConnection(kin, name); } kin.setScriptingName(name); - list.add(kin); + String parallel = getParallelGroup(e); //System.out.println("paralell "+parallel); if (parallel != null) { + System.out.println("Loading Paralell group "+parallel+" limb "+name); TransformNR paraOffset = loadTransform("parallelGroupTipOffset", e); if (paraOffset == null) { paraOffset = new TransformNR(); } - getParallelGroup(parallel).addLimb(kin, paraOffset); + ParallelGroup parallelGroup = getParallelGroup(parallel); + parallelGroup.setScriptingName(parallel); + parallelGroup.addLimb(kin, paraOffset); +// if(!list.contains(parallelGroup)) { +// list.add(parallelGroup); +// } } + //else { + list.add(kin); + //} } } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index 0c1e6573..68122879 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -11,14 +11,16 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.sun.javafx.geom.Vec3d; -public class ParallelGroup extends AbstractKinematicsNR { +public class ParallelGroup extends DHParameterKinematics { private ArrayList constituantLimbs = new ArrayList(); private HashMap tipOffset = new HashMap(); /** The cad engine. */ private String [] toolEngine =new String[]{"https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git","parallelTool.groovy"}; - + public ParallelGroup() { + // empty constructor + } public void addLimb(DHParameterKinematics limb, TransformNR tip) { if (!getConstituantLimbs().contains(limb)) { getConstituantLimbs().add(limb); From 46c7358bf23b98b6e5bd4ab3a824c1f04adf556b Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 4 Aug 2020 15:47:55 -0400 Subject: [PATCH 263/482] Adding referenced link style paralell limbs --- .../sdk/addons/kinematics/MobileBase.java | 49 ++++--- .../kinematics/parallel/ParallelGroup.java | 127 +++++++++++++----- 2 files changed, 128 insertions(+), 48 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index a645f0f8..c3589b80 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -150,10 +150,10 @@ public ParallelGroup getParallelGroup(DHParameterKinematics limb) { return null; } - public void addLimbToParallel(DHParameterKinematics limb, TransformNR tipOffset, String name) { + public void addLimbToParallel(DHParameterKinematics limb, TransformNR tipOffset, String name, String relativeLimb,int relativeIndex) { removeLimFromParallel(limb); ParallelGroup g = getParallelGroup(name); - g.addLimb(limb, tipOffset); + g.addLimb(limb, tipOffset,relativeLimb,relativeIndex); } private void removeLimFromParallel(DHParameterKinematics limb) { @@ -330,12 +330,17 @@ private void loadLimb(Element doc, String tag, ArrayList if (parallel != null) { System.out.println("Loading Paralell group "+parallel+" limb "+name); TransformNR paraOffset = loadTransform("parallelGroupTipOffset", e); - if (paraOffset == null) { - paraOffset = new TransformNR(); + String relativeName = getTag( e, "relativeTo"); + int index =0; + try { + index = Integer.parseInt(getTag( e, "relativeToLink")); + }catch(Exception ex) { + paraOffset=null; + relativeName=null; } ParallelGroup parallelGroup = getParallelGroup(parallel); parallelGroup.setScriptingName(parallel); - parallelGroup.addLimb(kin, paraOffset); + parallelGroup.addLimb(kin, paraOffset,relativeName,index); // if(!list.contains(parallelGroup)) { // list.add(parallelGroup); // } @@ -593,23 +598,12 @@ public String getEmbedableXml() { xml += "\n" + getScriptingName() + "\n"; for (DHParameterKinematics l : legs) { xml += "\n"; - xml += "\n" + l.getScriptingName() + "\n"; - xml += l.getEmbedableXml(); + xml = makeLimbTag(xml, l); xml += "\n\n"; } for (DHParameterKinematics l : appendages) { xml += "\n"; - xml += "\n" + l.getScriptingName() + "\n"; - for (String key : getParallelGroups().keySet()) { - for (DHParameterKinematics pL : getParallelGroups().get(key).getConstituantLimbs()) - if (pL == l) { - xml += "\n" + key + "\n"; - xml += "\t\n" - + getParallelGroups().get(key).getTipOffset().get(l).getXml() - + "\n\n"; - } - } - xml += l.getEmbedableXml(); + xml = makeLimbTag(xml, l); xml += "\n\n"; } @@ -641,6 +635,25 @@ public String getEmbedableXml() { return xml; } + private String makeLimbTag(String xml, DHParameterKinematics l) { + xml += "\n" + l.getScriptingName() + "\n"; + for (String key : getParallelGroups().keySet()) { + ParallelGroup parallelGroup = getParallelGroups().get(key); + for (DHParameterKinematics pL : parallelGroup.getConstituantLimbs()) + + if (pL == l) { + xml += "\n" + key + "\n"; + xml += "\t\n" + + parallelGroup.getTipOffset(l).getXml() + + "\n" + parallelGroup.getTipOffsetRelativeIndex(l) + "\n" + + "\n" + parallelGroup.getTipOffsetRelativeIndex(l) + "\n" + + "\n\n"; + } + } + xml += l.getEmbedableXml(); + return xml; + } + /** * Gets the steerable. * diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index 68122879..a19b14b2 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -5,6 +5,7 @@ import com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR; import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; +import com.neuronrobotics.sdk.addons.kinematics.ITaskSpaceUpdateListenerNR; import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; import com.neuronrobotics.sdk.addons.kinematics.LinkFactory; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; @@ -15,21 +16,29 @@ public class ParallelGroup extends DHParameterKinematics { private ArrayList constituantLimbs = new ArrayList(); private HashMap tipOffset = new HashMap(); + private HashMap tipOffsetRelativeToName = new HashMap<>(); + private HashMap tipOffsetRelativeIndex = new HashMap<>(); /** The cad engine. */ - private String [] toolEngine =new String[]{"https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git","parallelTool.groovy"}; + private String[] toolEngine = new String[] { "https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git", + "parallelTool.groovy" }; public ParallelGroup() { // empty constructor } - public void addLimb(DHParameterKinematics limb, TransformNR tip) { + + public void addLimb(DHParameterKinematics limb, TransformNR tip, String name, int index) { if (!getConstituantLimbs().contains(limb)) { getConstituantLimbs().add(limb); } - getTipOffset().put(limb, tip); + if (tip != null) { + tipOffsetRelativeToName.put(limb, name); + tipOffsetRelativeIndex.put(limb, index); + getTipOffset().put(limb, tip); + } for (LinkConfiguration c : limb.getFactory().getLinkConfigurations()) { - + getFactory().addLink(limb.getFactory().getLink(c));// adding the configurations the the single - // factory + // factory } } @@ -40,6 +49,10 @@ public void disconnectDevice() { for (DHParameterKinematics l : getConstituantLimbs()) { l.disconnect(); } + tipOffset.clear(); + constituantLimbs.clear(); + tipOffsetRelativeToName.clear(); + } @Override @@ -48,25 +61,73 @@ public boolean connectDevice() { return true; } + private double[] compute(DHParameterKinematics l, HashMap IKvalues, + TransformNR taskSpaceTransform) throws Exception { + String scriptingName = l.getScriptingName(); + if (IKvalues.get(scriptingName) != null) { + // existes already + return IKvalues.get(scriptingName); + } + if (getTipOffset().get(l) == null) { + // no offset, compute as normal + double[] jointSpaceVect = l.inverseKinematics(l.inverseOffset(taskSpaceTransform)); + IKvalues.put(scriptingName, jointSpaceVect); + } else { + TransformNR offset = getTipOffset().get(l); + String refLimbName = tipOffsetRelativeToName.get(l); + int index = tipOffsetRelativeIndex.get(l); + DHParameterKinematics referencedLimb = null; + for (DHParameterKinematics lm : getConstituantLimbs()) { + if (lm.getScriptingName().toLowerCase().contentEquals(refLimbName.toLowerCase())) { + // FOund the referenced limb + referencedLimb = lm; + } + } + if (referencedLimb == null) + throw new RuntimeException("Referenced limb missing, IK for " + l.getScriptingName() + " Failed"); + double[] jointSpaceVectReferenced = compute(referencedLimb, IKvalues, taskSpaceTransform); + + TransformNR transformTOLinksTip = referencedLimb.getChain().getChain(jointSpaceVectReferenced).get(index) + .times(offset.inverse()); + double[] jointSpaceVect = l.inverseKinematics(l.inverseOffset(transformTOLinksTip)); + IKvalues.put(scriptingName, jointSpaceVect); + } + + return IKvalues.get(scriptingName); + } + /** + * Sets the current pose target. + * + * @param currentPoseTarget the new current pose target + */ + @Override + public void setCurrentPoseTarget(TransformNR currentPoseTarget) { + if(checkTaskSpaceTransform(currentPoseTarget)) { + super.setCurrentPoseTarget(currentPoseTarget); + System.out.println("Paralell set to "+currentPoseTarget); + } + } @Override public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Exception { + int numBerOfLinks = 0; for (DHParameterKinematics l : getConstituantLimbs()) { numBerOfLinks += l.getNumberOfLinks(); } double[] linkValues = new double[numBerOfLinks]; int limbOffset = 0; + HashMap IKvalues = new HashMap<>(); + for (DHParameterKinematics l : getConstituantLimbs()) { - TransformNR localTip = taskSpaceTransform.times(getTipOffset().get(l).inverse()); // Use the built in IK model for the limb - double[] jointSpaceVect = l.inverseKinematics(l.inverseOffset(localTip)); + double[] jointSpaceVect =compute(l,IKvalues,taskSpaceTransform); // Load the link vector into the total vector for (int i = 0; i < jointSpaceVect.length; i++) { linkValues[limbOffset + i] = jointSpaceVect[i]; } limbOffset += jointSpaceVect.length; } - + IKvalues.clear(); return linkValues; } @@ -104,28 +165,28 @@ public TransformNR forwardKinematics(double[] jointSpaceVector) { double rotx = Math.atan2(y, z); double roty; - if (z >= 0) { - roty = -Math.atan2( x * Math.cos(rotx), z ); - }else{ - roty = Math.atan2( x * Math.cos(rotx), -z ); - } + if (z >= 0) { + roty = -Math.atan2(x * Math.cos(rotx), z); + } else { + roty = Math.atan2(x * Math.cos(rotx), -z); + } double rotz = Math.atan2(Math.cos(rotx), Math.sin(rotx) * Math.sin(roty)); - return new TransformNR(x,y,x,new RotationNR(rotx,roty,rotz)); - } else if(getConstituantLimbs().size() ==2) { + return new TransformNR(x, y, x, new RotationNR(rotx, roty, rotz)); + } else if (getConstituantLimbs().size() == 2) { return tips.get(getConstituantLimbs().get(0));// assume the first link is - // in control or - // orentation - }else + // in control or + // orentation + } else throw new RuntimeException("There needs to be at least 2 limbs for paralell"); } - + /** * Gets the cad engine. * * @return the cad engine */ - public String [] getGitCadToolEngine() { + public String[] getGitCadToolEngine() { return toolEngine; } @@ -134,9 +195,9 @@ public TransformNR forwardKinematics(double[] jointSpaceVector) { * * @param cadEngine the new cad engine */ - public void setGitCadToolEngine(String [] cadEngine) { - if(cadEngine!=null&& cadEngine[0]!=null &&cadEngine[1]!=null) - this.toolEngine = cadEngine; + public void setGitCadToolEngine(String[] cadEngine) { + if (cadEngine != null && cadEngine[0] != null && cadEngine[1] != null) + this.toolEngine = cadEngine; } public ArrayList getConstituantLimbs() { @@ -150,25 +211,31 @@ public void setConstituantLimbs(ArrayList constituantLimb public HashMap getTipOffset() { return tipOffset; } - + public TransformNR getTipOffset(DHParameterKinematics l) { + return tipOffset.get(l); + } + public String getTipOffsetRelativeName(DHParameterKinematics l) { + return tipOffsetRelativeToName.get(l); + } + public int getTipOffsetRelativeIndex(DHParameterKinematics l) { + return tipOffsetRelativeIndex.get(l); + } public void setTipOffset(HashMap tipOffset) { this.tipOffset = tipOffset; } public void removeLimb(DHParameterKinematics limb) { - if(constituantLimbs.contains(limb)){ + if (constituantLimbs.contains(limb)) { constituantLimbs.remove(limb); getTipOffset().remove(limb); setFactory(new LinkFactory());// clear the links - for(DHParameterKinematics remaining: constituantLimbs){ + for (DHParameterKinematics remaining : constituantLimbs) { for (LinkConfiguration c : remaining.getFactory().getLinkConfigurations()) { getFactory().addLink(remaining.getFactory().getLink(c));// adding the configurations the the single - // factory + // factory } } } } - - - + } From 8effb843c9893e0dc0d39b03f42565f75bb7de28 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 4 Aug 2020 16:21:37 -0400 Subject: [PATCH 264/482] generate xml correctly --- .../sdk/addons/kinematics/MobileBase.java | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index c3589b80..eb7235b4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -643,11 +643,13 @@ private String makeLimbTag(String xml, DHParameterKinematics l) { if (pL == l) { xml += "\n" + key + "\n"; - xml += "\t\n" - + parallelGroup.getTipOffset(l).getXml() - + "\n" + parallelGroup.getTipOffsetRelativeIndex(l) + "\n" - + "\n" + parallelGroup.getTipOffsetRelativeIndex(l) + "\n" - + "\n\n"; + if(parallelGroup.getTipOffset(l)!=null) { + xml += "\n\n" + + parallelGroup.getTipOffset(l).getXml() + + "\n\t" + parallelGroup.getTipOffsetRelativeIndex(l) + "\n" + + "\n\t" + parallelGroup.getTipOffsetRelativeIndex(l) + "\n" + + "\n\n"; + } } } xml += l.getEmbedableXml(); From b46e61e4dfb4fa2ea312aa00ab0f8b9f1882ffdc Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 4 Aug 2020 16:34:31 -0400 Subject: [PATCH 265/482] adding name get api --- .../neuronrobotics/sdk/addons/kinematics/MobileBase.java | 2 +- .../sdk/addons/kinematics/parallel/ParallelGroup.java | 9 +++++++-- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index eb7235b4..473a4479 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -122,7 +122,7 @@ public MobileBase(Element doc) { public ParallelGroup getParallelGroup(String name) { if (getParallelGroups().get(name) == null) { - getParallelGroups().put(name, new ParallelGroup()); + getParallelGroups().put(name, new ParallelGroup(name)); } return getParallelGroups().get(name); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index a19b14b2..ae2fa402 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -21,9 +21,10 @@ public class ParallelGroup extends DHParameterKinematics { /** The cad engine. */ private String[] toolEngine = new String[] { "https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git", "parallelTool.groovy" }; + private String name; - public ParallelGroup() { - // empty constructor + public ParallelGroup(String name) { + this.name = name; } public void addLimb(DHParameterKinematics limb, TransformNR tip, String name, int index) { @@ -238,4 +239,8 @@ public void removeLimb(DHParameterKinematics limb) { } } + public String getNameOfParallelGroup() { + return name; + } + } From ee790646a3295fab1fdadd28868fa3e9a506e7bc Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 4 Aug 2020 18:11:27 -0400 Subject: [PATCH 266/482] close the paralell gropup --- .../sdk/addons/kinematics/MobileBase.java | 7 ++- .../kinematics/parallel/ParallelGroup.java | 44 +++++++++++++------ 2 files changed, 37 insertions(+), 14 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 473a4479..ea3b2a7b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -832,7 +832,10 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { l.setGlobalToFiducialTransform(frameToBase); } } - + public void shutDownParallel(ParallelGroup group) { + group.close(); + parallelGroups.remove(group.getNameOfParallelGroup()); + } private HashMap getParallelGroups() { return parallelGroups; @@ -888,4 +891,6 @@ public static void main(String[] args) throws Exception { } + + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index ae2fa402..af259135 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -32,9 +32,7 @@ public void addLimb(DHParameterKinematics limb, TransformNR tip, String name, in getConstituantLimbs().add(limb); } if (tip != null) { - tipOffsetRelativeToName.put(limb, name); - tipOffsetRelativeIndex.put(limb, index); - getTipOffset().put(limb, tip); + setupReferencedLimb(limb, tip, name, index); } for (LinkConfiguration c : limb.getFactory().getLinkConfigurations()) { @@ -44,15 +42,19 @@ public void addLimb(DHParameterKinematics limb, TransformNR tip, String name, in } + public void setupReferencedLimb(DHParameterKinematics limb, TransformNR tip, String name, int index) { + tipOffsetRelativeToName.put(limb, name); + tipOffsetRelativeIndex.put(limb, index); + getTipOffset().put(limb, tip); + } + @Override public void disconnectDevice() { // TODO Auto-generated method stub for (DHParameterKinematics l : getConstituantLimbs()) { l.disconnect(); } - tipOffset.clear(); - constituantLimbs.clear(); - tipOffsetRelativeToName.clear(); + close(); } @@ -77,13 +79,7 @@ private double[] compute(DHParameterKinematics l, HashMap IKva TransformNR offset = getTipOffset().get(l); String refLimbName = tipOffsetRelativeToName.get(l); int index = tipOffsetRelativeIndex.get(l); - DHParameterKinematics referencedLimb = null; - for (DHParameterKinematics lm : getConstituantLimbs()) { - if (lm.getScriptingName().toLowerCase().contentEquals(refLimbName.toLowerCase())) { - // FOund the referenced limb - referencedLimb = lm; - } - } + DHParameterKinematics referencedLimb = findReferencedLimb(refLimbName); if (referencedLimb == null) throw new RuntimeException("Referenced limb missing, IK for " + l.getScriptingName() + " Failed"); double[] jointSpaceVectReferenced = compute(referencedLimb, IKvalues, taskSpaceTransform); @@ -96,6 +92,17 @@ private double[] compute(DHParameterKinematics l, HashMap IKva return IKvalues.get(scriptingName); } + + private DHParameterKinematics findReferencedLimb(String refLimbName) { + DHParameterKinematics referencedLimb = null; + for (DHParameterKinematics lm : getConstituantLimbs()) { + if (lm.getScriptingName().toLowerCase().contentEquals(refLimbName.toLowerCase())) { + // FOund the referenced limb + referencedLimb = lm; + } + } + return referencedLimb; + } /** * Sets the current pose target. * @@ -215,6 +222,9 @@ public HashMap getTipOffset() { public TransformNR getTipOffset(DHParameterKinematics l) { return tipOffset.get(l); } + public void setTipOffset(DHParameterKinematics l,TransformNR n) { + tipOffset.put(l,n); + } public String getTipOffsetRelativeName(DHParameterKinematics l) { return tipOffsetRelativeToName.get(l); } @@ -243,4 +253,12 @@ public String getNameOfParallelGroup() { return name; } + public void close() { + constituantLimbs.clear(); + tipOffset.clear(); + constituantLimbs.clear(); + tipOffsetRelativeToName.clear(); + + } + } From a2835945326551d57d5bb458cb078f43afbd8932 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 4 Aug 2020 18:35:40 -0400 Subject: [PATCH 267/482] change how the home for a paralell group is determined --- .../sdk/addons/kinematics/MobileBase.java | 2 +- .../kinematics/parallel/ParallelGroup.java | 22 +++++++++++++++++-- 2 files changed, 21 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index ea3b2a7b..11c45101 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -204,7 +204,7 @@ private void loadConfigs(Element doc) { if (key != null) { ParallelGroup g = getParallelGroups().get(key); try { - g.setDesiredTaskSpaceTransform(g.getConstituantLimbs().get(0).calcHome(), 1.0); + g.setDesiredTaskSpaceTransform(g.calcHome(), 1.0); } catch (Exception e) { // TODO Auto-generated catch block e.printStackTrace(); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index af259135..e28059b7 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -41,7 +41,25 @@ public void addLimb(DHParameterKinematics limb, TransformNR tip, String name, in } } - + + public DHParameterKinematics getFKLimb() { + for(DHParameterKinematics d:getConstituantLimbs()) { + if(getTipOffset(d)==null) { + return d;// this is the first limb with no relative tip + } + } + // this should be impossible + throw new RuntimeException("FK lim must be possible, one limb must not have a reference to another"); + } + /** + * Calc home. + * + * @return the transform nr + */ + @Override + public TransformNR calcHome() { + return getFKLimb().calcHome(); + } public void setupReferencedLimb(DHParameterKinematics limb, TransformNR tip, String name, int index) { tipOffsetRelativeToName.put(limb, name); tipOffsetRelativeIndex.put(limb, index); @@ -182,7 +200,7 @@ public TransformNR forwardKinematics(double[] jointSpaceVector) { return new TransformNR(x, y, x, new RotationNR(rotx, roty, rotz)); } else if (getConstituantLimbs().size() == 2) { - return tips.get(getConstituantLimbs().get(0));// assume the first link is + return tips.get(getFKLimb());// assume the first link is // in control or // orentation } else From 0ec2f434c62cb949e1de465fb58f9bfb595af8b8 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 5 Aug 2020 12:07:01 -0400 Subject: [PATCH 268/482] catch all --- .../com/neuronrobotics/sdk/addons/kinematics/MobileBase.java | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 11c45101..fc268472 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -205,10 +205,7 @@ private void loadConfigs(Element doc) { ParallelGroup g = getParallelGroups().get(key); try { g.setDesiredTaskSpaceTransform(g.calcHome(), 1.0); - } catch (Exception e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } + } catch (Exception e) {} } } } From 4fd756ed5c1c2bebf8e31d61149d72fd4452654a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 5 Aug 2020 16:30:41 -0400 Subject: [PATCH 269/482] only add the links to the factory when the limb is not in the list already --- .../kinematics/parallel/ParallelGroup.java | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index e28059b7..8fb78d76 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -30,15 +30,15 @@ public ParallelGroup(String name) { public void addLimb(DHParameterKinematics limb, TransformNR tip, String name, int index) { if (!getConstituantLimbs().contains(limb)) { getConstituantLimbs().add(limb); + for (LinkConfiguration c : limb.getFactory().getLinkConfigurations()) { + + getFactory().addLink(limb.getFactory().getLink(c));// adding the configurations the the single + // factory + } } if (tip != null) { setupReferencedLimb(limb, tip, name, index); } - for (LinkConfiguration c : limb.getFactory().getLinkConfigurations()) { - - getFactory().addLink(limb.getFactory().getLink(c));// adding the configurations the the single - // factory - } } @@ -65,6 +65,12 @@ public void setupReferencedLimb(DHParameterKinematics limb, TransformNR tip, Str tipOffsetRelativeIndex.put(limb, index); getTipOffset().put(limb, tip); } + + public void clearReferencedLimb(DHParameterKinematics limb) { + tipOffsetRelativeToName.remove(limb); + tipOffsetRelativeIndex.remove(limb); + getTipOffset().remove(limb); + } @Override public void disconnectDevice() { From 0cb76b815ec3929a7a56fc0bcb47617879dcdffa Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 5 Aug 2020 18:17:07 -0400 Subject: [PATCH 270/482] more robust setting of references --- .../sdk/addons/kinematics/MobileBase.java | 4 +- .../kinematics/parallel/ParallelGroup.java | 137 +++++++++++------- 2 files changed, 83 insertions(+), 58 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index fc268472..b9dba60f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -337,7 +337,7 @@ private void loadLimb(Element doc, String tag, ArrayList } ParallelGroup parallelGroup = getParallelGroup(parallel); parallelGroup.setScriptingName(parallel); - parallelGroup.addLimb(kin, paraOffset,relativeName,index); + parallelGroup.setupReferencedLimbStartup(kin, paraOffset,relativeName,index); // if(!list.contains(parallelGroup)) { // list.add(parallelGroup); // } @@ -643,7 +643,7 @@ private String makeLimbTag(String xml, DHParameterKinematics l) { if(parallelGroup.getTipOffset(l)!=null) { xml += "\n\n" + parallelGroup.getTipOffset(l).getXml() - + "\n\t" + parallelGroup.getTipOffsetRelativeIndex(l) + "\n" + + "\n\t" + parallelGroup.getTipOffsetRelativeName(l) + "\n" + "\n\t" + parallelGroup.getTipOffsetRelativeIndex(l) + "\n" + "\n\n"; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index 8fb78d76..ea091b2a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -28,29 +28,21 @@ public ParallelGroup(String name) { } public void addLimb(DHParameterKinematics limb, TransformNR tip, String name, int index) { - if (!getConstituantLimbs().contains(limb)) { - getConstituantLimbs().add(limb); - for (LinkConfiguration c : limb.getFactory().getLinkConfigurations()) { - getFactory().addLink(limb.getFactory().getLink(c));// adding the configurations the the single - // factory - } - } - if (tip != null) { - setupReferencedLimb(limb, tip, name, index); - } + setupReferencedLimb(limb, tip, name, index); } - + public DHParameterKinematics getFKLimb() { - for(DHParameterKinematics d:getConstituantLimbs()) { - if(getTipOffset(d)==null) { + for (DHParameterKinematics d : getConstituantLimbs()) { + if (getTipOffset(d) == null) { return d;// this is the first limb with no relative tip } } // this should be impossible throw new RuntimeException("FK lim must be possible, one limb must not have a reference to another"); } + /** * Calc home. * @@ -60,12 +52,35 @@ public DHParameterKinematics getFKLimb() { public TransformNR calcHome() { return getFKLimb().calcHome(); } + public void setupReferencedLimb(DHParameterKinematics limb, TransformNR tip, String name, int index) { - tipOffsetRelativeToName.put(limb, name); - tipOffsetRelativeIndex.put(limb, index); - getTipOffset().put(limb, tip); + for (DHParameterKinematics d : getConstituantLimbs()) { + if (d.getScriptingName().contentEquals(name)) { + setupReferencedLimbStartup(limb, tip, name, index); + return; + } + } + throw new RuntimeException("Limb named: " + name + " does not exist"); } - + + public void setupReferencedLimbStartup(DHParameterKinematics limb, TransformNR tip, String name, int index) { + if (!getConstituantLimbs().contains(limb)) { + getConstituantLimbs().add(limb); + for (LinkConfiguration c : limb.getFactory().getLinkConfigurations()) { + + getFactory().addLink(limb.getFactory().getLink(c));// adding the configurations the the single + // factory + } + } + if (tip != null) { + tipOffsetRelativeToName.put(limb, name); + tipOffsetRelativeIndex.put(limb, index); + getTipOffset().put(limb, tip); + } else { + clearReferencedLimb(limb); + } + } + public void clearReferencedLimb(DHParameterKinematics limb) { tipOffsetRelativeToName.remove(limb); tipOffsetRelativeIndex.remove(limb); @@ -105,7 +120,8 @@ private double[] compute(DHParameterKinematics l, HashMap IKva int index = tipOffsetRelativeIndex.get(l); DHParameterKinematics referencedLimb = findReferencedLimb(refLimbName); if (referencedLimb == null) - throw new RuntimeException("Referenced limb missing, IK for " + l.getScriptingName() + " Failed"); + throw new RuntimeException("Referenced limb missing, IK for " + l.getScriptingName() + + " Failed looking for " + refLimbName); double[] jointSpaceVectReferenced = compute(referencedLimb, IKvalues, taskSpaceTransform); TransformNR transformTOLinksTip = referencedLimb.getChain().getChain(jointSpaceVectReferenced).get(index) @@ -123,10 +139,13 @@ private DHParameterKinematics findReferencedLimb(String refLimbName) { if (lm.getScriptingName().toLowerCase().contentEquals(refLimbName.toLowerCase())) { // FOund the referenced limb referencedLimb = lm; + }else { + //System.out.println("Searching for "+refLimbName+" no match with "+lm.getScriptingName()); } } return referencedLimb; } + /** * Sets the current pose target. * @@ -134,11 +153,12 @@ private DHParameterKinematics findReferencedLimb(String refLimbName) { */ @Override public void setCurrentPoseTarget(TransformNR currentPoseTarget) { - if(checkTaskSpaceTransform(currentPoseTarget)) { + if (checkTaskSpaceTransform(currentPoseTarget)) { super.setCurrentPoseTarget(currentPoseTarget); - System.out.println("Paralell set to "+currentPoseTarget); + System.out.println("Paralell set to " + currentPoseTarget); } } + @Override public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Exception { @@ -152,7 +172,7 @@ public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Excepti for (DHParameterKinematics l : getConstituantLimbs()) { // Use the built in IK model for the limb - double[] jointSpaceVect =compute(l,IKvalues,taskSpaceTransform); + double[] jointSpaceVect = compute(l, IKvalues, taskSpaceTransform); // Load the link vector into the total vector for (int i = 0; i < jointSpaceVect.length; i++) { linkValues[limbOffset + i] = jointSpaceVect[i]; @@ -178,39 +198,39 @@ public TransformNR forwardKinematics(double[] jointSpaceVector) { // TODO check to see if the TIps are alligned as you add them and // throw an exception if a tip is misalligned } - if (getConstituantLimbs().size() > 3) { - // we are assuming any passive links are encoded - double dx = 0; - double dy = 0; - double dz = 0; - - for (int i = 0; i < 3; i++) { - TransformNR l = tips.get(getConstituantLimbs().get(i)); - Vec3d p1 = new Vec3d(l.getX(), l.getY(), l.getZ()); - dx += p1.x; - dy += p1.y; - dz += p1.z; - } - double x = dx /= 3; - double y = dy /= 3; - double z = dz /= 3; - - double rotx = Math.atan2(y, z); - double roty; - if (z >= 0) { - roty = -Math.atan2(x * Math.cos(rotx), z); - } else { - roty = Math.atan2(x * Math.cos(rotx), -z); - } - double rotz = Math.atan2(Math.cos(rotx), Math.sin(rotx) * Math.sin(roty)); - - return new TransformNR(x, y, x, new RotationNR(rotx, roty, rotz)); - } else if (getConstituantLimbs().size() == 2) { - return tips.get(getFKLimb());// assume the first link is - // in control or - // orentation - } else - throw new RuntimeException("There needs to be at least 2 limbs for paralell"); +// if (getConstituantLimbs().size() > 3) { +// // we are assuming any passive links are encoded +// double dx = 0; +// double dy = 0; +// double dz = 0; +// +// for (int i = 0; i < 3; i++) { +// TransformNR l = tips.get(getConstituantLimbs().get(i)); +// Vec3d p1 = new Vec3d(l.getX(), l.getY(), l.getZ()); +// dx += p1.x; +// dy += p1.y; +// dz += p1.z; +// } +// double x = dx /= 3; +// double y = dy /= 3; +// double z = dz /= 3; +// +// double rotx = Math.atan2(y, z); +// double roty; +// if (z >= 0) { +// roty = -Math.atan2(x * Math.cos(rotx), z); +// } else { +// roty = Math.atan2(x * Math.cos(rotx), -z); +// } +// double rotz = Math.atan2(Math.cos(rotx), Math.sin(rotx) * Math.sin(roty)); +// +// return new TransformNR(x, y, x, new RotationNR(rotx, roty, rotz)); +// } else if (getConstituantLimbs().size() == 2) { + return tips.get(getFKLimb());// assume the first link is +// // in control or +// // orentation +// } else +// throw new RuntimeException("There needs to be at least 2 limbs for paralell"); } /** @@ -243,18 +263,23 @@ public void setConstituantLimbs(ArrayList constituantLimb public HashMap getTipOffset() { return tipOffset; } + public TransformNR getTipOffset(DHParameterKinematics l) { return tipOffset.get(l); } - public void setTipOffset(DHParameterKinematics l,TransformNR n) { - tipOffset.put(l,n); + + public void setTipOffset(DHParameterKinematics l, TransformNR n) { + tipOffset.put(l, n); } + public String getTipOffsetRelativeName(DHParameterKinematics l) { return tipOffsetRelativeToName.get(l); } + public int getTipOffsetRelativeIndex(DHParameterKinematics l) { return tipOffsetRelativeIndex.get(l); } + public void setTipOffset(HashMap tipOffset) { this.tipOffset = tipOffset; } From 63760489c0f42d801df36499bf51ac11809b4b4d Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 5 Aug 2020 19:22:09 -0400 Subject: [PATCH 271/482] use the clear referece function internally --- .../sdk/addons/kinematics/parallel/ParallelGroup.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index ea091b2a..0b86eca3 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -76,6 +76,7 @@ public void setupReferencedLimbStartup(DHParameterKinematics limb, TransformNR t tipOffsetRelativeToName.put(limb, name); tipOffsetRelativeIndex.put(limb, index); getTipOffset().put(limb, tip); + System.out.println("Limp "+limb.getScriptingName()+" set relative to "+name); } else { clearReferencedLimb(limb); } @@ -286,8 +287,8 @@ public void setTipOffset(HashMap tipOffset) public void removeLimb(DHParameterKinematics limb) { if (constituantLimbs.contains(limb)) { + clearReferencedLimb( limb); constituantLimbs.remove(limb); - getTipOffset().remove(limb); setFactory(new LinkFactory());// clear the links for (DHParameterKinematics remaining : constituantLimbs) { for (LinkConfiguration c : remaining.getFactory().getLinkConfigurations()) { From 99b265ec4b09ef80c8b0428131142adaf6bafa71 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 5 Aug 2020 21:00:27 -0400 Subject: [PATCH 272/482] fix bug in array access order --- .../kinematics/AbstractKinematicsNR.java | 28 +++++++++++++------ .../CartesianNamespacePidKinematics.java | 10 +++---- .../kinematics/DHParameterKinematics.java | 2 +- 3 files changed, 24 insertions(+), 16 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index bd6dbb0e..2ea2430a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -78,7 +78,7 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP protected double[] currentJointSpacePositions = null; /** The current joint space target. */ - protected double[] currentJointSpaceTarget; + public double[] currentJointSpaceTarget; /** The current pose target. */ private TransformNR currentPoseTarget = new TransformNR(); @@ -545,7 +545,7 @@ public double[] getCurrentJointSpaceVector() { if (currentJointSpacePositions == null||currentJointSpacePositions.length!= getNumberOfLinks()) { // Happens once and only once on the first initialization currentJointSpacePositions = new double[getNumberOfLinks()]; - currentJointSpaceTarget = new double[getNumberOfLinks()]; + for (int i = 0; i < getNumberOfLinks(); i++) { // double pos = // currentLinkSpacePositions[getLinkConfigurations().get(i).getHardwareIndex()]; @@ -682,9 +682,9 @@ private double[] _setDesiredJointSpaceVector(double[] jointSpaceVect, double se if (e != null) throw new RuntimeException("Limit On "+getScriptingName()+" "+e.getMessage()); for(int i=0;i Date: Sat, 8 Aug 2020 13:04:41 -0400 Subject: [PATCH 274/482] no prints --- .../sdk/addons/kinematics/parallel/ParallelGroup.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index 52e56366..7cfb79e2 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -158,7 +158,7 @@ private DHParameterKinematics findReferencedLimb(String refLimbName) { public void setCurrentPoseTarget(TransformNR currentPoseTarget) { if (checkTaskSpaceTransform(currentPoseTarget)) { super.setCurrentPoseTarget(currentPoseTarget); - System.out.println("Paralell set to " + currentPoseTarget); + //System.out.println("Paralell set to " + currentPoseTarget); } } From 45cb59958a34adf9ad076625e4372e9cce8960a5 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 8 Aug 2020 13:20:41 -0400 Subject: [PATCH 275/482] dropping synchronized --- .../addons/driving/virtual/VirtualWorld.java | 2 +- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 8 ++++---- .../sdk/addons/kinematics/gcodebridge/GcodeDevice.java | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualWorld.java b/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualWorld.java index 4c72efb5..f1b30590 100644 --- a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualWorld.java +++ b/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualWorld.java @@ -149,7 +149,7 @@ public void addRobot(AbstractRobotDrive robot,int botStartX ,int botStartY) { * @param deltForward the delt forward * @param c the c */ - public synchronized void addSensorDisplayDot(AbstractRobotDrive platform, double deltLateral, double deltForward, Color c){ + public void addSensorDisplayDot(AbstractRobotDrive platform, double deltLateral, double deltForward, Color c){ for( int i=0;i Date: Mon, 10 Aug 2020 15:21:51 -0400 Subject: [PATCH 276/482] change PID lower layer to float --- .../addons/driving/DrivingTest.java | 181 ----- .../addons/driving/HokuyoTest.java | 75 -- .../addons/driving/KeepDistance.java | 117 --- .../addons/driving/LineTrack.java | 69 -- .../addons/driving/PuckBotDriveTest.java | 59 -- .../addons/driving/RealLineTrack.java | 65 -- .../driving/RealTimeLineTrackWithPID.java | 157 ---- .../addons/driving/VirtualLineTrack.java | 33 - .../test/dyio/AdvancedAsyncTest.java | 113 --- .../test/dyio/AnalogInputTest.java | 40 - .../test/dyio/AnalogInputTestsAsync.java | 62 -- .../neuronrobotics/test/dyio/BaudTest.java | 144 ---- .../test/dyio/ConcurrencyTest.java | 62 -- .../test/dyio/CoordinatedMotion.java | 65 -- .../test/dyio/CounterInputTest.java | 33 - .../test/dyio/CounterInputTestAsync.java | 63 -- .../test/dyio/CounterOutputAsyncTest.java | 56 -- .../test/dyio/CounterOutputTimedTest.java | 34 - .../test/dyio/CounterStepperTest.java | 32 - .../neuronrobotics/test/dyio/DCMotorTest.java | 38 - .../test/dyio/DIgitalOutputTest.java | 53 -- .../test/dyio/DigitalInputTestAsync.java | 70 -- .../test/dyio/DigitalInputTestSync.java | 35 - .../neuronrobotics/test/dyio/DyIOAPITest.java | 42 -- .../test/dyio/DyIONamespaceTester.java | 47 -- .../neuronrobotics/test/dyio/PID_test.java | 126 ---- .../test/dyio/PPMReaderTest.java | 70 -- .../com/neuronrobotics/test/dyio/PWMTest.java | 40 - .../com/neuronrobotics/test/dyio/SPITest.java | 40 - .../test/dyio/SafeModeWatchDog.java | 34 - .../test/dyio/SchedulerTest.java | 42 -- .../neuronrobotics/test/dyio/ServoTest.java | 79 -- .../test/dyio/SimpleLineFollow.java | 150 ---- .../neuronrobotics/test/dyio/SpeedTest.java | 141 ---- .../neuronrobotics/test/dyio/USARTTest.java | 57 -- .../addons/driving/AbstractRobotDrive.java | 228 ------ .../addons/driving/AbstractSensor.java | 69 -- .../addons/driving/AckermanBot.java | 332 --------- .../addons/driving/AckermanBotDriveData.java | 58 -- .../driving/AckermanBotVelocityData.java | 44 -- .../addons/driving/AckermanConfiguration.java | 127 ---- .../driving/AckermanDefaultKinematics.java | 113 --- .../addons/driving/DataPoint.java | 72 -- .../addons/driving/HokuyoURGDevice.java | 264 ------- .../driving/IAckermanBotKinematics.java | 66 -- .../addons/driving/IPuckBotKinematics.java | 73 -- .../driving/IRobotDriveEventListener.java | 25 - .../addons/driving/ISensorListener.java | 37 - .../addons/driving/LaserRangeSensor.java | 37 - .../addons/driving/LineSensor.java | 71 -- .../addons/driving/LinearRangeSensor.java | 140 ---- .../neuronrobotics/addons/driving/NrMap.java | 288 -------- .../addons/driving/PuckBot.java | 207 ------ .../addons/driving/PuckBotConfiguration.java | 19 - .../driving/PuckBotDefaultKinematics.java | 232 ------ .../addons/driving/PuckBotDriveData.java | 75 -- .../addons/driving/PuckBotVelocityData.java | 44 -- .../addons/driving/Rbe3002Robot.java | 59 -- .../addons/driving/RobotLocationData.java | 115 --- .../addons/driving/SimpleDisplay.java | 76 -- .../addons/driving/URG2Packet.java | 185 ----- .../driving/virtual/DrivingRobotUI.java | 210 ------ .../addons/driving/virtual/ObsticleType.java | 107 --- .../driving/virtual/VirtualAckermanBot.java | 70 -- .../driving/virtual/VirtualFlameSensor.java | 29 - .../driving/virtual/VirtualLineSensor.java | 133 ---- .../driving/virtual/VirtualPuckBot.java | 75 -- .../driving/virtual/VirtualRangeSensor.java | 56 -- .../addons/driving/virtual/VirtualWorld.java | 234 ------ .../replicator/driver/BowlerBoardDevice.java | 447 ----------- .../driver/BowlerBoardKinematicModel.java | 61 -- .../replicator/driver/DataConvertion.java | 71 -- .../replicator/driver/ExternalSlicer.java | 123 ---- .../replicator/driver/MaterialData.java | 17 - .../replicator/driver/NRPrinter.java | 472 ------------ .../replicator/driver/PrinterGCode.java | 29 - .../replicator/driver/PrinterStatus.java | 212 ------ .../driver/PrinterStatusListener.java | 32 - .../driver/ServoStockGCodeParser.java | 285 -------- .../replicator/driver/Slic3r.java | 692 ------------------ .../replicator/driver/SliceStatusData.java | 120 --- .../StateBasedControllerConfiguration.java | 397 ---------- .../replicator/driver/StlSlicer.java | 67 -- .../kinematics/AbstractKinematicsNR.java | 4 +- .../CartesianNamespacePidKinematics.java | 176 ----- .../addons/kinematics/LinkConfiguration.java | 47 +- .../sdk/addons/kinematics/LinkType.java | 6 +- .../addons/kinematics/PidPrismaticLink.java | 4 +- .../sdk/addons/kinematics/PidRotoryLink.java | 4 +- .../kinematics/gcodebridge/GcodeDevice.java | 30 +- .../bcs/pid/ControlAllPIDCommand.java | 8 +- .../commands/bcs/pid/ControlPIDCommand.java | 4 +- .../sdk/commands/bcs/pid/ResetPIDCommand.java | 4 +- .../sdk/common/DeviceManager.java | 12 +- .../com/neuronrobotics/sdk/dyio/DyIO.java | 13 +- .../bcs/pid/AbstractPidNamespaceImp.java | 10 +- .../bcs/pid/IPidControlNamespace.java | 10 +- .../bcs/pid/LegacyPidNamespaceImp.java | 18 +- .../namespace/bcs/pid/PidDeviceServer.java | 2 +- .../bcs/pid/PidDeviceServerNamespace.java | 18 +- .../namespace/bcs/pid/PidNamespaceImp.java | 12 +- .../sdk/pid/GenericPIDDevice.java | 12 +- .../sdk/pid/IPIDEventListener.java | 2 +- .../sdk/pid/LinearInterpolationEngine.java | 4 +- .../neuronrobotics/sdk/pid/PIDChannel.java | 20 +- .../sdk/pid/VirtualGenericPIDDevice.java | 16 +- .../neuronrobotics/utilities/GCODETest.java | 16 +- 107 files changed, 134 insertions(+), 9837 deletions(-) delete mode 100644 examples/java/src/com/neuronrobotics/addons/driving/DrivingTest.java delete mode 100644 examples/java/src/com/neuronrobotics/addons/driving/HokuyoTest.java delete mode 100644 examples/java/src/com/neuronrobotics/addons/driving/KeepDistance.java delete mode 100644 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src/main/java/com/neuronrobotics/replicator/driver/BowlerBoardDevice.java delete mode 100644 src/main/java/com/neuronrobotics/replicator/driver/BowlerBoardKinematicModel.java delete mode 100644 src/main/java/com/neuronrobotics/replicator/driver/DataConvertion.java delete mode 100644 src/main/java/com/neuronrobotics/replicator/driver/ExternalSlicer.java delete mode 100644 src/main/java/com/neuronrobotics/replicator/driver/MaterialData.java delete mode 100644 src/main/java/com/neuronrobotics/replicator/driver/NRPrinter.java delete mode 100644 src/main/java/com/neuronrobotics/replicator/driver/PrinterGCode.java delete mode 100644 src/main/java/com/neuronrobotics/replicator/driver/PrinterStatus.java delete mode 100644 src/main/java/com/neuronrobotics/replicator/driver/PrinterStatusListener.java delete mode 100644 src/main/java/com/neuronrobotics/replicator/driver/ServoStockGCodeParser.java delete mode 100644 src/main/java/com/neuronrobotics/replicator/driver/Slic3r.java delete mode 100644 src/main/java/com/neuronrobotics/replicator/driver/SliceStatusData.java delete mode 100644 src/main/java/com/neuronrobotics/replicator/driver/StateBasedControllerConfiguration.java delete mode 100644 src/main/java/com/neuronrobotics/replicator/driver/StlSlicer.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/CartesianNamespacePidKinematics.java diff --git a/examples/java/src/com/neuronrobotics/addons/driving/DrivingTest.java b/examples/java/src/com/neuronrobotics/addons/driving/DrivingTest.java deleted file mode 100644 index 57ce0dec..00000000 --- a/examples/java/src/com/neuronrobotics/addons/driving/DrivingTest.java +++ /dev/null @@ -1,181 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import gnu.io.NRSerialPort; - -import java.util.ArrayList; - -import com.neuronrobotics.addons.driving.virtual.VirtualAckermanBot; -import com.neuronrobotics.addons.driving.virtual.VirtualFlameSensor; -import com.neuronrobotics.addons.driving.virtual.VirtualLineSensor; -import com.neuronrobotics.addons.driving.virtual.VirtualRangeSensor; -import com.neuronrobotics.addons.driving.virtual.VirtualWorld; -import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; -import com.neuronrobotics.sdk.addons.kinematics.ServoRotoryLink; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.DyIOChannelMode; -import com.neuronrobotics.sdk.dyio.dypid.DyPIDConfiguration; -import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; -import com.neuronrobotics.sdk.pid.PIDChannel; -import com.neuronrobotics.sdk.pid.PIDConfiguration; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class DrivingTest. - */ -@SuppressWarnings("unused") -public class DrivingTest implements IRobotDriveEventListener,ISensorListener{ - - /** The main robot. */ - AbstractRobotDrive mainRobot; - - /** The line. */ - AbstractSensor line=null; - - /** The range. */ - AbstractSensor range=null; - - /** The flame. */ - AbstractSensor flame=null; - - /** - * Instantiates a new driving test. - */ - private DrivingTest(){ - setupVirtualRobot(); - //setupRealRobot(); - - runDriveSample(); - } - - /** - * Run drive sample. - */ - private void runDriveSample() { - double driveTime=5; - mainRobot.addIRobotDriveEventListener(this); - if(line != null){ - line.addSensorListener(this); - } - if(range !=null){ - range.addSensorListener(this); - } - if(flame != null){ - flame.addSensorListener(this); - } - - mainRobot.DriveArc(20, 90, driveTime); - ThreadUtil.wait((int) (driveTime*1000)); - - mainRobot.DriveStraight(10, driveTime); - ThreadUtil.wait((int) (driveTime*1000)); - if (range != null) - range.StartSweep(-90, 90, 10); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.ISensorListener#onRangeSensorEvent(com.neuronrobotics.addons.driving.AbstractSensor, java.util.ArrayList, long) - */ - @Override - public void onRangeSensorEvent(AbstractSensor source,ArrayList data, long timeStamp) { - if(source == range){ - System.out.println("Range Sensor Event "+data); - } - if(source == flame){ - System.out.println("Flame sensor "+data); - } - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.ISensorListener#onLineSensorEvent(com.neuronrobotics.addons.driving.AbstractSensor, java.lang.Integer, java.lang.Integer, java.lang.Integer, long) - */ - @Override - public void onLineSensorEvent(AbstractSensor source, Integer left,Integer middle, Integer right, long timeStamp) { - if(source==line){ - System.out.println("Line Sensor Event left="+left+" middle="+middle+" right="+right); - } - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IRobotDriveEventListener#onDriveEvent(com.neuronrobotics.addons.driving.AbstractRobotDrive, double, double, double) - */ - @Override - public void onDriveEvent(AbstractRobotDrive source, double x, double y,double orentation) { - if(source==mainRobot){ - System.out.println("Drive Event x="+x+" y="+y+" orentation="+Math.toDegrees(orentation)); - } - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - new DrivingTest(); - } - - - /** - * Sets the up real robot. - * - * @param dyio the new up real robot - */ - private void setupRealRobot(DyIO dyio) { - DyPIDConfiguration dypid = new DyPIDConfiguration( 0,//PID group 0 - 23,//Input channel number - DyIOChannelMode.COUNT_IN_INT,//Input mode - 11,//Output Channel - DyIOChannelMode.SERVO_OUT);//Output mode - PIDConfiguration pid =new PIDConfiguration ( 0,//PID group - true,//enabled - false,//inverted - true,//Async - 1,// Kp - 1,// Ki - .5,//Kd - 0,//Value to latch on index pulse - false,//Use the latch system - false);//Stop PID controller on index latch event - dyio.ConfigureDynamicPIDChannels(dypid); - dyio.ConfigurePIDController(pid); - - PIDChannel drive = dyio.getPIDChannel(0); - ServoChannel srv = new ServoChannel(dyio.getChannel(10)); - AckermanBot a = new AckermanBot( new ServoRotoryLink(srv, new LinkConfiguration(98, 51, 143, 1)), - drive ); - - - ServoChannel sweeper = new ServoChannel(dyio.getChannel(9)); - range = new LaserRangeSensor(new NRSerialPort("/dev/ttyACM0", 115200)); -// range = new LinearRangeSensor( sweeper, -// new AnalogInputChannel(dyio.getChannel(12))); - line = new LineSensor( new AnalogInputChannel(dyio.getChannel(13)), - null, - new AnalogInputChannel(dyio.getChannel(14))); - //This flame sensor uses the same servo as the rangefinder - flame = new LinearRangeSensor( sweeper, - new AnalogInputChannel(dyio.getChannel(15))); - - mainRobot = a; - } - - /** - * Setup virtual robot. - */ - private void setupVirtualRobot() { - VirtualWorld w = new VirtualWorld(); - VirtualAckermanBot a = new VirtualAckermanBot(w); - VirtualAckermanBot b = new VirtualAckermanBot(w,300,200); - line = new VirtualLineSensor(a,w); - range = new VirtualRangeSensor(a,w); - //range = new LaserRangeSensor(new NRSerialPort("/dev/ttyACM0", 115200)); - flame = new VirtualFlameSensor(a, w); - mainRobot = a; - } - - - - -} diff --git a/examples/java/src/com/neuronrobotics/addons/driving/HokuyoTest.java b/examples/java/src/com/neuronrobotics/addons/driving/HokuyoTest.java deleted file mode 100644 index 1df5ec4e..00000000 --- a/examples/java/src/com/neuronrobotics/addons/driving/HokuyoTest.java +++ /dev/null @@ -1,75 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import gnu.io.NRSerialPort; - -import java.util.ArrayList; - -import javax.swing.JFrame; - -import com.neuronrobotics.addons.driving.virtual.ObsticleType; - -// TODO: Auto-generated Javadoc -/** - * The Class HokuyoTest. - */ -public class HokuyoTest implements ISensorListener { - - /** The display. */ - private SimpleDisplay display = new SimpleDisplay(); - - /** The frame. */ - private JFrame frame = new JFrame(); - - /** The start. */ - private long start; - - /** - * Instantiates a new hokuyo test. - */ - private HokuyoTest(){ - LaserRangeSensor range = new LaserRangeSensor(new NRSerialPort("/dev/ttyACM0", 115200)); - range.addSensorListener(this); - start=System.currentTimeMillis(); - range.StartSweep(-90, 90, .5); - frame.add(display); - frame.setSize(1024, 768); - frame.setVisible(true); - frame.setExtendedState(JFrame.EXIT_ON_CLOSE); - -// try { -// Thread.sleep(10000); -// } catch (InterruptedException e) { -// // TODO Auto-generated catch block -// e.printStackTrace(); -// } - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String [] args){ - new HokuyoTest(); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.ISensorListener#onRangeSensorEvent(com.neuronrobotics.addons.driving.AbstractSensor, java.util.ArrayList, long) - */ - @Override - public void onRangeSensorEvent(AbstractSensor source,ArrayList data, long timeStamp) { - System.out.println("Range Sensor Event "+(System.currentTimeMillis()-start)); - display.setUserDefinedData(data,ObsticleType.USERDEFINED); - start=System.currentTimeMillis(); - source.StartSweep(-90, 90, .5); - - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.ISensorListener#onLineSensorEvent(com.neuronrobotics.addons.driving.AbstractSensor, java.lang.Integer, java.lang.Integer, java.lang.Integer, long) - */ - @Override - public void onLineSensorEvent(AbstractSensor source, Integer left,Integer middle, Integer right, long timeStamp) { - //unused - } -} diff --git a/examples/java/src/com/neuronrobotics/addons/driving/KeepDistance.java b/examples/java/src/com/neuronrobotics/addons/driving/KeepDistance.java deleted file mode 100644 index 4947f1a6..00000000 --- a/examples/java/src/com/neuronrobotics/addons/driving/KeepDistance.java +++ /dev/null @@ -1,117 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; -import com.neuronrobotics.sdk.addons.kinematics.ServoRotoryLink; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.DyIOChannelMode; -import com.neuronrobotics.sdk.dyio.dypid.DyPIDConfiguration; -import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener; -import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; -import com.neuronrobotics.sdk.pid.PIDChannel; -import com.neuronrobotics.sdk.pid.PIDConfiguration; -import com.neuronrobotics.sdk.ui.ConnectionDialog; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class KeepDistance. - */ -public class KeepDistance implements IRobotDriveEventListener,IAnalogInputListener{ - - /** The ack. */ - private AckermanBot ack; - - /** The ana val. */ - private int anaVal=175; - - /** - * Instantiates a new keep distance. - * - * @param dyio the dyio - */ - public KeepDistance(final DyIO dyio){ - System.out.println("Starting Keep Distance application"); - DyPIDConfiguration dypid = new DyPIDConfiguration( 0,//PID group 0 - 23,//Input channel number - DyIOChannelMode.COUNT_IN_INT,//Input mode - 11,//Output Channel - DyIOChannelMode.SERVO_OUT);//Output mode - PIDConfiguration pid =new PIDConfiguration ( 0,//PID group - true,//enabled - false,//inverted - true,//Async - 1,// Kp - 0,// Ki - 0,0,false,false);//Kd - dyio.ConfigureDynamicPIDChannels(dypid); - dyio.ConfigurePIDController(pid); - - PIDChannel drive = dyio.getPIDChannel(0); - ServoChannel srv = new ServoChannel(dyio.getChannel(10)); - ack = new AckermanBot( new ServoRotoryLink(srv, new LinkConfiguration(98, 51, 143, 1)), - drive ); - - AnalogInputChannel IR = new AnalogInputChannel(dyio.getChannel(12),true); - IR.configAdvancedAsyncNotEqual(100); - - IR.addAnalogInputListener(this); - ack.addIRobotDriveEventListener(this); - new Thread() { - public void run() { - System.out.println("Starting distance thread"); - double distance = .2; - while(dyio.isAvailable()) { - ThreadUtil.wait(500); - if(anaVal>200) { - ack.DriveStraight(-1*distance, 1); - //System.out.println("Move back="+anaVal); - } - else if(anaVal<150) { - ack.DriveStraight(distance, 1); - //System.out.println("Move forward="+anaVal); - } - else { - //System.out.println("Move nowhere="+anaVal); - } - - } - System.out.println("DyIO is not connected, exiting"); - } - }.start(); - - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener#onAnalogValueChange(com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel, double) - */ - @Override - public void onAnalogValueChange(AnalogInputChannel chan, double value) { - anaVal=(int) value; - //System.out.println("Analog value="+value); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IRobotDriveEventListener#onDriveEvent(com.neuronrobotics.addons.driving.AbstractRobotDrive, double, double, double) - */ - @Override - public void onDriveEvent(AbstractRobotDrive source, double x, double y,double orentation) { - //System.out.println("Robot pos: x="+x+" y="+y); - } - - /** - * The main method. - * - * @param a the arguments - */ - public static void main(String [] a) { - DyIO d = new DyIO(); - ConnectionDialog.getBowlerDevice(d); - if(d.isAvailable()) { - new KeepDistance(d); - }else{ - System.out.println("Failed"); - d.disconnect(); - } - } -} diff --git a/examples/java/src/com/neuronrobotics/addons/driving/LineTrack.java b/examples/java/src/com/neuronrobotics/addons/driving/LineTrack.java deleted file mode 100644 index d0ba5076..00000000 --- a/examples/java/src/com/neuronrobotics/addons/driving/LineTrack.java +++ /dev/null @@ -1,69 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import java.util.ArrayList; - -// TODO: Auto-generated Javadoc -/** - * The Class LineTrack. - */ -public class LineTrack implements IRobotDriveEventListener,ISensorListener{ - - /** The main robot. */ - AbstractRobotDrive mainRobot; - - /** The line. */ - AbstractSensor line; - - /** The drive vel. */ - private final int driveVel = 2; - - /** - * Run track. - * - * @param m the m - * @param l the l - */ - public void runTrack(AbstractRobotDrive m,AbstractSensor l) { - mainRobot=m; - line=l; - mainRobot.addIRobotDriveEventListener(this); - line.addSensorListener(this); - mainRobot.DriveVelocityStraight(driveVel); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.ISensorListener#onRangeSensorEvent(com.neuronrobotics.addons.driving.AbstractSensor, java.util.ArrayList, long) - */ - @Override - public void onRangeSensorEvent(AbstractSensor source,ArrayList data, long timeStamp) { - // Never gets called... - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.ISensorListener#onLineSensorEvent(com.neuronrobotics.addons.driving.AbstractSensor, java.lang.Integer, java.lang.Integer, java.lang.Integer, long) - */ - @Override - public void onLineSensorEvent(AbstractSensor source, Integer left,Integer middle, Integer right, long timeStamp) { - //System.out.println("Sensor Event left="+left+" middle="+middle+" right="+right); - double diff = (double)(left-right); - ///System.out.println("Steer value ="+diff); - if(left>500 && right>500){ - mainRobot.stopRobot(); - } - if(diff<100 && diff>-100) { - //System.out.println("Drive straight"); - mainRobot.DriveVelocityStraight(driveVel); - }else { - //System.out.println("turn"); - mainRobot.DriveVelocityArc((diff)/60, 2*((diff>0)?1:-1)); - } - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IRobotDriveEventListener#onDriveEvent(com.neuronrobotics.addons.driving.AbstractRobotDrive, double, double, double) - */ - @Override - public void onDriveEvent(AbstractRobotDrive source, double x, double y,double orentation) { - System.out.println("Drive Event: x="+x+" y="+y); - } -} diff --git a/examples/java/src/com/neuronrobotics/addons/driving/PuckBotDriveTest.java b/examples/java/src/com/neuronrobotics/addons/driving/PuckBotDriveTest.java deleted file mode 100644 index 21adf6fe..00000000 --- a/examples/java/src/com/neuronrobotics/addons/driving/PuckBotDriveTest.java +++ /dev/null @@ -1,59 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class PuckBotDriveTest. - */ -@SuppressWarnings("unused") -public class PuckBotDriveTest implements IRobotDriveEventListener { - - /** - * Instantiates a new puck bot drive test. - */ - public PuckBotDriveTest(){ - - PuckBot bot = new Rbe3002Robot(); - -// VirtualWorld w = new VirtualWorld(); -// PuckBot bot = new VirtualPuckBot(w); - - bot.setPuckBotKinematics(new PuckBotDefaultKinematics()); - bot.addIRobotDriveEventListener(this); - - - bot.DriveStraight(50, 6); - - ThreadUtil.wait(6000); - - bot.DriveArc(20, 90, 5); - - ThreadUtil.wait(6000); - - bot.DriveStraight(-50, 6); - - //bot.DriveStraight(-5, 1); - - ThreadUtil.wait(6000); - System.exit(0); - - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - new PuckBotDriveTest(); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IRobotDriveEventListener#onDriveEvent(com.neuronrobotics.addons.driving.AbstractRobotDrive, double, double, double) - */ - @Override - public void onDriveEvent(AbstractRobotDrive source, double x, double y,double orentation) { - //System.out.println("Drive Event x="+x+" y="+y+" orentation="+Math.toDegrees(orentation)); - } -} diff --git a/examples/java/src/com/neuronrobotics/addons/driving/RealLineTrack.java b/examples/java/src/com/neuronrobotics/addons/driving/RealLineTrack.java deleted file mode 100644 index d3e66c7d..00000000 --- a/examples/java/src/com/neuronrobotics/addons/driving/RealLineTrack.java +++ /dev/null @@ -1,65 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; -import com.neuronrobotics.sdk.addons.kinematics.ServoRotoryLink; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.DyIOChannelMode; -import com.neuronrobotics.sdk.dyio.dypid.DyPIDConfiguration; -import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; -import com.neuronrobotics.sdk.pid.PIDChannel; -import com.neuronrobotics.sdk.pid.PIDConfiguration; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class RealLineTrack. - */ -public class RealLineTrack { - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - final DyIO d = new DyIO(); - ConnectionDialog.getBowlerDevice(d); - if(d.isAvailable()) { - new Thread() { - public void run() { - DyPIDConfiguration dypid = new DyPIDConfiguration( 0,//PID group 0 - 23,//Input channel number - DyIOChannelMode.COUNT_IN_INT,//Input mode - 11,//Output Channel - DyIOChannelMode.SERVO_OUT);//Output mode - PIDConfiguration pid =new PIDConfiguration ( 0,//PID group - true,//enabled - false,//inverted - true,//Async - 1,// Kp - 1,// Ki - .5,0,false,false);//Kd - d.ConfigureDynamicPIDChannels(dypid); - d.ConfigurePIDController(pid); - - PIDChannel drive = d.getPIDChannel(0); - ServoChannel srv = new ServoChannel(d.getChannel(10)); - AbstractRobotDrive mainRobot = new AckermanBot( new ServoRotoryLink(srv, new LinkConfiguration(98, 51, 143, 1)), - drive ); - - AbstractSensor line = new LineSensor( new AnalogInputChannel(d.getChannel(14),true), - null, - new AnalogInputChannel(d.getChannel(13),true)); - - //new LineTrack().runTrack(mainRobot,line); - } - }.start(); - }else{ - System.out.println("Failed"); - d.disconnect(); - } - - } - -} diff --git a/examples/java/src/com/neuronrobotics/addons/driving/RealTimeLineTrackWithPID.java b/examples/java/src/com/neuronrobotics/addons/driving/RealTimeLineTrackWithPID.java deleted file mode 100644 index c52d55a5..00000000 --- a/examples/java/src/com/neuronrobotics/addons/driving/RealTimeLineTrackWithPID.java +++ /dev/null @@ -1,157 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.DyIOChannelMode; -import com.neuronrobotics.sdk.dyio.dypid.DyPIDConfiguration; -import com.neuronrobotics.sdk.pid.IPIDEventListener; -import com.neuronrobotics.sdk.pid.PIDConfiguration; -import com.neuronrobotics.sdk.pid.PIDEvent; -import com.neuronrobotics.sdk.pid.PIDLimitEvent; -import com.neuronrobotics.sdk.ui.ConnectionDialog; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class RealTimeLineTrackWithPID. - */ -public class RealTimeLineTrackWithPID implements IPIDEventListener { - - /** The l val. */ - int lVal=0; - - /** The r val. */ - int rVal=0; - - /** - * Instantiates a new real time line track with pid. - * - * @param dyio the dyio - */ - public RealTimeLineTrackWithPID(DyIO dyio){ - - - dyio.addPIDEventListener(this); - /** - * This configuration uses 2 line sensors and 2 continuous turn servos in the standard "Puck Bot" configuration - * - * The purpose of this demonstration is to show how to use the PID controller for more then just motor control. - * Since it is a generic controller it can link any input to any output, so in this example i took the input - * from the line sensor and attached it to the output of the drive motor. The PID keeps the robot on the line. - * I also added a listener to the system that can be used to detect a "Double Black" condition, which is used for - * stopping. This could be encapsulated as a set of behaviors that can be called up as needed at runtime, and - * the closed-loop control stays on the DyIO, while the High level command and decisions take place in Java. - */ - double p = .1; - DyPIDConfiguration dypidR = new DyPIDConfiguration( 1,//PID group 1 - - 10,//Input channel number - DyIOChannelMode.ANALOG_IN,//Input mode - 22,//Output Channel - DyIOChannelMode.SERVO_OUT);//Output mode - PIDConfiguration pidR =new PIDConfiguration ( 1,//PID group - true,//enabled - true,//inverted - true,//Async - p+.1,// Kp - 0,// Ki - 0,//Kd - //Latch values are only used with the Counter since analog is absolute and can not change its value - 0,//Value to load to the controller if the index pin is used. This value can be anything - false,//Use the auto-load of a latched in value when using the index pin - false);//Set the setpoint to the current location when index it reached - - DyPIDConfiguration dypidL = new DyPIDConfiguration( 0,//PID group 0 - 11,//Input channel number - DyIOChannelMode.ANALOG_IN,//Input mode - 23,//Output Channel - DyIOChannelMode.SERVO_OUT);//Output mode - PIDConfiguration pidL =new PIDConfiguration ( 0,//PID group - true,//enabled - false,//inverted - true,//Async - p,// Kp - 0,// Ki - 0,//Kd - //Latch values are only used with the Counter since analog is absolute and can not change its value - 0,//Value to load to the controller if the index pin is used. This value can be anything - false,//Use the auto-load of a latched in value when using the index pin - false);//Set the setpoint to the current location when index it reached - - //Setup the controller with the configurations - dyio.ConfigureDynamicPIDChannels(dypidR); - dyio.ConfigurePIDController(pidR); - dyio.ConfigureDynamicPIDChannels(dypidL); - dyio.ConfigurePIDController(pidL); - - //Set a single setpoint to the controler - dyio.SetPIDSetPoint( 0,//Group 0 - 970,//Tell the controller to go to position 500 - 0);//Take 0 secoinds to get there - dyio.SetPIDSetPoint( 1,//Group 1 - 970,//Tell the controller to go to position 500 - 0);//Take 0 secoinds to get there - - while(true){ - ThreadUtil.wait(100); - if(lVal >500 && rVal>500){ - System.out.println("Stop Condition!"); -// dyio.killAllPidGroups(); -// dyio.disconnect(); -// System.exit(0); - } - } - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - try{ - DyIO.disableFWCheck(); - DyIO dyio=new DyIO(); - //dyio.SetPrintModes(true, true); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(0); - } - new RealTimeLineTrackWithPID(dyio); - }catch (Exception ex){ - ex.printStackTrace(); - System.exit(0); - } - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDEvent(com.neuronrobotics.sdk.pid.PIDEvent) - */ - @Override - public void onPIDEvent(PIDEvent e) { - if(e.getGroup()==0){ - lVal = e.getValue(); - } - if(e.getGroup()==1){ - rVal = e.getValue(); - } - - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDLimitEvent(com.neuronrobotics.sdk.pid.PIDLimitEvent) - */ - @Override - public void onPIDLimitEvent(PIDLimitEvent e) { - // TODO Auto-generated method stub - - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDReset(int, int) - */ - @Override - public void onPIDReset(int group, int currentValue) { - // TODO Auto-generated method stub - - } - -} diff --git a/examples/java/src/com/neuronrobotics/addons/driving/VirtualLineTrack.java b/examples/java/src/com/neuronrobotics/addons/driving/VirtualLineTrack.java deleted file mode 100644 index dfc84404..00000000 --- a/examples/java/src/com/neuronrobotics/addons/driving/VirtualLineTrack.java +++ /dev/null @@ -1,33 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import com.neuronrobotics.addons.driving.virtual.VirtualLineSensor; -import com.neuronrobotics.addons.driving.virtual.VirtualPuckBot; -import com.neuronrobotics.addons.driving.virtual.VirtualWorld; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class VirtualLineTrack. - */ -public class VirtualLineTrack { - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - new Thread() { - public void run() { - VirtualWorld w = new VirtualWorld(); - AbstractRobotDrive a = new VirtualPuckBot(w); - AbstractSensor line = new VirtualLineSensor(a,w); - new LineTrack().runTrack(a,line); - } - }.start(); - while(true) { - ThreadUtil.wait(100); - } - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/AdvancedAsyncTest.java b/examples/java/src/com/neuronrobotics/test/dyio/AdvancedAsyncTest.java deleted file mode 100644 index f04db93a..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/AdvancedAsyncTest.java +++ /dev/null @@ -1,113 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import com.neuronrobotics.sdk.commands.bcs.io.AsyncThreshholdEdgeType; -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class AdvancedAsyncTest. - */ -public class AdvancedAsyncTest implements IAnalogInputListener{ - - /** The ana0. */ - //The analog channel is a property of the class - private AnalogInputChannel ana0; - - /** The ana1. */ - private AnalogInputChannel ana1; - - /** The ana2. */ - private AnalogInputChannel ana2; - - /** The ana3. */ - private AnalogInputChannel ana3; - - /** - * Instantiates a new advanced async test. - */ - public AdvancedAsyncTest() { - //Start the dyio with serial dialog - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - Log.enableDebugPrint(); - //Instantiate a new analog channel - //The second parameter tells the analog channel that is it an asynchronous channel - ana0 = new AnalogInputChannel(dyio.getChannel(8),true); - /** - * Setup as auto sample - * Take a sample evert 500ms and push an async packet - */ - //ana0.configAdvancedAsyncAutoSample(500);//Take a sample evert 500ms and push an async packet - //Add this instance of the Tester class to the analog channel - ana0.addAnalogInputListener(this); - - //The second parameter tells the analog channel that is it an asynchronous channel - ana1 = new AnalogInputChannel(dyio.getChannel(9),true); - /** - * Setup a dead-band async. - * This will trigger if the value is outside the band from the last value sent. - */ - ana1.configAdvancedAsyncDeadBand(10, 50); - //Add this instance of the Tester class to the analog channel - ana1.addAnalogInputListener(this); - - //The second parameter tells the analog channel that is it an asynchronous channel - ana2 = new AnalogInputChannel(dyio.getChannel(10),true); - /** - * Setup input with not-equal test - * This will trigger if the current value is not the same as the last value sent. - */ - ana2.configAdvancedAsyncNotEqual(10); - //Add this instance of the Tester class to the analog channel - ana2.addAnalogInputListener(this); - - //The second parameter tells the analog channel that is it an asynchronous channel - ana3 = new AnalogInputChannel(dyio.getChannel(11),true); - /** - * This is an edge trigger - * This will trigger is the value transitions from less then 300 to above/equal to 300. - */ - ana3.configAdvancedAsyncTreshhold(10, 300, AsyncThreshholdEdgeType.RISING); - //Add this instance of the Tester class to the analog channel - ana3.addAnalogInputListener(this); - //Run forever printing out analog events - while (true){ - try { - Thread.sleep(100); - } catch (InterruptedException e) { - e.printStackTrace(); - } - } - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - new AdvancedAsyncTest(); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener#onAnalogValueChange(com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel, double) - */ - @Override - public void onAnalogValueChange(AnalogInputChannel channel,double value) { - //Check the source of the event - if (channel == ana0) - System.out.println("Analog 0 event:"+value); - if (channel == ana1) - System.out.println("Analog 1 event:"+value); - if (channel == ana2) - System.out.println("Analog 2 event:"+value); - if (channel == ana3) - System.out.println("Analog 3 event:"+value); - } -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/AnalogInputTest.java b/examples/java/src/com/neuronrobotics/test/dyio/AnalogInputTest.java deleted file mode 100644 index 211ec737..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/AnalogInputTest.java +++ /dev/null @@ -1,40 +0,0 @@ -package com.neuronrobotics.test.dyio; -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class AnalogInputTest. - */ -public class AnalogInputTest { - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - DyIO.disableFWCheck(); - Log.enableDebugPrint(); - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - AnalogInputChannel ana = new AnalogInputChannel(dyio,15); - ana.setAsync(false); - //Loop forever printing out the voltage on the pin - ServoChannel servo = new ServoChannel(dyio, 1); - servo.SetPosition(128); - while(true){ - //System.out.println(ana.getValue()); - int currentVoltageValue =ana.getValue(); - int scaledVoltageValue = currentVoltageValue/4; - - servo.SetPosition(scaledVoltageValue); - } - } - -} \ No newline at end of file diff --git a/examples/java/src/com/neuronrobotics/test/dyio/AnalogInputTestsAsync.java b/examples/java/src/com/neuronrobotics/test/dyio/AnalogInputTestsAsync.java deleted file mode 100644 index 0214ed42..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/AnalogInputTestsAsync.java +++ /dev/null @@ -1,62 +0,0 @@ -package com.neuronrobotics.test.dyio; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class AnalogInputTestsAsync. - */ -public class AnalogInputTestsAsync implements IAnalogInputListener{ - - /** The ana. */ - //The analog channel is a property of the class - private AnalogInputChannel ana; - - /** - * Instantiates a new analog input tests async. - */ - public AnalogInputTestsAsync(){ - //Start the dyio with serial dialog - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - //Instantiate a new analog channel - //The second parameter tells the analog channel that is it an asynchronous channel - ana = new AnalogInputChannel(dyio.getChannel(11),true); - //Add this instance of the Tester class to the analog channel - ana.addAnalogInputListener(this); - //Run forever printing out analog events - while (true){ - try { - Thread.sleep(100); - } catch (InterruptedException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - } - - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - new AnalogInputTestsAsync(); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener#onAnalogValueChange(com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel, double) - */ - @Override - public void onAnalogValueChange(AnalogInputChannel channel,double value) { - //Check the source of the event - if (channel == ana) - System.out.println("Analog event:"+value); - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/BaudTest.java b/examples/java/src/com/neuronrobotics/test/dyio/BaudTest.java deleted file mode 100644 index 3118356e..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/BaudTest.java +++ /dev/null @@ -1,144 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import java.util.ArrayList; - -// TODO: Auto-generated Javadoc -/** - * The Class BaudTest. - */ -public class BaudTest { - - /** - * Instantiates a new baud test. - */ - public BaudTest(){ - ArrayList picBauds = new ArrayList(); - ArrayList avrBauds = new ArrayList(); - - for(int i=0xffff;i>0;i--){ - double tmp = (80000000.0/(4.0*(((double)i)+1.0))); - - int calculated = (int) ((80000000.0/(4.0*tmp))-1.0); - if(calculated == i&& tmp>10000){ - //System.out.println("Pic Baud = "+tmp+" baud Set = "+calculated); - picBauds.add(new BaudObject(i, tmp)); - } - } - - - for(int i=0xffff;i>0;i--){ - double tmp = 18432000.0/(16.0*((double)i+1.0)); - - int calculated =(int) (( 18432000.0/(16.0*tmp))-1.0); - if(calculated == i && tmp>10000){ - //System.out.println("AVR Baud = "+tmp+" baud Set = "+calculated); - avrBauds.add(new BaudObject(i, tmp)); - } - } - - for(BaudObject p:picBauds ){ - for(BaudObject a: avrBauds){ - double percent = almostEqual( a.getBaudrate(), p.getBaudrate()); - if(percent < .1 && percent > -1 ){ - System.out.print("\r\nAVR Baud = "+a.intValue()+" \tPic Baud = "+p.intValue()+ "\tPercent = "+percent); - System.out.print( " AVR Baud = "+a.getbRGValue()+" \tPic Baud = "+p.getbRGValue()); - } - } - } - } - - /** - * Almost equal. - * - * @param a the a - * @param b the b - * @return the double - */ - public static double almostEqual(double a, double b){ - double absoluteDifference = (a-b); - double percent = (absoluteDifference/a)*100; - return percent; - } - - /** - * The Class BaudObject. - */ - private class BaudObject{ - - /** The b rg value. */ - private int bRGValue; - - /** The baudrate. */ - private double baudrate; - - /** - * Instantiates a new baud object. - * - * @param BRGValue the BRG value - * @param baudrate the baudrate - */ - BaudObject(int BRGValue, double baudrate){ - setbRGValue(BRGValue); - this.setBaudrate(baudrate); - - } - - /** - * Gets the b rg value. - * - * @return the b rg value - */ - public int getbRGValue() { - return bRGValue; - } - - /** - * Sets the b rg value. - * - * @param bRGValue the new b rg value - */ - public void setbRGValue(int bRGValue) { - this.bRGValue = bRGValue; - } - - /** - * Gets the baudrate. - * - * @return the baudrate - */ - public double getBaudrate() { - return baudrate; - } - - /** - * Sets the baudrate. - * - * @param baudrate the new baudrate - */ - public void setBaudrate(double baudrate) { - this.baudrate = baudrate; - } - - /** - * Int value. - * - * @return the int - */ - public int intValue() { - // TODO Auto-generated method stub - return new Double(getBaudrate()).intValue(); - } - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - - new BaudTest(); - - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/ConcurrencyTest.java b/examples/java/src/com/neuronrobotics/test/dyio/ConcurrencyTest.java deleted file mode 100644 index 4fefa591..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/ConcurrencyTest.java +++ /dev/null @@ -1,62 +0,0 @@ -package com.neuronrobotics.test.dyio; - - -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.DigitalOutputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener; -import com.neuronrobotics.sdk.ui.ConnectionDialog; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class ConcurrencyTest. - */ -public class ConcurrencyTest implements IAnalogInputListener{ - - /** The doc. */ - private DigitalOutputChannel doc; - - /** The ana. */ - private AnalogInputChannel ana; - - /** - * Instantiates a new concurrency test. - */ - public ConcurrencyTest() { - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - doc = new DigitalOutputChannel(dyio.getChannel(1)); - ana = new AnalogInputChannel(dyio.getChannel(11),true); - //Add this instance of the Tester class to the analog channel - ana.addAnalogInputListener(this); - while (true){ - ThreadUtil.wait(100); - } - - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args){ - try{ - new ConcurrencyTest(); - }finally{ - System.exit(0); - } - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener#onAnalogValueChange(com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel, double) - */ - @Override - public void onAnalogValueChange(AnalogInputChannel chan, double value) { - // TODO Auto-generated method stub - doc.setHigh(value>512); - } -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/CoordinatedMotion.java b/examples/java/src/com/neuronrobotics/test/dyio/CoordinatedMotion.java deleted file mode 100644 index 9319bc04..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/CoordinatedMotion.java +++ /dev/null @@ -1,65 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import java.util.ArrayList; - -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class CoordinatedMotion. - */ -public class CoordinatedMotion { - - /** - * The main method. - * - * @param args the arguments - * @throws InterruptedException the interrupted exception - */ - public static void main(String[] args) throws InterruptedException { - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - dyio.connect(); - int [] vals = dyio.getAllChannelValues(); - //Set up the array of channels - ArrayList chans = new ArrayList(); - Log.enableDebugPrint(); - float time = 5; - for(int i=0;i<12;i++){ - chans.add(new ServoChannel(dyio.getChannel(i))); - } - //Set the DyIO into cached mode - dyio.setCachedMode(true); - int pos = 50; - for(int i=0;i<5;i++){ - if(pos==50){ - pos=200; - for(ServoChannel s:chans){ - //Store the cached value - s.getChannel().setCachedValue(pos); - } - - //Flush all values to the DyIO - dyio.flushCache(time); - }else{ - pos=50; - for(ServoChannel s:chans){ - // set the servo positions individually - s.SetPosition(pos, time); - if(s.getChannel().getCachedMode()) - s.getChannel().flush(); - } - } - - Thread.sleep((long) (time*1500)); - System.out.println("Sending "+pos); - } - System.exit(0); - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/CounterInputTest.java b/examples/java/src/com/neuronrobotics/test/dyio/CounterInputTest.java deleted file mode 100644 index 4ba1ef07..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/CounterInputTest.java +++ /dev/null @@ -1,33 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.CounterInputChannel; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class CounterInputTest. - */ -public class CounterInputTest { - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - //Instantiate a new counter input - CounterInputChannel enc=new CounterInputChannel(dyio.getChannel(23)); - //To reset the value of the encoder, simply set the channel value - enc.setValue(0); - while(true){ - System.out.println(enc.getValue()); - } - - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/CounterInputTestAsync.java b/examples/java/src/com/neuronrobotics/test/dyio/CounterInputTestAsync.java deleted file mode 100644 index e31515bc..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/CounterInputTestAsync.java +++ /dev/null @@ -1,63 +0,0 @@ -package com.neuronrobotics.test.dyio; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.CounterInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.ICounterInputListener; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class CounterInputTestAsync. - */ -public class CounterInputTestAsync implements ICounterInputListener{ - - /** The dip. */ - //The Counter channel is a property of the class - private CounterInputChannel dip; - - /** - * Instantiates a new counter input test async. - */ - public CounterInputTestAsync(){ - //Start the dyio with serial dialog - DyIO dyio=new DyIO(); - //dyio.SetPrintModes(true, true); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - //Instantiate a new Counter channel - //The second parameter tells the Counter channel that is it an asynchronous channel - dip = new CounterInputChannel(dyio.getChannel(23),true); - //Add this instance of the Tester class to the Counter channel - dip.addCounterInputListener(this); - //Run forever printing out Counter events - System.out.println("Running..."); - while (true){ - try { - Thread.sleep(100); - } catch (InterruptedException e) {} - } - - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.ICounterInputListener#onCounterValueChange(com.neuronrobotics.sdk.dyio.peripherals.CounterInputChannel, int) - */ - @Override - public void onCounterValueChange(CounterInputChannel source, int value) { - //Check the source of the event - if (source == dip) - System.out.println("Counter event:"+value); - } - - /** - * The main method. - * - * @param args the arguments - * @throws InterruptedException the interrupted exception - */ - public static void main(String[] args) throws InterruptedException { - //Start the tester class - new CounterInputTestAsync(); - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/CounterOutputAsyncTest.java b/examples/java/src/com/neuronrobotics/test/dyio/CounterOutputAsyncTest.java deleted file mode 100644 index 039c0df3..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/CounterOutputAsyncTest.java +++ /dev/null @@ -1,56 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.CounterOutputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.ICounterOutputListener; -import com.neuronrobotics.sdk.ui.ConnectionDialog; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class CounterOutputAsyncTest. - */ -public class CounterOutputAsyncTest implements ICounterOutputListener { - - /** The stepper. */ - CounterOutputChannel stepper; - - /** - * Instantiates a new counter output async test. - */ - public CounterOutputAsyncTest () { - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - //Instantiate a new counter input - stepper=new CounterOutputChannel(dyio.getChannel(21)); - stepper.addCounterOutputListener(this); - // Move 5 steps - stepper.SetPosition(10000, 30); - ThreadUtil.wait(30000); - stepper.SetPosition(0, 0); - dyio.disconnect(); - System.exit(0); - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - new CounterOutputAsyncTest (); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.ICounterOutputListener#onCounterValueChange(com.neuronrobotics.sdk.dyio.peripherals.CounterOutputChannel, int) - */ - @Override - public void onCounterValueChange(CounterOutputChannel source, int value) { - if(source == stepper) { - System.out.println("Current Position is: "+value); - } - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/CounterOutputTimedTest.java b/examples/java/src/com/neuronrobotics/test/dyio/CounterOutputTimedTest.java deleted file mode 100644 index b478063c..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/CounterOutputTimedTest.java +++ /dev/null @@ -1,34 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.CounterOutputChannel; -import com.neuronrobotics.sdk.ui.ConnectionDialog; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class CounterOutputTimedTest. - */ -public class CounterOutputTimedTest { - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - //Instantiate a new counter input - CounterOutputChannel stepper=new CounterOutputChannel(dyio.getChannel(21)); - // Move 5 steps - stepper.SetPosition(10000, 30); - ThreadUtil.wait(30000); - stepper.SetPosition(0, 0); - dyio.disconnect(); - System.exit(0); - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/CounterStepperTest.java b/examples/java/src/com/neuronrobotics/test/dyio/CounterStepperTest.java deleted file mode 100644 index d9f7bb10..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/CounterStepperTest.java +++ /dev/null @@ -1,32 +0,0 @@ -package com.neuronrobotics.test.dyio; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.CounterOutputChannel; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class CounterStepperTest. - */ -public class CounterStepperTest { - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - //Instantiate a new counter input - CounterOutputChannel stepper=new CounterOutputChannel(dyio.getChannel(23)); - //Loop forever printing out the satate of the button - // Move 5 steps - stepper.setValue(5); - dyio.disconnect(); - System.exit(0); - - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/DCMotorTest.java b/examples/java/src/com/neuronrobotics/test/dyio/DCMotorTest.java deleted file mode 100644 index 4df3a91f..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/DCMotorTest.java +++ /dev/null @@ -1,38 +0,0 @@ -package com.neuronrobotics.test.dyio; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.DCMotorOutputChannel; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class DCMotorTest. - */ -public class DCMotorTest { - - /** - * The main method. - * - * @param args the arguments - * @throws InterruptedException the interrupted exception - */ - public static void main(String[] args) throws InterruptedException { - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - DCMotorOutputChannel dc = new DCMotorOutputChannel(dyio.getChannel(4)); - //Loop 10 times setting the dc output - float time = 5; - for(int i = 0; i < 10; i++) { - System.out.println("Moving."); - // Set the velocity from off to full - int pos = ((i%2==0)?128:0); - dc.setValue(pos); - // pause between cycles so that the changes are visible - Thread.sleep((long) (time*1000)); - } - dyio.disconnect(); - System.exit(0); - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/DIgitalOutputTest.java b/examples/java/src/com/neuronrobotics/test/dyio/DIgitalOutputTest.java deleted file mode 100644 index 10a82565..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/DIgitalOutputTest.java +++ /dev/null @@ -1,53 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.DigitalInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.DigitalOutputChannel; -import com.neuronrobotics.sdk.serial.SerialConnection; -import com.neuronrobotics.sdk.ui.ConnectionDialog; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class DIgitalOutputTest. - */ -public class DIgitalOutputTest { - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - Log.enableWarningPrint(); - DyIO.disableFWCheck(); - SerialConnection.getAvailableSerialPorts(); - ThreadUtil.wait(5000); - DyIO dyio=new DyIO(new SerialConnection("/dev/ttyACM0", 115200)); - dyio.connect(); -// if (!ConnectionDialog.getBowlerDevice(dyio)){ -// System.exit(1); -// } -// - DigitalOutputChannel doc = new DigitalOutputChannel(dyio.getChannel(13)); - // Blink the LED 5 times - for(int i = 0; i < 10; i++) { - System.out.println("Blinking."); - // Set the value high every other time, exit if unsuccessful - if(!doc.setHigh(i % 2 == 1)) { - System.err.println("Could not connect to the device."); - System.exit(0); - } - // pause between cycles so that the changes are visible - try { - Thread.sleep(1000); - } catch (InterruptedException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - } - System.exit(0); - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/DigitalInputTestAsync.java b/examples/java/src/com/neuronrobotics/test/dyio/DigitalInputTestAsync.java deleted file mode 100644 index 400b37db..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/DigitalInputTestAsync.java +++ /dev/null @@ -1,70 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.DigitalInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.IDigitalInputListener; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class DigitalInputTestAsync. - */ -public class DigitalInputTestAsync implements IDigitalInputListener{ - - /** The dip. */ - //The digital channel is a property of the class - private DigitalInputChannel dip; - - /** - * Instantiates a new digital input test async. - * - * @throws InterruptedException the interrupted exception - */ - public DigitalInputTestAsync() throws InterruptedException{ - //Start the dyio with serial dialog - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - //Instantiate a new digital channel - //The second parameter tells the digital channel that is it an asynchronous channel - for(int i=0;i<24;i++) { - new DigitalInputChannel(dyio.getChannel(i),false); - } -// dip = new DigitalInputChannel(dyio.getChannel(0),true); -// //Add this instance of the Tester class to the digital channel -// dip.addDigitalInputListener(this); -// //Run forever printing out digital events - while (true){ - Thread.sleep(100); - } - //dyio.disconnect(); - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - // TODO Auto-generated method stub - try { - new DigitalInputTestAsync(); - } catch (Exception e) { - // TODO Auto-generated catch block - e.printStackTrace(); - System.exit(1); - } - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.IDigitalInputListener#onDigitalValueChange(com.neuronrobotics.sdk.dyio.peripherals.DigitalInputChannel, boolean) - */ - @Override - public void onDigitalValueChange(DigitalInputChannel source, boolean isHigh) { - //Check the source of the event - if (source == dip) - System.out.println("Digital event:"+isHigh); - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/DigitalInputTestSync.java b/examples/java/src/com/neuronrobotics/test/dyio/DigitalInputTestSync.java deleted file mode 100644 index 00a7f150..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/DigitalInputTestSync.java +++ /dev/null @@ -1,35 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.DigitalInputChannel; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class DigitalInputTestSync. - */ -public class DigitalInputTestSync { - - /** - * The main method. - * - * @param args the arguments - * @throws InterruptedException the interrupted exception - */ - public static void main(String[] args) throws InterruptedException { - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - Log.enableDebugPrint(); - DigitalInputChannel dig = new DigitalInputChannel(dyio.getChannel(0)); - //Loop forever printing out the state of the button - while(true){ - System.out.println(dig.isHigh()); - Thread.sleep(100); - } - - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/DyIOAPITest.java b/examples/java/src/com/neuronrobotics/test/dyio/DyIOAPITest.java deleted file mode 100644 index f4c935f6..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/DyIOAPITest.java +++ /dev/null @@ -1,42 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import java.util.ArrayList; - -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.DyIOChannelMode; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class DyIOAPITest. - */ -public class DyIOAPITest { - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - - int num = dyio.getDyIOChannelCount(); - - System.out.println("Number of channels = "+num); - - for(int i=0;i modes = dyio.getAvailibleChannelModes(i); - - for(DyIOChannelMode m:modes){ - System.out.println("\tHas "+m); - } - - } - System.exit(0); - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/DyIONamespaceTester.java b/examples/java/src/com/neuronrobotics/test/dyio/DyIONamespaceTester.java deleted file mode 100644 index 2225f81b..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/DyIONamespaceTester.java +++ /dev/null @@ -1,47 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class DyIONamespaceTester. - */ -public class DyIONamespaceTester { - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - DyIO dyio=new DyIO(); - - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - - - dyio.getRevisions(); - - String name = dyio.getInfo(); - - dyio.setInfo("My DyIO"); - - String newName = dyio.getInfo(); - - - dyio.setInfo(name); - - - double volts = dyio.getBatteryVoltage(true); - - dyio.setServoPowerSafeMode(true); - - System.out.println("Name was: "+name+" set to "+newName); - System.out.println("Set to "+newName); - System.out.println("Voltage = "+volts+" bank A = "+dyio.getBankAState()+" bank B = "+dyio.getBankBState()); - //System.exit(0); - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/PID_test.java b/examples/java/src/com/neuronrobotics/test/dyio/PID_test.java deleted file mode 100644 index dded7ea4..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/PID_test.java +++ /dev/null @@ -1,126 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.DyIOChannelMode; -import com.neuronrobotics.sdk.dyio.dypid.DyPIDConfiguration; -import com.neuronrobotics.sdk.pid.IPIDEventListener; -import com.neuronrobotics.sdk.pid.PDVelocityConfiguration; -import com.neuronrobotics.sdk.pid.PIDChannel; -import com.neuronrobotics.sdk.pid.PIDConfiguration; -import com.neuronrobotics.sdk.pid.PIDEvent; -import com.neuronrobotics.sdk.pid.PIDLimitEvent; -import com.neuronrobotics.sdk.ui.ConnectionDialog; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class PID_test. - */ -public class PID_test implements IPIDEventListener{ - - /** - * Instantiates a new PI d_test. - */ - public PID_test(){ - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(0); - } - Log.enableSystemPrint(false); - System.out.println("Availible PID channels = "+dyio.getPIDChannelCount()); - PDVelocityConfiguration conf = dyio.getPDVelocityConfiguration(2); - System.out.println("VPDa = "+conf); - - conf.setKP(.2); - dyio.ConfigurePDVelovityController(conf); - - System.out.println("VPDb = "+dyio.getPDVelocityConfiguration(2)); - - - dyio.addPIDEventListener(this); - DyPIDConfiguration dypid = new DyPIDConfiguration( 0,//PID group 0 - 23,//Input channel number - DyIOChannelMode.COUNT_IN_INT,//Input mode - 11,//Output Channel - DyIOChannelMode.SERVO_OUT);//Output mode - PIDConfiguration pid =new PIDConfiguration ( 0,//PID group - true,//enabled - true,//inverted - true,//Async - 1,// Kp - 0,// Ki - 0,//Kd - //Latch values are only used with the Counter since analog is absolute and can not change its value - 37,//Value to load to the controller if the index pin is used. This value can be anything - true,//Use the auto-load of a latched in value when using the index pin - true);//Set the setpoint to the current location when index it reached - - //Setup the controller with the 2 configurations - dyio.ConfigureDynamicPIDChannels(dypid); - dyio.ConfigurePIDController(pid); - - //Set a single setpoint to the controler - dyio.SetPIDSetPoint( 0,//Group 0 - 500,//Tell the controller to go to position 500 - 2.5);//Take 2.5 secoinds to get there - ThreadUtil.wait(2500);//Wait for the controller to reach its destination - //Now we will set up the channel wrapping object - //No further configuration is needed since it was configured above - PIDChannel chan0 = dyio.getPIDChannel(0); - //Set a value to be cached by the channel and sent later - chan0.setCachedTargetValue(-500); - //Do something else - ThreadUtil.wait(1000); - //Now we can flush the entire PID controller - //NOTE any other cached values will be sent to the device at the same time - //This is a way of using co-ordinated motion for the PID system - dyio.flushPIDChannels(2500); - ThreadUtil.wait(2500);//Wait for the controller to reach its destination - //This disables all of the PID loops running on the device at once - dyio.killAllPidGroups(); - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - try{ - new PID_test(); - }catch(Exception e){ - e.printStackTrace(); - System.err.println("Failed out!"); - System.exit(-1); - } - - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDEvent(com.neuronrobotics.sdk.pid.PIDEvent) - */ - @Override - public void onPIDEvent(PIDEvent e) { - //System.out.println(e); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDReset(int, int) - */ - @Override - public void onPIDReset(int group, int currentValue) { - // TODO Auto-generated method stub - - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDLimitEvent(com.neuronrobotics.sdk.pid.PIDLimitEvent) - */ - @Override - public void onPIDLimitEvent(PIDLimitEvent e) { - // TODO Auto-generated method stub - - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/PPMReaderTest.java b/examples/java/src/com/neuronrobotics/test/dyio/PPMReaderTest.java deleted file mode 100644 index bad1d3b5..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/PPMReaderTest.java +++ /dev/null @@ -1,70 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.IPPMReaderListener; -import com.neuronrobotics.sdk.dyio.peripherals.PPMReaderChannel; -import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class PPMReaderTest. - */ -public class PPMReaderTest implements IPPMReaderListener{ - - /** - * Instantiates a new PPM reader test. - * - * @throws InterruptedException the interrupted exception - */ - public PPMReaderTest() throws InterruptedException{ - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(1); - } - - PPMReaderChannel ppm = new PPMReaderChannel(dyio.getChannel(23)); - ppm.addPPMReaderListener(this); - - int servoChan = 4; - - new ServoChannel(dyio.getChannel(servoChan));//Sets up the output channel for PPM cross link - ppm.stopAllCrossLinks(); - int [] cross = ppm.getCrossLink(); - //cross[0]=PPMReaderChannel.NO_CROSSLINK;//shut off the cross link for a channel - cross[0]=servoChan;//link ppm signal 0 to DyIO channel servoChan - ppm.setCrossLink(cross); - - while (true){ - Thread.sleep(100); - } - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - - try{ - new PPMReaderTest(); - }catch(Exception e){ - e.printStackTrace(); - } - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.IPPMReaderListener#onPPMPacket(int[]) - */ - @Override - public void onPPMPacket(int[] values) { - String s="PPM event: ["; - for(int i=0;i500 && rightValue>500) - break; - if(lastlMValue != lMValue ||lastrMValue != rMValue ){ - leftServo.SetPosition(lMValue); - lastlMValue = lMValue; - rightServo.SetPosition(rMValue); - lastrMValue = rMValue; - dyio.flushCache(0); - } - ThreadUtil.wait(10); - } - System.out.println("Stop Condition!"); - rightServo.SetPosition(127); - leftServo.SetPosition(127); - dyio.flushCache(0); - } - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - try{ - new SimpleLineFollow(); - }catch(Exception ex){ - ex.printStackTrace(); - System.exit(1); - } - System.exit(0); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener#onAnalogValueChange(com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel, double) - */ - @Override - public void onAnalogValueChange(AnalogInputChannel chan, double value) { - if (value>1024) - return; - if(chan==leftSensor) - leftValue=value; - if(chan==rightSensor) - rightValue=value; - setVelocity(1-(leftValue/1024), 1-(rightValue/1024)); - //System.out.println( "Setting velocity left="+leftValue+" right="+rightValue); - } - - /** The scale. */ - double scale=20; - - /** - * Sets the velocity. - * - * @param l the l - * @param r the r - */ - private void setVelocity(double l, double r){ - r*=-1; - - l=(l*scale)+127; - r=(r*scale)+127; - if(l>220) - l=220; - if(l<50) - l=50; - - if(r>220) - r=220; - if(r<50) - r=50; - rMValue=(int) r; - lMValue=(int) l; - //dyio.flushCache(0); - //System.out.println( "Setting velocity left="+l+" right="+r); - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/SpeedTest.java b/examples/java/src/com/neuronrobotics/test/dyio/SpeedTest.java deleted file mode 100644 index 7f9437ef..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/SpeedTest.java +++ /dev/null @@ -1,141 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import com.neuronrobotics.sdk.common.BowlerAbstractConnection; -import com.neuronrobotics.sdk.common.ByteList; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.DigitalInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class SpeedTest. - */ -public class SpeedTest { - - /** - * The main method. - * - * @param args the arguments - */ - public static void main(String[] args) { - DyIO.disableFWCheck(); - ByteList.setUseStaticBuffer(true); - - -// BowlerAbstractConnection c = new SerialConnection("/dev/DyIO0") -// BowlerAbstractConnection c = new SerialConnection("COM65") - BowlerAbstractConnection c = ConnectionDialog.promptConnection(); - c.setThreadedUpstreamPackets(false); - if(c==null) - System.exit(1); - System.out.println("Starting test"); - DyIO dyio = new DyIO(c); - //dyio.setThreadedUpstreamPackets(false); - long start = System.currentTimeMillis(); - dyio.connect(); - dyio.setServoPowerSafeMode(false); - - System.out.println("Startup time: "+(System.currentTimeMillis()-start)+" ms"); - //dyio.enableDebug(); - dyio.setServoPowerSafeMode(false); - for (int i=0;i<24;i++){ - dyio.getChannel(i).setAsync(false); - } - DigitalInputChannel dip = new DigitalInputChannel(dyio.getChannel(0)); - ServoChannel dop = new ServoChannel(dyio.getChannel(1)); -// new PPMReaderChannel(dyio.getChannel(23)); -// new ServoChannel(dyio.getChannel(11)); - - - double avg=0; - - int i; - - - avg=0; - start = System.currentTimeMillis(); - double best=1000; - double worst=0; - for(i=0;i<500;i++) { - dyio.ping(); - double ms=System.currentTimeMillis()-start; - avg +=ms; - start = System.currentTimeMillis(); - if (msworst) - worst=ms; - } - System.out.println("Average cycle time for ping: "+(avg/i)+" ms"+" best="+ best/2+"ms worst="+worst/2); - - - boolean high = false; - //dyio.setCachedMode(true); - - avg=0; - best=1000; - worst=0; - double numLoops =500.0; - for(i=0;i< numLoops;i++) { - start = System.currentTimeMillis(); - try { - dip.getValue(); - dop.SetPosition((int) ((((double)i)/ numLoops)*255.0)); - }catch(Exception ex) { - ex.printStackTrace(); - } - double ms=System.currentTimeMillis()-start; - if (msworst) - worst=ms; - avg +=ms; - start = System.currentTimeMillis(); - //System.out.println("Average cycle time: "+(int)(avg/i)/2+"ms\t\t\t this loop was: "+ms/2+"\t\tindex="+i); - } - dop.SetPosition(128); - System.out.println("Average cycle time for IO : "+(avg/(i+1))/2+" ms best="+ best/2+"ms worst="+worst/2); - - avg=0; - best=1000; - worst=0; - dyio.setCachedMode(true); - //Log.enableDebugPrint(true); - for(i=0;i<500;i++) { - start = System.currentTimeMillis(); - dyio.flushCache(0); - double ms=System.currentTimeMillis()-start; - if (msworst) - worst=ms; - avg +=ms; - start = System.currentTimeMillis(); - //System.out.println("Average cycle time: "+(int)(avg/i)+"ms\t\t\t this loop was: "+ms); - } - System.out.println("Average cycle time for cache flush: "+(avg/(i+1))+" ms best="+ best+"ms worst="+worst); - - avg=0; - best=1000; - worst=0; - dyio.setCachedMode(true); - //Log.enableDebugPrint(true); - for(i=0;i<500;i++) { - start = System.currentTimeMillis(); - dyio.getAllChannelValues(); - double ms=System.currentTimeMillis()-start; - if (msworst) - worst=ms; - avg +=ms; - start = System.currentTimeMillis(); - //System.out.println("Average cycle time: "+(int)(avg/i)+"ms\t\t\t this loop was: "+ms); - } - System.out.println("Average cycle time for values get: "+(avg/(i+1))+" ms best="+ best+"ms worst="+worst); - dyio.setServoPowerSafeMode(true); - System.exit(0); - } - -} diff --git a/examples/java/src/com/neuronrobotics/test/dyio/USARTTest.java b/examples/java/src/com/neuronrobotics/test/dyio/USARTTest.java deleted file mode 100644 index 456b9325..00000000 --- a/examples/java/src/com/neuronrobotics/test/dyio/USARTTest.java +++ /dev/null @@ -1,57 +0,0 @@ -package com.neuronrobotics.test.dyio; - -import java.io.IOException; - -import com.neuronrobotics.sdk.common.ByteList; -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.UARTChannel; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class USARTTest. - */ -public class USARTTest{ - - /** - * The main method. - * - * @param args the arguments - * @throws InterruptedException the interrupted exception - */ - public static void main(String [] args) throws InterruptedException { - DyIO dyio=new DyIO(); - if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(0); - } - //Instantiate the UARTPassThroughChannel - UARTChannel uart = new UARTChannel(dyio); - //Configure the DyIO's output UART to use 115200 baud - uart.setUARTBaudrate(115200); - //Create a test string and send it to the serial port - String s = new String("abcdefghijklmnopqrstuvwxyz"); - ByteList stream = new ByteList(s.getBytes()); - try{ - System.out.println("Sending: "+stream.asString()); - uart.sendBytes(stream); - }catch(IOException e){ - e.printStackTrace(); - System.exit(1); - } - Thread.sleep(1000); - //Wait for data to arrive - while (!uart.inStreamDataReady()){ - Thread.sleep(10); - } - //Print out the data we got back - try { - System.out.println("Got input: " + new ByteList(uart.getBytes()).asString()); - } catch (Exception e) { - e.printStackTrace(); - System.exit(1); - } - //Cleanup and exit - dyio.disconnect(); - System.exit(0); - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/AbstractRobotDrive.java b/src/main/java/com/neuronrobotics/addons/driving/AbstractRobotDrive.java deleted file mode 100644 index 88f31ab7..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/AbstractRobotDrive.java +++ /dev/null @@ -1,228 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import java.util.ArrayList; - -import com.neuronrobotics.sdk.common.NonBowlerDevice; -import com.neuronrobotics.sdk.pid.IPIDEventListener; -import com.neuronrobotics.sdk.pid.PIDLimitEvent; - -// TODO: Auto-generated Javadoc -/** - * The Class AbstractRobotDrive. - */ -public abstract class AbstractRobotDrive extends NonBowlerDevice implements IPIDEventListener{ - - /** The dl. */ - private ArrayList dl = new ArrayList (); - - /** The current x. */ - private double currentX=0; - - /** The current y. */ - private double currentY=0; - - /** The current orentation. */ - private double currentOrentation=Math.PI/2; - - /** - * Instantiates a new abstract robot drive. - */ - protected AbstractRobotDrive(){ - - } - - /** - * Driving kinematics should be implemented in here - * Before driving, a reset for each drive wheel should be called. - * - * @param cm how many centimeters should be driven - * @param seconds how many seconds it should take - */ - public abstract void DriveStraight(double cm,double seconds); - /** - * Driving kinematics should be implemented in here - * Before driving, a reset for each drive wheel should be called - * NOTE This should obey the right-hand rule. - * @param cmRadius radius of curve (centimeters) - * @param degrees degrees of the arch to sweep through - * @param seconds how many seconds it should take - */ - public abstract void DriveArc(double cmRadius,double degrees,double seconds); - - /** - * Tells the robot to start driving at a speed without any endpoint. - * The encoding will track the progress. - * - * @param cmPerSecond the cm per second - */ - public abstract void DriveVelocityStraight(double cmPerSecond); - /** - * Tells the robot to start driving at a speed without any endpoint. - * The encoding will track the progress. - * The radius is how much turn arch is needed - * @param degreesPerSecond is now much orientation will change over time - * @param cmRadius is the radius of the turn. 0 is turn on center, infinity is driving straight - */ - public abstract void DriveVelocityArc(double degreesPerSecond, double cmRadius); - - /** - * Is the robot still availible. - * - * @return true if the robot is availible - */ - public abstract boolean isAvailable(); - - /** - * Stop robot. - */ - public void stopRobot(){ - DriveStraight(0,0); - } - - /** - * Gets the robot location. - * - * @return the robot location - */ - public RobotLocationData getRobotLocation(){ - return new RobotLocationData(getCurrentX(), getCurrentY(), getCurrentOrentation()); - } - - /** - * Sets the current x. - * - * @param currentX the new current x - */ - public void setCurrentX(double currentX) { - //System.out.println("Current X is: "+currentX); - this.currentX = currentX; - } - - /** - * Gets the current x. - * - * @return the current x - */ - public double getCurrentX() { - return currentX; - } - - /** - * Sets the current y. - * - * @param currentY the new current y - */ - public void setCurrentY(double currentY) { - //System.out.println("Current Y is: "+currentY); - this.currentY = currentY; - } - - /** - * Gets the current y. - * - * @return the current y - */ - public double getCurrentY() { - return currentY; - } - - /** - * Sets the current orentation. - * - * @param o the new current orentation - */ - public void setCurrentOrentation(double o) { - //System.out.println("Current orentation is: "+Math.toDegrees(currentTheta)); - this.currentOrentation = o; - } - - /** - * Gets the current orentation. - * - * @return current orentation in radians - */ - public double getCurrentOrentation() { - return currentOrentation; - } - - /** - * Fire drive event. - */ - public void fireDriveEvent(){ - for(IRobotDriveEventListener l:dl){ - l.onDriveEvent(this,currentX, currentY, currentOrentation); - } - } - - /** - * Adds the i robot drive event listener. - * - * @param l the l - */ - public void addIRobotDriveEventListener(IRobotDriveEventListener l){ - if(!dl.contains(l)) - dl.add(l); - } - - - /** - * Gets the position offset. - * - * @param deltLateral the delt lateral - * @param deltForward the delt forward - * @return the position offset - */ - public double [] getPositionOffset(double deltLateral, double deltForward) { - double [] back ={0,0}; - - back[0] = getCurrentX(); - back[1] = getCurrentY(); - double o = getCurrentOrentation(); - - back[0]+=deltForward*Math.cos(o); - back[1]+=deltForward*Math.sin(o); - - back[0]-=deltLateral*Math.sin(o); - back[1]+=deltLateral*Math.cos(o); - - return back; - } - - /** - * Sets the robot location update. - * - * @param d the new robot location update - */ - public void setRobotLocationUpdate(RobotLocationData d) { -// if(d==null) -// return; - //System.out.println("Robot pos update "+d); - //System.out.println("Before "+this); - double [] loc = getPositionOffset(d.getDeltaX(), d.getDeltaY()); - setCurrentX(loc[0]); - setCurrentY(loc[1]); - setCurrentOrentation( getCurrentOrentation()+d.getDeltaOrentation()); - //System.out.println("After "+this); - fireDriveEvent(); - } - - /* (non-Javadoc) - * @see java.lang.Object#toString() - */ - public String toString() { - String s=getClass().toString()+ - " Current location: \n\tx="+getCurrentX()+ - " cm \n\ty="+getCurrentY()+ - " cm \n\torentation="+Math.toDegrees(getCurrentOrentation())+" degrees"; - return s; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDLimitEvent(com.neuronrobotics.sdk.pid.PIDLimitEvent) - */ - @Override - public void onPIDLimitEvent(PIDLimitEvent e) { - // do nothing, drive motors have no limits - } - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/AbstractSensor.java b/src/main/java/com/neuronrobotics/addons/driving/AbstractSensor.java deleted file mode 100644 index b1ee6aaf..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/AbstractSensor.java +++ /dev/null @@ -1,69 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import java.util.ArrayList; - -// TODO: Auto-generated Javadoc -/** - * The Class AbstractSensor. - */ -public abstract class AbstractSensor { - - /** The sensor listeners. */ - private ArrayList sensorListeners = new ArrayList(); - - /** - * Instantiates a new abstract sensor. - */ - protected AbstractSensor() { - - } - - /** - * Add an IDriveListener that will be contacted with an on - * each incoming data event. - * - * @param l the l - */ - public void addSensorListener(ISensorListener l) { - if(sensorListeners.contains(l)) { - return; - } - sensorListeners.add(l); - } - - /** - * Contact all of the sensorListeners with the given event. - * - * @param data the data - * @param timeStamp the time stamp - */ - public void fireRangeSensorEvent(ArrayList data,long timeStamp) { - for(ISensorListener l : sensorListeners) { - l.onRangeSensorEvent(this,data,timeStamp); - } - } - - /** - * Contact all of the sensorListeners with the given event. - * - * @param left the left - * @param middle the middle - * @param right the right - * @param timeStamp the time stamp - */ - public void fireLineSensorEvent(Integer left,Integer middle,Integer right,long timeStamp) { - for(ISensorListener l : sensorListeners) { - l.onLineSensorEvent(this,left,middle,right,timeStamp); - } - } - - /** - * Start sweep. - * - * @param start the start - * @param stop the stop - * @param increment the increment - */ - public abstract void StartSweep(double start, double stop, double increment); - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/AckermanBot.java b/src/main/java/com/neuronrobotics/addons/driving/AckermanBot.java deleted file mode 100644 index 12cb9e69..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/AckermanBot.java +++ /dev/null @@ -1,332 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import java.util.ArrayList; - -import com.neuronrobotics.sdk.addons.kinematics.ServoRotoryLink; -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.dyio.peripherals.DigitalOutputChannel; -import com.neuronrobotics.sdk.pid.PIDChannel; -import com.neuronrobotics.sdk.pid.PIDEvent; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class AckermanBot. - */ -public class AckermanBot extends AbstractRobotDrive { - - - /** steeringAngle in radians. */ - protected double steeringAngle=0; - - /** The steering. */ - ServoRotoryLink steering; - - /** The drive. */ - PIDChannel drive; - - /** The l steer. */ - PIDChannel lSteer; - - /** The r steer. */ - PIDChannel rSteer; - - /** The b steer. */ - PIDChannel bSteer; - - /** The complex steering. */ - boolean complexSteering=false; - - /** The ak. */ - private IAckermanBotKinematics ak = new AckermanDefaultKinematics(); - - /** The drive enable. */ - private DigitalOutputChannel driveEnable; - - /** The drive direction. */ - private DigitalOutputChannel driveDirection; - - /** The scale. */ - private double scale = 360.0/4096.0; - - /** The current encoder reading. */ - private int currentEncoderReading; - - /** - * Instantiates a new ackerman bot. - */ - protected AckermanBot(){ - - } - - /** - * Instantiates a new ackerman bot. - * - * @param s the s - * @param d the d - */ - public AckermanBot(ServoRotoryLink s,PIDChannel d) { - setPIDChanel(d); - steering=s; - } - - /** - * Instantiates a new ackerman bot. - * - * @param drive the drive - * @param lSteer the l steer - * @param rSteer the r steer - * @param bSteer the b steer - * @param driveEnable the drive enable - * @param driveDirection the drive direction - * @param akermanConfigs the akerman configs - */ - public AckermanBot( PIDChannel drive, - PIDChannel lSteer, - PIDChannel rSteer, - PIDChannel bSteer, - DigitalOutputChannel driveEnable, - DigitalOutputChannel driveDirection, - IAckermanBotKinematics akermanConfigs) { - ak=akermanConfigs; - this.driveEnable = driveEnable; - this.driveDirection = driveDirection; - setPIDChanel(drive); - - this.lSteer=lSteer; - this.rSteer=rSteer; - this.bSteer=bSteer; - complexSteering=true; - SetDriveVelocity(0); - } - - /** - * Sets the PID chanel. - * - * @param d the new PID chanel - */ - protected void setPIDChanel(PIDChannel d){ - drive=d; - drive.addPIDEventListener(this); - } - - /** - * Sets the steering hardware angle. - * - * @param s the new steering hardware angle - */ - public void setSteeringHardwareAngle(double s) { - if(complexSteering==false){ - steering.setTargetAngle(s); - steering.flush(0); - - }else{ - this.lSteer.SetPIDSetPoint((int) (s/scale), 0); - this.rSteer.SetPIDSetPoint((int) (s/scale), 0); - this.bSteer.SetPIDSetPoint(0, 0); - } - } - - /** - * Sets the steering angle. - * - * @param s the new steering angle - */ - public void setSteeringAngle(double s) { - steeringAngle = s; - setSteeringHardwareAngle(s); - } - - /** - * Sets the drive data. - * - * @param d the new drive data - */ - public void setDriveData(AckermanBotDriveData d) { - ResetDrivePosition(); - - setSteeringAngle(d.getSteerAngle()); - SetDriveDistance(d.getTicksToTravil(), d.getSecondsToTravil()); - } - - /** - * Sets the velocity data. - * - * @param d the new velocity data - */ - public void setVelocityData(AckermanBotVelocityData d) { - ResetDrivePosition(); - setSteeringAngle(d.getSteerAngle()); - SetDriveVelocity((int) d.getTicksPerSecond()); - } - - - /** - * Gets the steering angle. - * - * @return the steering angle - */ - public double getSteeringAngle() { - return steeringAngle; - } - - /** - * Sets the drive distance. - * - * @param ticks the ticks - * @param seconds the seconds - */ - protected void SetDriveDistance(int ticks, double seconds){ - Log.debug("Seting PID set point of= "+ticks+" currently at "+currentEncoderReading); - //drive.SetPIDSetPoint(ticks, seconds); - driveDirection.setHigh(ticks< currentEncoderReading); - driveEnable.setHigh(false); - ThreadUtil.wait((int) (seconds*1000)); - driveEnable.setHigh(true); - Log.debug("Arrived at= "+currentEncoderReading); - } - - /** - * Sets the drive velocity. - * - * @param ticksPerSecond the ticks per second - */ - protected void SetDriveVelocity(int ticksPerSecond){ - Log.debug("Seting PID Velocity set point of="+ticksPerSecond); - if(ticksPerSecond>0){ - driveDirection.setHigh(ticksPerSecond> 0); - driveEnable.setHigh(false); - }else{ - driveEnable.setHigh(true); - } - - } - - /** - * Reset drive position. - */ - protected void ResetDrivePosition(){ - //Log.enableDebugPrint(true); - - drive.ResetPIDChannel(0); - ThreadUtil.wait((200)); - //Log.enableDebugPrint(false); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AbstractRobotDrive#DriveStraight(double, double) - */ - @Override - public void DriveStraight(double cm, double seconds) { - setDriveData(ak.DriveStraight(cm, seconds)); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AbstractRobotDrive#DriveArc(double, double, double) - */ - @Override - public void DriveArc(double cmRadius, double degrees, double seconds) { - setDriveData(ak.DriveArc(cmRadius, degrees, seconds)); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AbstractRobotDrive#DriveVelocityStraight(double) - */ - @Override - public void DriveVelocityStraight(double cmPerSecond) { - setVelocityData(ak.DriveVelocityStraight(cmPerSecond)); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AbstractRobotDrive#DriveVelocityArc(double, double) - */ - @Override - public void DriveVelocityArc(double degreesPerSecond, double cmRadius) { - setVelocityData(ak.DriveVelocityArc(degreesPerSecond, cmRadius)); - } - - - /** - * Gets the max ticks per second. - * - * @return the max ticks per second - */ - public double getMaxTicksPerSecond() { - return ak.getMaxTicksPerSeconds(); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDEvent(com.neuronrobotics.sdk.pid.PIDEvent) - */ - @Override - public void onPIDEvent(PIDEvent e) { - currentEncoderReading = e.getValue(); - setRobotLocationUpdate(ak.onPIDEvent(e,getSteeringAngle())); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDReset(int, int) - */ - @Override - public void onPIDReset(int group, int currentValue) { - System.out.println("Resetting PID"); - ak.onPIDReset(currentValue); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AbstractRobotDrive#isAvailable() - */ - @Override - public boolean isAvailable() { - // TODO Auto-generated method stub - return drive.isAvailable(); - } - - /** - * Sets the i ackerman kinematics. - * - * @param ak the new i ackerman kinematics - */ - public void setIAckermanKinematics(IAckermanBotKinematics ak) { - this.ak = ak; - } - - /** - * Gets the ackerman kinematics. - * - * @return the ackerman kinematics - */ - public IAckermanBotKinematics getAckermanKinematics() { - return ak; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.NonBowlerDevice#disconnectDeviceImp() - */ - @Override - public void disconnectDeviceImp() { - // TODO Auto-generated method stub - drive.removePIDEventListener(this); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.NonBowlerDevice#connectDeviceImp() - */ - @Override - public boolean connectDeviceImp() { - // TODO Auto-generated method stub - return false; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.NonBowlerDevice#getNamespacesImp() - */ - @Override - public ArrayList getNamespacesImp() { - // TODO Auto-generated method stub - return null; - } - - - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/AckermanBotDriveData.java b/src/main/java/com/neuronrobotics/addons/driving/AckermanBotDriveData.java deleted file mode 100644 index 68d24fbb..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/AckermanBotDriveData.java +++ /dev/null @@ -1,58 +0,0 @@ -package com.neuronrobotics.addons.driving; - -// TODO: Auto-generated Javadoc -/** - * The Class AckermanBotDriveData. - */ -public class AckermanBotDriveData { - - /** The steer angle. */ - private final double steerAngle; - - /** The ticks to travil. */ - private final int ticksToTravil; - - /** The seconds to travil. */ - private final double secondsToTravil; - - /** - * Instantiates a new ackerman bot drive data. - * - * @param steerAngle the steer angle - * @param ticksToTravil the ticks to travil - * @param secondsToTravil the seconds to travil - */ - public AckermanBotDriveData(double steerAngle,int ticksToTravil,double secondsToTravil) { - this.steerAngle = steerAngle; - this.ticksToTravil = ticksToTravil; - this.secondsToTravil = secondsToTravil; - - } - - /** - * Gets the steer angle. - * - * @return the steer angle - */ - public double getSteerAngle() { - return steerAngle; - } - - /** - * Gets the ticks to travil. - * - * @return the ticks to travil - */ - public int getTicksToTravil() { - return ticksToTravil; - } - - /** - * Gets the seconds to travil. - * - * @return the seconds to travil - */ - public double getSecondsToTravil() { - return secondsToTravil; - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/AckermanBotVelocityData.java b/src/main/java/com/neuronrobotics/addons/driving/AckermanBotVelocityData.java deleted file mode 100644 index 82ebcee9..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/AckermanBotVelocityData.java +++ /dev/null @@ -1,44 +0,0 @@ -package com.neuronrobotics.addons.driving; - -// TODO: Auto-generated Javadoc -/** - * The Class AckermanBotVelocityData. - */ -public class AckermanBotVelocityData { - - /** The ticks per second. */ - private final double ticksPerSecond; - - /** The steer angle. */ - private final double steerAngle; - - /** - * Instantiates a new ackerman bot velocity data. - * - * @param steerAngle the steer angle - * @param ticksPerSecond the ticks per second - */ - public AckermanBotVelocityData (double steerAngle,double ticksPerSecond) { - this.steerAngle = steerAngle; - this.ticksPerSecond = ticksPerSecond; - - } - - /** - * Gets the steer angle. - * - * @return the steer angle - */ - public double getSteerAngle() { - return steerAngle; - } - - /** - * Gets the ticks per second. - * - * @return the ticks per second - */ - public double getTicksPerSecond() { - return ticksPerSecond; - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/AckermanConfiguration.java b/src/main/java/com/neuronrobotics/addons/driving/AckermanConfiguration.java deleted file mode 100644 index 37477a83..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/AckermanConfiguration.java +++ /dev/null @@ -1,127 +0,0 @@ -package com.neuronrobotics.addons.driving; - -// TODO: Auto-generated Javadoc -/** - * The Class AckermanConfiguration. - */ -public class AckermanConfiguration { - - /** The ticks per revolution. */ - private double ticksPerRevolution = 4096;//ticks - - /** The wheel diameter. */ - private double wheelDiameter = 8.0*2.54;//cm - - /** The cm per revolution. */ - private double cmPerRevolution = 2*Math.PI*wheelDiameter; - - /** The ticks to cm. */ - private double ticksToCm = ticksPerRevolution/cmPerRevolution; - - /** The max ticks per seconds. */ - private double maxTicksPerSeconds = 200; - - /** The wheelbase. */ - private double wheelbase = 16.5*2.54;//cm - - /** The servo to steer angle. */ - private double servoToSteerAngle=1; - - /** - * Instantiates a new ackerman configuration. - */ - public AckermanConfiguration(){ - //use defaults - } - - /** - * Instantiates a new ackerman configuration. - * - * @param ticksPerRevolution the ticks per revolution - * @param wheelDiameter the wheel diameter - * @param maxTicksPerSeconds the max ticks per seconds - * @param wheelbase the wheelbase - * @param scale the scale - */ - public AckermanConfiguration( double ticksPerRevolution, - double wheelDiameter, - double maxTicksPerSeconds , - double wheelbase, - double scale){ - this.ticksPerRevolution=ticksPerRevolution; - this.wheelDiameter = wheelDiameter; - this.maxTicksPerSeconds =maxTicksPerSeconds ; - this.wheelbase = wheelbase; - this.servoToSteerAngle = scale; - } - - /** - * Sets the max ticks per seconds. - * - * @param maxTicksPerSeconds the new max ticks per seconds - */ - public void setMaxTicksPerSeconds(double maxTicksPerSeconds) { - this.maxTicksPerSeconds = maxTicksPerSeconds; - } - - /** - * Gets the max ticks per seconds. - * - * @return the max ticks per seconds - */ - public double getMaxTicksPerSeconds() { - return maxTicksPerSeconds; - } - - /** - * Convetrt to cm. - * - * @param ticks the ticks - * @return the double - */ - public double convetrtToCm(int ticks){ - double back =ticks/ticksToCm; - //System.out.println(ticks+" ticks = "+back+" cm"); - return back; - } - - /** - * Convert to ticks. - * - * @param cm the cm - * @return the int - */ - public int convertToTicks(double cm){ - int back = (int)(cm*ticksToCm); - //System.out.println(cm+"cm = "+back+"ticks"); - return back; - } - - /** - * Gets the wheelbase. - * - * @return the wheelbase - */ - public double getWheelbase() { - return wheelbase; - } - - /** - * Gets the steer angle to servo. - * - * @return the steer angle to servo - */ - public double getSteerAngleToServo() { - return 1/servoToSteerAngle; - } - - /** - * Gets the servo to steer angle. - * - * @return the servo to steer angle - */ - public double getServoToSteerAngle() { - return servoToSteerAngle; - } - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/AckermanDefaultKinematics.java b/src/main/java/com/neuronrobotics/addons/driving/AckermanDefaultKinematics.java deleted file mode 100644 index caa060e3..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/AckermanDefaultKinematics.java +++ /dev/null @@ -1,113 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import com.neuronrobotics.sdk.pid.PIDEvent; - -// TODO: Auto-generated Javadoc -/** - * The Class AckermanDefaultKinematics. - */ -public class AckermanDefaultKinematics implements IAckermanBotKinematics{ - - /** The current drive ticks. */ - private int currentDriveTicks=0; - - /** The config. */ - protected AckermanConfiguration config = new AckermanConfiguration(); - - /** - * Instantiates a new ackerman default kinematics. - */ - public AckermanDefaultKinematics(){ - - } - - /** - * Instantiates a new ackerman default kinematics. - * - * @param config the config - */ - public AckermanDefaultKinematics(AckermanConfiguration config ){ - this.config = config; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IAckermanBotKinematics#DriveStraight(double, double) - */ - public AckermanBotDriveData DriveStraight(double cm, double seconds) { - return new AckermanBotDriveData(0, config.convertToTicks(cm), seconds); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IAckermanBotKinematics#DriveArc(double, double, double) - */ - public AckermanBotDriveData DriveArc(double cmRadius, double degrees, double seconds) { - double archlen = cmRadius*((2*Math.PI*degrees)/(360)); - double steerAngle =((config.getWheelbase()/cmRadius)); - return new AckermanBotDriveData(steerAngle, config.convertToTicks(archlen), seconds); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IAckermanBotKinematics#DriveVelocityStraight(double) - */ - public AckermanBotVelocityData DriveVelocityStraight(double cmPerSecond) { - return new AckermanBotVelocityData(0, config.convertToTicks(cmPerSecond)); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IAckermanBotKinematics#DriveVelocityArc(double, double) - */ - public AckermanBotVelocityData DriveVelocityArc(double degreesPerSecond, double cmRadius) { - // TODO Auto-generated method stub - double steerAngle =((config.getWheelbase()/cmRadius)); - - double archlen = cmRadius*((2*Math.PI*degreesPerSecond)/(360)); - int ticks = config.convertToTicks(archlen); - System.out.println("Seting PID set point of="+ticks); - return new AckermanBotVelocityData(steerAngle, ticks); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IAckermanBotKinematics#onPIDEvent(com.neuronrobotics.sdk.pid.PIDEvent, double) - */ - public RobotLocationData onPIDEvent(PIDEvent e, double steerAngle) { - //System.out.println("\n\nCurrent Ticks="+currentDriveTicks+" Event="+e); - int differenceTicks = (e.getValue()-currentDriveTicks); - - double archLen = config.convetrtToCm(differenceTicks); - - double radiusOfCurve=0; - double centralAngleRadians=0; - double deltLateral=0; - double deltForward=0; - if(steerAngle !=0){ - radiusOfCurve = config.getWheelbase()/steerAngle; - centralAngleRadians = archLen/radiusOfCurve; - //System.out.println("Central angle of motion was: "+Math.toDegrees(centralAngleRadians) + " Radius of curve = "+radiusOfCurve); - double y = radiusOfCurve*Math.sin(centralAngleRadians); - double x = radiusOfCurve*Math.cos(centralAngleRadians); - deltLateral = -1*(radiusOfCurve-x); - deltForward = y; - }else{ - //System.out.println("Steering angle of 0, moving forward"); - deltLateral = 0; - deltForward = archLen; - } - RobotLocationData rl = new RobotLocationData(deltLateral,deltForward,centralAngleRadians); - currentDriveTicks=e.getValue(); - return rl; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IAckermanBotKinematics#onPIDReset(int) - */ - public void onPIDReset( int currentValue){ - currentDriveTicks=currentValue; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IAckermanBotKinematics#getMaxTicksPerSeconds() - */ - public double getMaxTicksPerSeconds() { - return config.getMaxTicksPerSeconds(); - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/DataPoint.java b/src/main/java/com/neuronrobotics/addons/driving/DataPoint.java deleted file mode 100644 index 9e252c69..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/DataPoint.java +++ /dev/null @@ -1,72 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import java.text.DecimalFormat; - -// TODO: Auto-generated Javadoc -/** - * The Class DataPoint. - */ -public class DataPoint { - - /** The range. */ - private double range; - - /** The angle. */ - private double angle; - - /** - * Instantiates a new data point. - * - * @param range a distance in MM - * @param angle angle in degrees - */ - public DataPoint(double range, double angle) { - this.setRange(range); - this.setAngle(angle); - } - - /** - * Sets the range. - * - * @param range in MM - */ - private void setRange(double range) { - this.range = range; - } - - /** - * range in MM. - * - * @return the range - */ - public double getRange() { - return range; - } - - /** - * Sets the angle. - * - * @param angle current angle in degrees - */ - private void setAngle(double angle) { - this.angle = angle; - } - - /** - * Gets the angle. - * - * @return current angle in degrees - */ - public double getAngle() { - return angle; - } - - /* (non-Javadoc) - * @see java.lang.Object#toString() - */ - @Override - public String toString() { - String s="A"+new DecimalFormat("000.00 degrees ").format(angle)+":R"+range+"mm"; - return s; - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/HokuyoURGDevice.java b/src/main/java/com/neuronrobotics/addons/driving/HokuyoURGDevice.java deleted file mode 100644 index bd7abf77..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/HokuyoURGDevice.java +++ /dev/null @@ -1,264 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import gnu.io.NRSerialPort; - -import java.io.DataInputStream; -import java.io.DataOutputStream; -import java.io.IOException; -import java.text.DecimalFormat; -import java.util.ArrayList; - -import com.neuronrobotics.sdk.common.BowlerAbstractDevice; -import com.neuronrobotics.sdk.common.ByteList; -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.common.NonBowlerDevice; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class HokuyoURGDevice. - */ -public class HokuyoURGDevice extends NonBowlerDevice{ - - /** The serial. */ - private NRSerialPort serial; - - /** The ins. */ - private DataInputStream ins; - - /** The outs. */ - private DataOutputStream outs; - - /** The receive. */ - private Thread receive; - - /** The center. */ - private final int center = 384;//from datasheet - - /** The degrees per angle unit. */ - private final double degreesPerAngleUnit = 0.352422908;//from datasheet - - - /** The packet. */ - private URG2Packet packet=null; - - /** The run. */ - boolean run=true; - - /** The done. */ - protected boolean done=false; - - /** - * Instantiates a new hokuyo urg device. - * - * @param port the port - */ - public HokuyoURGDevice(NRSerialPort port){ - serial=port; - } - - /** - * Clear. - */ - public void clear() { - send("QT\n"); - } - - /** - * Start sweep. - * - * @param startDeg the start deg - * @param endDeg the end deg - * @param degPerStep the deg per step - * @return the UR g2 packet - */ - public URG2Packet startSweep(double startDeg, double endDeg, double degPerStep) { - setPacket(null); - int tick =(int)(degPerStep/degreesPerAngleUnit); - if (tick>99) - tick=99; - if(tick<1) - tick=1; - tick=1;//HACK - scan(degreeToTicks(startDeg),degreeToTicks(endDeg),tick,0,1); - ThreadUtil.wait(10); - long start = System.currentTimeMillis(); - do{ - if(System.currentTimeMillis()-start>2000) - break; - ThreadUtil.wait(10); - - }while(getPacket() == null ||!getPacket().getCmd().contains("MD") ); - if(getPacket()==null){ - System.err.println("Sweep failed, resetting and trying again"); - clear(); - startSweep(startDeg, endDeg, degPerStep); - } - System.out.print("Sweep got packet= "+getPacket()); - return getPacket(); - } - - /** - * Degree to ticks. - * - * @param degrees the degrees - * @return the int - */ - private int degreeToTicks(double degrees) { - int tick =(int)(degrees/degreesPerAngleUnit)+center; - if(tick<0) - tick=0; - if(tick > (center*2)) - tick=center*2; - return tick; - } - - /** - * Scan. - * - * @param startStep tick to start at - * @param endStep tick to end at - * Starting step and End Step can be any points between 0 and maximum step (see section 4). End Step - * should be always greater than Starting step. - * @param clusterCount Cluster Count is the number of adjacent steps that can be merged into single data and has a range 0 to - * 99. When cluster count is more than 1, step having minimum measurement value (excluding error) in the - * cluster will be the output data. - * @param scanInterval Scan Interval and - * Skipping the number of scans when obtaining multiple scan data can be set in Scan Interval. The value - * should be in decimal. - * @param numberOfScans User can request number of scan data by supplying the count in Number of Scan. If Number of Scan is - * set to 00 the data is supplied indefinitely unless canceled using [QT-Command] or [RS-Command]. - * The value should be in decimal. - */ - public void scan(int startStep,int endStep,int clusterCount,int scanInterval,int numberOfScans){ - clear(); - String cmd = "MD"; - cmd+=new DecimalFormat("0000").format(startStep); - cmd+=new DecimalFormat("0000").format(endStep); - cmd+=new DecimalFormat("00").format(clusterCount); - cmd+=new DecimalFormat("0").format(scanInterval); - cmd+=new DecimalFormat("00").format(numberOfScans); - cmd+="\n\r"; - send(cmd); - } - - /** - * Send. - * - * @param data the data - */ - private void send(String data){ - try { - //System.out.println("\nSending: "+data); - outs.write(data.getBytes()); - } catch (IOException e) { - e.printStackTrace(); - } - - } - - /** - * Gets the packet. - * - * @return the packet - */ - public URG2Packet getPacket() { - return packet; - } - - /** - * Sets the packet. - * - * @param packet the new packet - */ - public void setPacket(URG2Packet packet) { - this.packet = packet; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.NonBowlerDevice#disconnectDeviceImp() - */ - @Override - public void disconnectDeviceImp() { - run=false; - if(receive!=null){ - receive.interrupt(); - while(!done && receive.isAlive()); - receive=null; - } - try{ - if(serial.isConnected()) - serial.disconnect(); - }catch(Exception ex){} - - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.NonBowlerDevice#connectDeviceImp() - */ - @Override - public boolean connectDeviceImp() { - serial.connect(); - - - ins = new DataInputStream(serial.getInputStream()); - - outs = new DataOutputStream(serial.getOutputStream()); - - receive = new Thread(){ - public void run(){ - setName("HokuyoURGDevice updater"); - ByteList bl = new ByteList(); - //System.out.println("Starting listener"); - while(run && !Thread.interrupted()){ - try { - if(ins.available()>0){ - while(ins.available()>0 && run && !Thread.interrupted()){ - int b = ins.read(); - if(b==10 && bl.get(bl.size()-1)==10){ - if(bl.size()>0){ - try{ - URG2Packet p =new URG2Packet(new String(bl.getBytes())); - Log.debug("New Packet: \n"+p); - setPacket(p); - bl = new ByteList(); - }catch(Exception ex){ - setPacket(null); - //System.out.println("Unknown packet"); - //ex.printStackTrace(); - } - - } - }else{ - bl.add(b); - } - ThreadUtil.wait(1); - } - }else{ - - } - } catch (Exception e) { - - //e.printStackTrace(); - run=false; - - } - try {Thread.sleep(1);} catch (InterruptedException e) {run=false;} - } - done=true; - } - }; - clear(); - receive.start(); - return serial.isConnected(); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.NonBowlerDevice#getNamespacesImp() - */ - @Override - public ArrayList getNamespacesImp() { - // TODO Auto-generated method stub - return new ArrayList(); - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/IAckermanBotKinematics.java b/src/main/java/com/neuronrobotics/addons/driving/IAckermanBotKinematics.java deleted file mode 100644 index 17405bdd..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/IAckermanBotKinematics.java +++ /dev/null @@ -1,66 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import com.neuronrobotics.sdk.pid.PIDEvent; - -// TODO: Auto-generated Javadoc -/** - * The Interface IAckermanBotKinematics. - */ -public interface IAckermanBotKinematics { - - /** - * Sets up a drive session. Goes some distance and stops. - * @param cm the distance traviled in Cm - * @param seconds the time that that transversal should take - * @return A Drive data object containing the encoder tick values of the difference from 0 to the target values - */ - public AckermanBotDriveData DriveStraight(double cm, double seconds); - /** - * Sets up a drive session. Goes some distance and stops. This drives on an arch - * @param cmRadius the radius of curvature of the path - * @param degrees the number of degrees swept out by the robot - * @param seconds the time that that transversal should take - * @return A Drive data object containing the encoder tick values of the difference from 0 to the target values - */ - public AckermanBotDriveData DriveArc(double cmRadius, double degrees, double seconds); - - /** - * Sets up a velocity drive session. - * @param cmPerSecond the velocity the robot should travil - * @return Velocity data in encoder ticks - */ - public AckermanBotVelocityData DriveVelocityStraight(double cmPerSecond) ; - /** - * Sets up a velocity drive session. This drives over a curved path - * @param degreesPerSecond the velocity of the robot around the curved path - * @param cmRadius the radius of curvature - * @return Velocity data in encoder ticks - */ - public AckermanBotVelocityData DriveVelocityArc(double degreesPerSecond, double cmRadius) ; - - /** - * The delta robots current location in cartesian space. - * - * @param e the most recent encoder packet - * @param steerAngle the current angle of the steering wheel - * @return the Deta of the cartesian position. This is the offset that resulted from the encoder event. - * If the robot did not move based on this encoder packet, the position of 0,0,0 should be - * returned. - */ - public RobotLocationData onPIDEvent(PIDEvent e, double steerAngle) ; - - /** - * Get the maximum ticks per second of the robot. - * - * @return the max ticks per seconds - */ - public double getMaxTicksPerSeconds(); - - /** - * Reset the Left encoder to a value. - * - * @param currentValue the current value - */ - public void onPIDReset( int currentValue); - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/IPuckBotKinematics.java b/src/main/java/com/neuronrobotics/addons/driving/IPuckBotKinematics.java deleted file mode 100644 index f77a531c..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/IPuckBotKinematics.java +++ /dev/null @@ -1,73 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import com.neuronrobotics.sdk.pid.PIDEvent; - -// TODO: Auto-generated Javadoc -/** - * The Interface IPuckBotKinematics. - */ -public interface IPuckBotKinematics { - - /** - * Sets up a drive session. Goes some distance and stops. - * @param cm the distance traviled in Cm - * @param seconds the time that that transversal should take - * @return A Drive data object containing the encoder tick values of the difference from 0 to the target values - */ - public PuckBotDriveData DriveStraight(double cm, double seconds); - /** - * Sets up a drive session. Goes some distance and stops. This drives on an arch - * @param cmRadius the radius of curvature of the path - * @param degrees the number of degrees swept out by the robot - * @param seconds the time that that transversal should take - * @return A Drive data object containing the encoder tick values of the difference from 0 to the target values - */ - public PuckBotDriveData DriveArc(double cmRadius, double degrees, double seconds); - - /** - * Sets up a velocity drive session. - * @param cmPerSecond the velocity the robot should travil - * @return Velocity data in encoder ticks - */ - public PuckBotVelocityData DriveVelocityStraight(double cmPerSecond) ; - /** - * Sets up a velocity drive session. This drives over a curved path - * @param degreesPerSecond the velocity of the robot around the curved path - * @param cmRadius the radius of curvature - * @return Velocity data in encoder ticks - */ - public PuckBotVelocityData DriveVelocityArc(double degreesPerSecond, double cmRadius) ; - - /** - * The delta of robots current location in cartesian space. - * - * @param e the most recent encoder packet - * @param leftChannelNumber the number of the left channel, used for packet event handeling - * @param rightChannelNumber the number of the right channel, used for packet event handeling - * @return the Deta of the cartesian position. This is the offset that resulted from the encoder event. - * If the robot did not move based on this encoder packet, the position of 0,0,0 should be - * returned. - */ - public RobotLocationData onPIDEvent(PIDEvent e, int leftChannelNumber, int rightChannelNumber) ; - - /** - * Get the maximum ticks per second of the robot. - * - * @return the max ticks per seconds - */ - public double getMaxTicksPerSeconds(); - - /** - * Reset the Left encoder to a value. - * - * @param currentValue the current value - */ - public void onPIDResetLeft( int currentValue); - - /** - * reset the Right encoder to a value. - * - * @param currentValue the current value - */ - public void onPIDResetRight( int currentValue); -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/IRobotDriveEventListener.java b/src/main/java/com/neuronrobotics/addons/driving/IRobotDriveEventListener.java deleted file mode 100644 index 5ef60a22..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/IRobotDriveEventListener.java +++ /dev/null @@ -1,25 +0,0 @@ -package com.neuronrobotics.addons.driving; - -// TODO: Auto-generated Javadoc -/** - * The listener interface for receiving IRobotDriveEvent events. - * The class that is interested in processing a IRobotDriveEvent - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIRobotDriveEventListener method. When - * the IRobotDriveEvent event occurs, that object's appropriate - * method is invoked. - * - */ -public interface IRobotDriveEventListener { - - /** - * On drive event. - * - * @param source the source - * @param x the x - * @param y the y - * @param orentation the orentation - */ - public void onDriveEvent(AbstractRobotDrive source,double x, double y, double orentation); -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/ISensorListener.java b/src/main/java/com/neuronrobotics/addons/driving/ISensorListener.java deleted file mode 100644 index 0a45e5e8..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/ISensorListener.java +++ /dev/null @@ -1,37 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import java.util.ArrayList; - -// TODO: Auto-generated Javadoc -/** - * The listener interface for receiving ISensor events. - * The class that is interested in processing a ISensor - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addISensorListener method. When - * the ISensor event occurs, that object's appropriate - * method is invoked. - * - */ -public interface ISensorListener { - - /** - * On range sensor event. - * - * @param source the source - * @param data the data - * @param timeStamp the time stamp - */ - public void onRangeSensorEvent(AbstractSensor source,ArrayList data,long timeStamp); - - /** - * On line sensor event. - * - * @param source the source - * @param left the left - * @param middle the middle - * @param right the right - * @param timeStamp the time stamp - */ - public void onLineSensorEvent(AbstractSensor source,Integer left,Integer middle,Integer right,long timeStamp); -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/LaserRangeSensor.java b/src/main/java/com/neuronrobotics/addons/driving/LaserRangeSensor.java deleted file mode 100644 index ad4a68de..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/LaserRangeSensor.java +++ /dev/null @@ -1,37 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import gnu.io.NRSerialPort; - -// TODO: Auto-generated Javadoc -/** - * The Class LaserRangeSensor. - */ -public class LaserRangeSensor extends AbstractSensor { - - /** The dev. */ - HokuyoURGDevice dev; - - /** - * Instantiates a new laser range sensor. - * - * @param port the port - */ - public LaserRangeSensor(NRSerialPort port) { - dev=new HokuyoURGDevice(port); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AbstractSensor#StartSweep(double, double, double) - */ - @Override - public void StartSweep(final double start, final double stop, final double increment) { - new Thread(){ - public void run(){ - setName("Bowler platform Laser range sweeper"); - URG2Packet p =dev.startSweep(start, stop, increment); - fireRangeSensorEvent(p.getData(), System.currentTimeMillis()); - } - }.start(); - } - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/LineSensor.java b/src/main/java/com/neuronrobotics/addons/driving/LineSensor.java deleted file mode 100644 index 48b0b32b..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/LineSensor.java +++ /dev/null @@ -1,71 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener; - -// TODO: Auto-generated Javadoc -/** - * The Class LineSensor. - */ -public class LineSensor extends AbstractSensor implements IAnalogInputListener { - - /** The left. */ - private AnalogInputChannel left; - - /** The middle. */ - private AnalogInputChannel middle; - - /** The right. */ - private AnalogInputChannel right; - - /** The l val. */ - private double mVal=0,rVal=0,lVal=0; - - /** - * Instantiates a new line sensor. - * - * @param left the left - * @param middle the middle - * @param right the right - */ - public LineSensor(AnalogInputChannel left, AnalogInputChannel middle, AnalogInputChannel right) { - this.left=left; - this.right=right; - this.middle=middle; - if (left != null){ - left.configAdvancedAsyncNotEqual(10); - left.addAnalogInputListener(this); - } - if (middle != null){ - middle.configAdvancedAsyncNotEqual(10); - middle.addAnalogInputListener(this); - } - if (right != null){ - right.configAdvancedAsyncNotEqual(10); - right.addAnalogInputListener(this); - } - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AbstractSensor#StartSweep(double, double, double) - */ - @Override - public void StartSweep(double start, double stop, double increment) { - // do nothing - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener#onAnalogValueChange(com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel, double) - */ - @Override - public void onAnalogValueChange(AnalogInputChannel chan, double value) { - if(chan == left) - lVal=value; - if(chan == middle) - mVal=value; - if(chan == right) - rVal=value; - fireLineSensorEvent((int)lVal, (int)mVal,(int)rVal, System.currentTimeMillis()); - } - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/LinearRangeSensor.java b/src/main/java/com/neuronrobotics/addons/driving/LinearRangeSensor.java deleted file mode 100644 index 6ae5c935..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/LinearRangeSensor.java +++ /dev/null @@ -1,140 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import java.util.ArrayList; - -import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; - -// TODO: Auto-generated Javadoc -/** - * The Class LinearRangeSensor. - */ -public class LinearRangeSensor extends AbstractSensor { - - /** The current. */ - protected double current; - - /** The sweeper. */ - private ServoChannel sweeper; - - /** The sensor. */ - private AnalogInputChannel sensor; - - /** The servo to degrees. */ - private final double servoToDegrees=1; - - /** - * Instantiates a new linear range sensor. - */ - protected LinearRangeSensor(){ - - } - - /** - * Instantiates a new linear range sensor. - * - * @param sweeper the sweeper - * @param sensor the sensor - */ - public LinearRangeSensor(ServoChannel sweeper, AnalogInputChannel sensor){ - this.sweeper=sweeper; - this.sensor=sensor; - } - - /** - * Gets the distance. - * - * @param current the current - * @return the distance - */ - protected double getDistance(double current){ - return sensor.getValue(); - } - - - /** - * Sets the current angle. - * - * @param current the new current angle - */ - public void setCurrentAngle(double current) { - this.current = current; - sweeper.SetPosition((int) (current/servoToDegrees)); - } - - /** - * Gets the current angle. - * - * @return the current angle - */ - public double getCurrentAngle() { - return current; - } - - - /** - * The Class sweepThread. - */ - protected class sweepThread extends Thread{ - - /** The stop. */ - double stop; - - /** The increment. */ - double increment; - - /** The data. */ - ArrayList data; - - /** - * Instantiates a new sweep thread. - * - * @param start the start - * @param stop the stop - * @param degPerStep the deg per step - */ - public sweepThread(double start,double stop,double degPerStep) { - if(start>=stop) - throw new RuntimeException("Start must be less then stop angle in sweep: start = "+start+" stop = "+stop); - this.stop=stop; - this.increment=degPerStep; - setCurrentAngle(start); - } - - /** - * Update. - */ - private void update(){ - double distance = getDistance(getCurrentAngle()); - DataPoint p = new DataPoint((int) (distance), getCurrentAngle()); - data.add(p); - setCurrentAngle(getCurrentAngle() + increment); - - } - - /* (non-Javadoc) - * @see java.lang.Thread#run() - */ - public void run() { - setName("Bowler Platform Linear range finder"); - data = new ArrayList(); - while(getCurrentAngle() obs = new ArrayList(); - - /** The Constant width. */ - protected static final double width = 1024; - - /** The Constant height. */ - protected static final double height = 1024; - - /** - * Instantiate a robot map using a default blank map. - */ - public NrMap(){ - initGui(); - } - - /** - * Instantiate a robot map using a provided map. - * - * @param b the image of the desired map - */ - public NrMap(BufferedImage b){ - setDisplay(b); - initGui(); - } - - /** - * Inits the gui. - */ - protected void initGui(){ - removeAll(); - updateMap(); - add(lab); - } - - /** - * Update map. - */ - protected void updateMap() { - //System.out.println("Updating Map"); - BufferedImage display = getMap(); - setFinalDisplayImage(display); - } - - /** - * Sets the final display image. - * - * @param d the new final display image - */ - protected void setFinalDisplayImage(BufferedImage d){ - lab.setIcon(new ImageIcon(d ) ); - lab.setVisible(true); - } - - /** - * Sets the display. - * - * @param d the new display - */ - protected void setDisplay(BufferedImage d){ - display=d; - } - - /** - * Gets the map. - * - * @return the map - */ - public BufferedImage getMap() { - if(display==null){ - return new BufferedImage((int)width,(int) height,BufferedImage.TYPE_INT_RGB); - } - BufferedImage d = new BufferedImage(display.getWidth(), display.getHeight(),BufferedImage.TYPE_INT_RGB); - Graphics2D g =d.createGraphics(); - g.drawImage(display,0, 0, null); - - for(userDefinedObsticles o:obs) { - o.drawUserObsticles(g); - } - return d; - } - - /** - * Removes the all user defined obsticles. - */ - public void removeAllUserDefinedObsticles(){ - obs.clear(); - } - - /** - * Adds the user defined obsticle. - * - * @param x the x - * @param y the y - * @param size the size - * @param type the type - */ - public void addUserDefinedObsticle(int x, int y, int size,ObsticleType type){ - if(display==null){ - display = new BufferedImage((int)width,(int) height,BufferedImage.TYPE_INT_RGB); - } - obs.add(new userDefinedObsticles(x,y,size,type)); - - } - - /** - * Gets the obsticle. - * - * @param x the x - * @param y the y - * @return the obsticle - */ - public ObsticleType getObsticle(int x,int y) { - return ObsticleType.get(new Color(getMap().getRGB(x, y))); - } - - /** - * Gets the pixel to cm. - * - * @param pix the pix - * @return the pixel to cm - */ - public double getPixelToCm(int pix){ - return ((double)pix)/(pixelToCm); - } - - /** - * Gets the cm to pixel. - * - * @param cm the cm - * @return the cm to pixel - */ - public double getCmToPixel(double cm){ - return (cm*(pixelToCm)); - } - - /** - * The Class userDefinedObsticles. - */ - private class userDefinedObsticles{ - - /** The type. */ - ObsticleType type; - - /** - * Instantiates a new user defined obsticles. - * - * @param x2 the x2 - * @param y2 the y2 - * @param size2 the size2 - * @param type the type - */ - public userDefinedObsticles(int x2, int y2, int size2,ObsticleType type) { - this.type = type; - setX(x2); - setY(y2); - setSize(size2); - } - - /** - * Draw user obsticles. - * - * @param g the g - */ - public void drawUserObsticles(Graphics2D g) { - g.setColor(type.getValue()); - g.fillRect(getX()-(getSize()/2),getY()-(getSize()/2), getSize(),getSize()); - } - - /** - * Sets the x. - * - * @param x the new x - */ - public void setX(int x) { - this.x = x; - } - - /** - * Gets the x. - * - * @return the x - */ - public int getX() { - return x; - } - - /** - * Sets the y. - * - * @param y the new y - */ - public void setY(int y) { - this.y = y; - } - - /** - * Gets the y. - * - * @return the y - */ - public int getY() { - return y; - } - - /** - * Sets the size. - * - * @param size the new size - */ - public void setSize(int size) { - this.size = size; - } - - /** - * Gets the size. - * - * @return the size - */ - public int getSize() { - return size; - } - - /** The x. */ - private int x; - - /** The y. */ - private int y; - - /** The size. */ - private int size; - } - - /** - * Sets the user defined data. - * - * @param data the data - * @param type the type - */ - public void setUserDefinedData(ArrayList data,ObsticleType type) { - //removeAllUserDefinedObsticles(); - for(DataPoint d:data){ - double pix = getCmToPixel(d.getRange()/100); - double centerX=(width/2); - double centerY=(height/2); - if(!(pix>centerX || pix>centerY )){ - double deltX = pix*Math.cos(Math.toRadians(d.getAngle())); - double deltY = pix*Math.sin(Math.toRadians(d.getAngle())); - addUserDefinedObsticle((int)(centerX+deltX), (int)(centerY+deltY), 2,type); - }else{ - //System.out.println("Range too long: "+pix+" cm="+d.getRange()/100); - } - } - updateMap(); - } - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/PuckBot.java b/src/main/java/com/neuronrobotics/addons/driving/PuckBot.java deleted file mode 100644 index a387aa2d..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/PuckBot.java +++ /dev/null @@ -1,207 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import java.util.ArrayList; - -import com.neuronrobotics.sdk.pid.PIDChannel; -import com.neuronrobotics.sdk.pid.PIDCommandException; -import com.neuronrobotics.sdk.pid.PIDEvent; - -// TODO: Auto-generated Javadoc -/** - * The Class PuckBot. - */ -public class PuckBot extends AbstractRobotDrive{ - - /** The pk. */ - private IPuckBotKinematics pk = new PuckBotDefaultKinematics(); - - /** The right. */ - protected PIDChannel left, right; - - /** The flush data. */ - int[] flushData = null; - - /** - * Instantiates a new puck bot. - */ - protected PuckBot(){ - - } - - /** - * Instantiates a new puck bot. - * - * @param left the left - * @param right the right - */ - public PuckBot(PIDChannel left,PIDChannel right) { - setPIDChanels(left, right); - flushData=left.getPid().GetAllPIDPosition(); - } - - /** - * Sets the pid chanels. - * - * @param pidChannelLeft the pid channel left - * @param pidChannelRight the pid channel right - */ - protected void setPIDChanels(PIDChannel pidChannelLeft, PIDChannel pidChannelRight) { - left=pidChannelLeft; - right=pidChannelRight; - left.addPIDEventListener(this); - right.addPIDEventListener(this); - } - - /** - * Sets the encoder positions. - * - * @param d the d - */ - public void SetEncoderPositions(PuckBotDriveData d){ - left.ResetPIDChannel(0); - right.ResetPIDChannel(0); - left.setCachedTargetValue(d.getLeftEncoderData()); - right.setCachedTargetValue(d.getRightEncoderData()); - left.getPid().flushPIDChannels(d.getDriveTimeInSeconds()); - } - - /** - * Sets the encoder velocity. - * - * @param d the d - * @throws PIDCommandException the PID command exception - */ - public void SetEncoderVelocity(PuckBotVelocityData d) throws PIDCommandException{ - left.ResetPIDChannel(0); - right.ResetPIDChannel(0); - left.SetPDVelocity((int) d.getLeftTicksPerSecond(), 0); - right.SetPDVelocity((int) d.getRightTicksPerSecond(), 0); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AbstractRobotDrive#DriveStraight(double, double) - */ - @Override - public void DriveStraight(double cm, double seconds) { - SetEncoderPositions(getPuckBotKinematics().DriveStraight(cm, seconds)); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AbstractRobotDrive#DriveArc(double, double, double) - */ - @Override - public void DriveArc(double cmRadius, double degrees, double seconds) { - SetEncoderPositions(getPuckBotKinematics().DriveArc(cmRadius, degrees, seconds)); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AbstractRobotDrive#DriveVelocityArc(double, double) - */ - @Override - public void DriveVelocityArc(double degreesPerSecond, double cmRadius) { - try { - SetEncoderVelocity(getPuckBotKinematics().DriveVelocityArc(degreesPerSecond, cmRadius)); - } catch (PIDCommandException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AbstractRobotDrive#DriveVelocityStraight(double) - */ - @Override - public void DriveVelocityStraight(double cmPerSecond) { - try { - SetEncoderVelocity(getPuckBotKinematics().DriveVelocityStraight(cmPerSecond)); - } catch (PIDCommandException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDEvent(com.neuronrobotics.sdk.pid.PIDEvent) - */ - @Override - public void onPIDEvent(PIDEvent e) { - setRobotLocationUpdate(getPuckBotKinematics().onPIDEvent(e,left.getGroup(),right.getGroup())); - } - - - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDReset(int, int) - */ - @Override - public void onPIDReset(int group, int currentValue) { - if(group == left.getGroup()) - getPuckBotKinematics().onPIDResetLeft(currentValue); - if(group == right.getGroup()) - getPuckBotKinematics().onPIDResetRight(currentValue); - } - - /** - * Gets the max ticks per seconds. - * - * @return the max ticks per seconds - */ - protected double getMaxTicksPerSeconds() { - return getPuckBotKinematics().getMaxTicksPerSeconds(); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AbstractRobotDrive#isAvailable() - */ - @Override - public boolean isAvailable() { - return left.isAvailable() && right.isAvailable(); - } - - /** - * Sets the puck bot kinematics. - * - * @param pk the new puck bot kinematics - */ - public void setPuckBotKinematics(IPuckBotKinematics pk) { - this.pk = pk; - } - - /** - * Gets the puck bot kinematics. - * - * @return the puck bot kinematics - */ - public IPuckBotKinematics getPuckBotKinematics() { - return pk; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.NonBowlerDevice#disconnectDeviceImp() - */ - @Override - public void disconnectDeviceImp() { - // TODO Auto-generated method stub - left.removePIDEventListener(this); - right.removePIDEventListener(this); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.NonBowlerDevice#connectDeviceImp() - */ - @Override - public boolean connectDeviceImp() { - // TODO Auto-generated method stub - return false; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.NonBowlerDevice#getNamespacesImp() - */ - @Override - public ArrayList getNamespacesImp() { - // TODO Auto-generated method stub - return null; - } - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/PuckBotConfiguration.java b/src/main/java/com/neuronrobotics/addons/driving/PuckBotConfiguration.java deleted file mode 100644 index b958c268..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/PuckBotConfiguration.java +++ /dev/null @@ -1,19 +0,0 @@ -package com.neuronrobotics.addons.driving; - -// TODO: Auto-generated Javadoc -/** - * The Class PuckBotConfiguration. - */ -public class PuckBotConfiguration { - - /** - * Gets the max ticks per seconds. - * - * @return the max ticks per seconds - */ - public int getMaxTicksPerSeconds() { - // TODO Auto-generated method stub - return 100000; - } - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/PuckBotDefaultKinematics.java b/src/main/java/com/neuronrobotics/addons/driving/PuckBotDefaultKinematics.java deleted file mode 100644 index 581b209b..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/PuckBotDefaultKinematics.java +++ /dev/null @@ -1,232 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import com.neuronrobotics.sdk.pid.PIDEvent; - -// TODO: Auto-generated Javadoc -/** - * The Class PuckBotDefaultKinematics. - */ -public class PuckBotDefaultKinematics implements IPuckBotKinematics{ - - /** The Constant wheelBase. */ - private static final double wheelBase = 22.86; //cm - - /** The Constant wheelDiameter. */ - private static final double wheelDiameter = 7;//cm - - /** The Constant ticksPerRevolution. */ - private static final double ticksPerRevolution = 180;// t/r - - /** The Constant cmToTickScale. */ - private static final double cmToTickScale = ticksPerRevolution*(1/(Math.PI*wheelDiameter)); - - /** The right index. */ - private int leftIndex,rightIndex; - - /** The current location. */ - private RobotLocationData currentLocation=null; - - /** The right pid event. */ - private PIDEvent leftPidEvent=null,rightPidEvent=null; - - /** The right encoder value. */ - private int leftEncoderValue=0,rightEncoderValue=0; - - - /** - * Ticks to cm. - * - * @param ticks the ticks - * @return the double - */ - public static double ticksToCm(int ticks) { - return ((double)ticks)/ cmToTickScale; - } - - /** - * Cm to ticks. - * - * @param cm the cm - * @return the int - */ - public static int cmToTicks(double cm) { - return (int) (cm*cmToTickScale); - } - - /** - * This is a full implementation of the PuckBot kinematics. - * - * @param cm the cm - * @param seconds the seconds - * @return the puck bot drive data - */ - @Override - public PuckBotDriveData DriveStraight(double cm, double seconds) { - int dist = cmToTicks(cm); - return new PuckBotDriveData(dist, dist, seconds); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IPuckBotKinematics#DriveArc(double, double, double) - */ - @Override - public PuckBotDriveData DriveArc(double cmRadius, double degrees,double seconds) { - - double ldist = 0; - double rdist = 0; - - double rRadius = cmRadius + (wheelBase/2); - double lRadius = cmRadius - (wheelBase/2); - ldist = lRadius*(Math.PI*degrees)/180; - rdist = rRadius*(Math.PI*degrees)/180; - - return new PuckBotDriveData(cmToTicks(ldist), cmToTicks(rdist), seconds); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IPuckBotKinematics#DriveVelocityStraight(double) - */ - @Override - public PuckBotVelocityData DriveVelocityStraight(double cmPerSecond) { - int tps = cmToTicks(cmPerSecond); - return new PuckBotVelocityData(tps, tps); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IPuckBotKinematics#DriveVelocityArc(double, double) - */ - @Override - public PuckBotVelocityData DriveVelocityArc(double degreesPerSecond,double cmRadius) { - double rRadius = cmRadius + (wheelBase/2); - double lRadius = cmRadius - (wheelBase/2); - double ldist = lRadius*(Math.PI*degreesPerSecond)/180; - double rdist = rRadius*(Math.PI*degreesPerSecond)/180; - return new PuckBotVelocityData(cmToTicks(ldist), cmToTicks(rdist)); - } - - /** - * Pair. - * - * @param e the e - */ - private void pair(PIDEvent e) { - - if(rightPidEvent==null && leftPidEvent==null) { - if(e.getGroup() == leftIndex) { - leftPidEvent=e; - } - if(e.getGroup() == rightIndex) { - rightPidEvent=e; - } - } - if(rightPidEvent!=null && leftPidEvent==null) { - if(e.getGroup() == rightIndex) { - rightPidEvent = e; - leftPidEvent = new PIDEvent(leftIndex, leftEncoderValue, e.getTimeStamp(), 0); - } - if(e.getGroup() == leftIndex) { - if(e.getTimeStamp() == rightPidEvent.getTimeStamp()) { - leftPidEvent = e; - }else { - leftPidEvent = e; - rightPidEvent = null; - } - } - } - if(rightPidEvent==null && leftPidEvent!=null) { - if(e.getGroup() == leftIndex) { - rightPidEvent = new PIDEvent(rightIndex, rightEncoderValue, e.getTimeStamp(), 0); - leftPidEvent = e; - } - if(e.getGroup() == rightIndex) { - if(e.getTimeStamp() == leftPidEvent.getTimeStamp()) { - rightPidEvent = e; - }else { - rightPidEvent = e; - leftPidEvent = null; - } - } - } - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IPuckBotKinematics#onPIDEvent(com.neuronrobotics.sdk.pid.PIDEvent, int, int) - */ - @Override - public RobotLocationData onPIDEvent(PIDEvent e, int leftChannelNumber,int rightChannelNumber) { - System.out.println("Got: "+e); - leftIndex=leftChannelNumber; - rightIndex=rightChannelNumber; - - //pairing - pair(e); - - if(rightPidEvent==null || leftPidEvent==null) { - currentLocation=null; - }else { - //Extract Encoder data - double left = ticksToCm(leftPidEvent.getValue() - leftEncoderValue); - double right= ticksToCm(rightPidEvent.getValue() - rightEncoderValue); - //Reset current values - leftEncoderValue = leftPidEvent.getValue(); - rightEncoderValue = rightPidEvent.getValue(); - //clear event storage - rightPidEvent=null; - leftPidEvent=null; - - double x=0,y=0,o=0; - - //kinematics - double distDiff = right-left; - double arcDiff = (distDiff/(wheelBase/2)); - - o=(arcDiff/2); - if(distDiff == 0){ - //The robot moved exactly straight forward - x = 0; - y = right;//right and left the same - }else{ - //Straight line approximation - y=(right+left)/2; - x=0; - //END Straight line approximation - } - currentLocation = new RobotLocationData(x, y, o); - - } - - if(currentLocation==null) - return new RobotLocationData(0, 0, 0); - else - return currentLocation; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IPuckBotKinematics#getMaxTicksPerSeconds() - */ - @Override - public double getMaxTicksPerSeconds() { - return 200; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IPuckBotKinematics#onPIDResetLeft(int) - */ - @Override - public void onPIDResetLeft(int currentValue) { - leftEncoderValue=currentValue; - leftPidEvent=null; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.IPuckBotKinematics#onPIDResetRight(int) - */ - @Override - public void onPIDResetRight(int currentValue) { - rightEncoderValue=currentValue; - rightPidEvent=null; - } - - - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/PuckBotDriveData.java b/src/main/java/com/neuronrobotics/addons/driving/PuckBotDriveData.java deleted file mode 100644 index 7c4c0005..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/PuckBotDriveData.java +++ /dev/null @@ -1,75 +0,0 @@ -package com.neuronrobotics.addons.driving; - -// TODO: Auto-generated Javadoc -/** - * The Class PuckBotDriveData. - */ -public class PuckBotDriveData { - - /** The l. */ - private int l; - - /** The r. */ - private int r; - - /** The seconds. */ - private final double seconds; - - /** - * Instantiates a new puck bot drive data. - * - * @param leftEncoder the left encoder - * @param rightEncoder the right encoder - * @param seconds the seconds - */ - public PuckBotDriveData(int leftEncoder, int rightEncoder, double seconds){ - this.seconds = seconds; - setL(leftEncoder); - setR(rightEncoder); - } - - /** - * Sets the l. - * - * @param l the new l - */ - private void setL(int l) { - this.l = l; - } - - /** - * Gets the left encoder data. - * - * @return the left encoder data - */ - public int getLeftEncoderData() { - return l; - } - - /** - * Sets the r. - * - * @param r the new r - */ - private void setR(int r) { - this.r = r; - } - - /** - * Gets the right encoder data. - * - * @return the right encoder data - */ - public int getRightEncoderData() { - return r; - } - - /** - * Gets the drive time in seconds. - * - * @return the drive time in seconds - */ - public double getDriveTimeInSeconds() { - return seconds; - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/PuckBotVelocityData.java b/src/main/java/com/neuronrobotics/addons/driving/PuckBotVelocityData.java deleted file mode 100644 index e6c34778..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/PuckBotVelocityData.java +++ /dev/null @@ -1,44 +0,0 @@ -package com.neuronrobotics.addons.driving; - -// TODO: Auto-generated Javadoc -/** - * The Class PuckBotVelocityData. - */ -public class PuckBotVelocityData { - - /** The left ticks per second. */ - private final double leftTicksPerSecond; - - /** The right ticks per second. */ - private final double rightTicksPerSecond; - - /** - * Instantiates a new puck bot velocity data. - * - * @param leftTicksPerSecond the left ticks per second - * @param rightTicksPerSecond the right ticks per second - */ - public PuckBotVelocityData(double leftTicksPerSecond, double rightTicksPerSecond){ - this.leftTicksPerSecond = leftTicksPerSecond; - this.rightTicksPerSecond = rightTicksPerSecond; - - } - - /** - * Gets the left ticks per second. - * - * @return the left ticks per second - */ - public double getLeftTicksPerSecond() { - return leftTicksPerSecond; - } - - /** - * Gets the right ticks per second. - * - * @return the right ticks per second - */ - public double getRightTicksPerSecond() { - return rightTicksPerSecond; - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/Rbe3002Robot.java b/src/main/java/com/neuronrobotics/addons/driving/Rbe3002Robot.java deleted file mode 100644 index 17af04fa..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/Rbe3002Robot.java +++ /dev/null @@ -1,59 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.DyIOChannelMode; -import com.neuronrobotics.sdk.dyio.dypid.DyPIDConfiguration; -import com.neuronrobotics.sdk.pid.PIDChannel; -import com.neuronrobotics.sdk.pid.PIDConfiguration; -import com.neuronrobotics.sdk.ui.ConnectionDialog; - -// TODO: Auto-generated Javadoc -/** - * The Class Rbe3002Robot. - */ -public class Rbe3002Robot extends PuckBot { - - /** The kp. */ - private final double KP = 1; - - /** The ki. */ - private final double KI = 0; - - /** The kd. */ - private final double KD = 0; - - /** - * Instantiates a new rbe3002 robot. - */ - public Rbe3002Robot() { - DyIO dyio = new DyIO(); - if(!ConnectionDialog.getBowlerDevice(dyio)){ - System.exit(0); - } - - DyPIDConfiguration ldypid = new DyPIDConfiguration( 1,//PID group 1 - 21,//Input channel number - DyIOChannelMode.COUNT_IN_INT,//Input mode - 10,//Output Channel - DyIOChannelMode.SERVO_OUT);//Output mode - PIDConfiguration lpid =new PIDConfiguration ();//stop on latch - - - DyPIDConfiguration rdypid = new DyPIDConfiguration( 2,//PID group 2 - 19,//Input channel number - DyIOChannelMode.COUNT_IN_INT,//Input mode - 11,//Output Channel - DyIOChannelMode.SERVO_OUT);//Output mode - PIDConfiguration rpid =new PIDConfiguration (); - dyio.ConfigureDynamicPIDChannels(ldypid); - dyio.ConfigurePIDController(lpid); - dyio.ConfigureDynamicPIDChannels(rdypid); - dyio.ConfigurePIDController(rpid); - - PIDChannel left = dyio.getPIDChannel(1); - PIDChannel right = dyio.getPIDChannel(2); - setPIDChanels(left, right); - - } - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/RobotLocationData.java b/src/main/java/com/neuronrobotics/addons/driving/RobotLocationData.java deleted file mode 100644 index 110e4a31..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/RobotLocationData.java +++ /dev/null @@ -1,115 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; - -// TODO: Auto-generated Javadoc -/** - * This class represents the Delta position of the robot in the robots co-ordinate system. - * Only the delta y, delta x and delta orentation relative to the robots current position - * should be recorded here. - * @author Kevin Harrington - * - */ - -public class RobotLocationData { - - /** The o. */ - private double x,y,o; - - /** The arm. */ - private TransformNR arm = new TransformNR(); - - /** - * Instantiates a new robot location data. - * - * @param deltaX the delta x - * @param deltaY the delta y - * @param deltaOrentation the delta orentation - */ - public RobotLocationData(double deltaX, double deltaY, double deltaOrentation){ - setX(deltaX); - setY(deltaY); - setO(deltaOrentation); - } - - /** - * Sets the arm location. - * - * @param arm the new arm location - */ - public void setArmLocation(TransformNR arm){ - this.arm = arm; - - } - - /** - * Gets the arm transform. - * - * @return the arm transform - */ - public TransformNR getArmTransform(){ - return arm; - } - - /* (non-Javadoc) - * @see java.lang.Object#toString() - */ - public String toString() { - String s="delta: x="+x+" y="+y+" orentation="+o; - return s; - } - - /** - * Sets the x. - * - * @param x the new x - */ - private void setX(double x) { - this.x = x; - } - - /** - * Gets the delta x. - * - * @return the delta x - */ - public double getDeltaX() { - return x; - } - - /** - * Sets the y. - * - * @param y the new y - */ - private void setY(double y) { - this.y = y; - } - - /** - * Gets the delta y. - * - * @return the delta y - */ - public double getDeltaY() { - return y; - } - - /** - * Sets the o. - * - * @param o the new o - */ - private void setO(double o) { - this.o = o; - } - - /** - * Gets the delta orentation. - * - * @return the delta orentation - */ - public double getDeltaOrentation() { - return o; - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/SimpleDisplay.java b/src/main/java/com/neuronrobotics/addons/driving/SimpleDisplay.java deleted file mode 100644 index b364a0e8..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/SimpleDisplay.java +++ /dev/null @@ -1,76 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import java.awt.Color; -import java.util.ArrayList; - -import javax.swing.JFrame; - -import com.neuronrobotics.addons.driving.virtual.ObsticleType; -import com.neuronrobotics.sdk.ui.ConnectionImageIconFactory; - -// TODO: Auto-generated Javadoc -/** - * The Class SimpleDisplay. - */ -public class SimpleDisplay extends NrMap { - - /** The Constant serialVersionUID. */ - private static final long serialVersionUID = -7042174918507023465L; - - /** The frame. */ - private JFrame frame = new JFrame(); - - /** - * Instantiates a new simple display. - */ - public SimpleDisplay(){ - getFrame().setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); - setBackground(Color.black); - getFrame().add(this); - getFrame().setSize((int)width+200,(int)height+200); - getFrame().setLocationRelativeTo(null); - getFrame().setVisible(true); - getFrame().setIconImage( ConnectionImageIconFactory.getIcon("images/hat.png").getImage()); - - } - - /** - * Gets the frame. - * - * @return the frame - */ - public JFrame getFrame() { - return frame; - } - - /** - * Sets the frame. - * - * @param frame the new frame - */ - public void setFrame(JFrame frame) { - this.frame = frame; - } - - /** - * Sets the data. - * - * @param data the new data - */ - public void setData(ArrayList data) { - //removeAllUserDefinedObsticles(); - for(DataPoint d:data){ - double pix = getCmToPixel(d.getRange()/100); - double centerX=(width/2); - double centerY=(height/2); - if(!(pix>centerX || pix>centerY )){ - double deltX = pix*Math.cos(Math.toRadians(d.getAngle())); - double deltY = pix*Math.sin(Math.toRadians(d.getAngle())); - addUserDefinedObsticle((int)(centerX+deltX), (int)(centerY+deltY), 2,ObsticleType.USERDEFINED); - }else{ - //System.out.println("Range too long: "+pix+" cm="+d.getRange()/100); - } - } - updateMap(); - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/URG2Packet.java b/src/main/java/com/neuronrobotics/addons/driving/URG2Packet.java deleted file mode 100644 index 10a2c532..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/URG2Packet.java +++ /dev/null @@ -1,185 +0,0 @@ -package com.neuronrobotics.addons.driving; - -import java.util.ArrayList; - -import com.neuronrobotics.sdk.common.ByteList; - -// TODO: Auto-generated Javadoc -/** - * The Class URG2Packet. - */ -public class URG2Packet { - - /** The cmd. */ - private String cmd; - - /** The junk. */ - String junk; - - /** The status. */ - String status; - - /** The timestamp. */ - int timestamp=0; - - /** The data lines. */ - ByteList dataLines=new ByteList(); - - /** The center. */ - private final int center = 384; - - /** The degrees per angle unit. */ - private final double degreesPerAngleUnit = 0.352422908; - - /** The start. */ - private int start; - - /** The end. */ - private int end; - - /** The steps per data point. */ - private int stepsPerDataPoint; - - /** The data. */ - private ArrayList data=new ArrayList(); - - - /** - * Instantiates a new UR g2 packet. - * - * @param line the line - */ - public URG2Packet(String line){ - String [] sections = line.split("\\n");//This removes the \n from the data - setCmd(sections[0]); - if(getCmd().contains("MD")||getCmd().contains("MS")){ - //junk = sections[1]; - status = sections[1]; - start = Integer.parseInt(getCmd().substring(2, 6)); - end = Integer.parseInt(getCmd().substring(6, 10)); - stepsPerDataPoint = Integer.parseInt(getCmd().substring(10, 12)); - if(sections.length>2){ - String ts = new String(new ByteList(sections[2].getBytes()).getBytes(0,4)); - //timestamp = decodeURG(ts); - for(int i=3;i0){ - s+="\nStart: "+start; - s+="\nEnd: "+end; - s+="\nStep: "+stepsPerDataPoint; - s+="\nTimestamp: "+timestamp; - s+="\nData: "+getData(); - s+="\nData Size: "+getData().size(); - } - return s; - } - - - /** - * Raw byte to int. - * - * @param b the b - * @return the int - */ - public static int rawByteToInt(byte b){ - int tmp =(int)b; - if (tmp < 0){ - // This solves the Java signedness problem of "bytes" - tmp +=256; - } - return tmp; - } - - /** - * Gets the data. - * - * @return the data - */ - public ArrayList getData() { - return data; - } - - /** - * Gets the cmd. - * - * @return the cmd - */ - public String getCmd() { - return cmd; - } - - /** - * Sets the cmd. - * - * @param cmd the new cmd - */ - public void setCmd(String cmd) { - this.cmd = cmd; - } - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/virtual/DrivingRobotUI.java b/src/main/java/com/neuronrobotics/addons/driving/virtual/DrivingRobotUI.java deleted file mode 100644 index cf15c67e..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/virtual/DrivingRobotUI.java +++ /dev/null @@ -1,210 +0,0 @@ -package com.neuronrobotics.addons.driving.virtual; - -import java.awt.BasicStroke; -import java.awt.Color; -import java.awt.Graphics2D; -import java.util.ArrayList; - -import com.neuronrobotics.addons.driving.AbstractRobotDrive; - -// TODO: Auto-generated Javadoc -/** - * The Class DrivingRobotUI. - */ -public class DrivingRobotUI { - - /** The startx. */ - //These represent where the robots base frame is in pixel-space. This is passed in at instantiation. - private double startx; - - /** The starty. */ - private double starty; - - /** The robot. */ - private AbstractRobotDrive robot; - - /** The robot diameter. */ - private int robotDiameter = 60; - - /** The world. */ - private VirtualWorld world; - - /** The dots. */ - private ArrayList dots= new ArrayList (); - - /** The range. */ - int [] range = null; - - /** - * Instantiates a new driving robot ui. - * - * @param w the w - * @param robot the robot - * @param botstartx the botstartx - * @param botstarty the botstarty - */ - public DrivingRobotUI(VirtualWorld w ,AbstractRobotDrive robot, double botstartx, double botstarty) { - setRobot(robot); - startx=botstartx; - starty=botstarty; - world=w; - } - - - /** - * Gets the robot x to pixel. - * - * @return the robot x to pixel - */ - public int getRobotXToPixel(){ - //This converts from robot coordinantes to pixel space, note that X and Y seem swapped, this is correct - return (int)(world.getCmToPixel(getRobot().getCurrentY())+startx); - } - - /** - * Gets the robot y to pixel. - * - * @return the robot y to pixel - */ - public int getRobotYToPixel(){ - //This converts from robot coordinantes to pixel space, note that X and Y seem swapped, this is correct - return (int)(world.getCmToPixel(getRobot().getCurrentX())+starty); - } - - /** - * Draw robot. - * - * @param g the g - */ - public void drawRobot(Graphics2D g) { - //System.out.println("Drawing robot on map"); - g.setColor(Color.CYAN); - g.setStroke(new BasicStroke(3)); - - int centerx=getRobotXToPixel(); - int centery=getRobotYToPixel(); - g.fillOval((int)centerx-robotDiameter/2,(int)centery-robotDiameter/2,robotDiameter, robotDiameter); - - - int x1 = (int) centerx; - int y1 = (int) centery; - int orVe = robotDiameter/2; - - //System.out.println("Robot center coordinante x="+x1+" y="+y1); - - int x2 = (int) (centerx+Math.cos(getRobot().getCurrentOrentation()-(Math.PI/2))*orVe); - int y2 = (int) (centery-Math.sin(getRobot().getCurrentOrentation()-(Math.PI/2))*orVe); - g.setColor(Color.magenta); - g.drawLine(x1, y1, x2, y2); - - for(SensorDot s:dots){ - int [] loc = getSensorPixelLocation(s.deltLateral, s.deltForward); - int d=3; - g.setColor(s.color); - g.fillOval(loc[0]-d,loc[1]-d,d*2, d*2); - } - - if(range!=null){ - g.setColor(Color.green); - g.setStroke(new BasicStroke(1)); - g.drawLine(x1, y1, range[0], range[1]); - } - - } - - - /** - * Sets the robot. - * - * @param robot the new robot - */ - public void setRobot(AbstractRobotDrive robot) { - this.robot = robot; - } - - /** - * Gets the robot. - * - * @return the robot - */ - public AbstractRobotDrive getRobot() { - return robot; - } - - /** - * Gets the sensor pixel location. - * - * @param deltLateral the delt lateral - * @param deltForward the delt forward - * @return the sensor pixel location - */ - public int[] getSensorPixelLocation(double deltLateral, double deltForward) { - int [] back = new int[2]; - - double [] loc = getRobot().getPositionOffset(deltLateral, deltForward); - - back[0]=(int)(world.getCmToPixel(loc[1])+startx); - back[1]=(int)(world.getCmToPixel(loc[0])+starty); - - return back; - } - - /** - * Adds the sensor display dot. - * - * @param deltLateral the delt lateral - * @param deltForward the delt forward - * @param c the c - */ - public void addSensorDisplayDot(double deltLateral, double deltForward, Color c) { - dots.add(new SensorDot(deltLateral, deltForward, c)); - } - - /** - * The Class SensorDot. - */ - private class SensorDot{ - - /** The delt lateral. */ - public double deltLateral; - - /** The delt forward. */ - public double deltForward; - - /** The color. */ - public Color color; - - /** - * Instantiates a new sensor dot. - * - * @param l the l - * @param f the f - * @param c the c - */ - public SensorDot(double l, double f, Color c){ - deltForward=f; - deltLateral=l; - color=c; - } - } - - /** - * Clear range vector. - */ - public void clearRangeVector() { - range=null; - } - - /** - * Sets the range vector. - * - * @param x the x - * @param y the y - */ - public void setRangeVector(int x, int y) { - range = new int[2]; - range[0]=x; - range[1]=y; - } - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/virtual/ObsticleType.java b/src/main/java/com/neuronrobotics/addons/driving/virtual/ObsticleType.java deleted file mode 100644 index f74bf3be..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/virtual/ObsticleType.java +++ /dev/null @@ -1,107 +0,0 @@ -package com.neuronrobotics.addons.driving.virtual; - -import java.awt.Color; -import java.util.EnumSet; -import java.util.HashMap; -import java.util.Map; - -// TODO: Auto-generated Javadoc -/** - * The Enum ObsticleType. - */ -public enum ObsticleType { - - /** The line. */ - LINE(Color.black), - - /** The wall. */ - WALL(Color.blue), - - /** The fire. */ - FIRE(Color.magenta), - - /** The pinkball. */ - PINKBALL(Color.pink), - - /** The hockypuck. */ - HOCKYPUCK(Color.red), - - /** The hooksample. */ - HOOKSAMPLE(Color.white), - - /** The orangerod. */ - ORANGEROD(Color.orange), - - /** The basestation. */ - BASESTATION(Color.yellow), - - /** The userdefined. */ - USERDEFINED(Color.green), - - /** The none. */ - NONE(Color.lightGray); - - /** The Constant lookup. */ - private static final Map lookup = new HashMap(); - - static { - for(ObsticleType cm : EnumSet.allOf(ObsticleType.class)) { - lookup.put(cm.getValue(), cm); - } - } - - /** The value. */ - private Color value; - - /** - * Instantiates a new bowler method. - * - * @param c the c - */ - private ObsticleType(Color c) { - value = c; - } - - /** - * Gets the value. - * - * @return the value - */ - public Color getValue() { - return value; - } - - /** - * Gets the. - * - * @param c the c - * @return the bowler method - */ - public static ObsticleType get(Color c) { - ObsticleType ot = lookup.get(c); - if(ot==null) - ot=ObsticleType.NONE; - return ot; - } - - - /* (non-Javadoc) - * @see java.lang.Enum#toString() - */ - public String toString(){ - String s="NOT VALID"; - switch (this){ - case LINE: - return "On The Line"; - case WALL: - return "In The Wall"; - case FIRE: - return "In The Fire"; - case USERDEFINED: - return "User Defined Obsticle"; - case NONE: - return "No Obsticle"; - } - return s; - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualAckermanBot.java b/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualAckermanBot.java deleted file mode 100644 index 17223778..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualAckermanBot.java +++ /dev/null @@ -1,70 +0,0 @@ -package com.neuronrobotics.addons.driving.virtual; - -import com.neuronrobotics.addons.driving.AckermanBot; -import com.neuronrobotics.sdk.pid.IPIDEventListener; -import com.neuronrobotics.sdk.pid.PIDEvent; -import com.neuronrobotics.sdk.pid.PIDLimitEvent; -import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; - -// TODO: Auto-generated Javadoc -/** - * The Class VirtualAckermanBot. - */ -public class VirtualAckermanBot extends AckermanBot { - - /** The world. */ - private VirtualWorld world; - - /** The controller. */ - VirtualGenericPIDDevice controller; - - /** - * Instantiates a new virtual ackerman bot. - * - * @param w the w - * @param botStartX the bot start x - * @param botStartY the bot start y - */ - public VirtualAckermanBot(VirtualWorld w,int botStartX ,int botStartY){ - init(w,botStartX,botStartY); - } - - /** - * Instantiates a new virtual ackerman bot. - * - * @param w the w - */ - public VirtualAckermanBot(VirtualWorld w){ - init(w,300,300); - } - - /** - * Inits the. - * - * @param w the w - * @param botStartX the bot start x - * @param botStartY the bot start y - */ - private void init(VirtualWorld w ,int botStartX ,int botStartY){ - world=w; - world.addRobot(this,botStartX , botStartY); - controller = new VirtualGenericPIDDevice(getMaxTicksPerSecond()); - controller.addPIDEventListener(new IPIDEventListener() { - public void onPIDReset(int group, int currentValue) {} - public void onPIDLimitEvent(PIDLimitEvent e) {} - public void onPIDEvent(PIDEvent e) { - world.updateMap(); - } - }); - - setPIDChanel(controller.getPIDChannel(0)); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AckermanBot#setSteeringHardwareAngle(double) - */ - @Override - public void setSteeringHardwareAngle(double s) { - //do nothing - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualFlameSensor.java b/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualFlameSensor.java deleted file mode 100644 index 5836aa18..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualFlameSensor.java +++ /dev/null @@ -1,29 +0,0 @@ -package com.neuronrobotics.addons.driving.virtual; - -import com.neuronrobotics.addons.driving.AbstractRobotDrive; - -// TODO: Auto-generated Javadoc -/** - * The Class VirtualFlameSensor. - */ -public class VirtualFlameSensor extends VirtualRangeSensor { - - /** - * Instantiates a new virtual flame sensor. - * - * @param r the r - * @param w the w - */ - public VirtualFlameSensor(AbstractRobotDrive r, VirtualWorld w) { - super(r, w); - // TODO Auto-generated constructor stub - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.virtual.VirtualRangeSensor#getObsticleType() - */ - @Override - protected ObsticleType getObsticleType(){ - return ObsticleType.FIRE; - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualLineSensor.java b/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualLineSensor.java deleted file mode 100644 index ac8c45a0..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualLineSensor.java +++ /dev/null @@ -1,133 +0,0 @@ -package com.neuronrobotics.addons.driving.virtual; - -import java.awt.Color; - -import com.neuronrobotics.addons.driving.AbstractRobotDrive; -import com.neuronrobotics.addons.driving.AbstractSensor; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class VirtualLineSensor. - */ -public class VirtualLineSensor extends AbstractSensor { - - /** The poller. */ - SensorPoll poller=new SensorPoll(); - - /** The world. */ - private VirtualWorld world; - - /** The left. */ - ObsticleType left= ObsticleType.NONE; - - /** The middle. */ - ObsticleType middle= ObsticleType.NONE; - - /** The right. */ - ObsticleType right= ObsticleType.NONE; - - /** The offset. */ - double fOffset = 6; - - /** The l offset. */ - double lOffset = 2; - - /** The platform. */ - private AbstractRobotDrive platform = null; - - /** - * Instantiates a new virtual line sensor. - * - * @param r the r - * @param w the w - */ - public VirtualLineSensor(AbstractRobotDrive r,VirtualWorld w) { - this.platform = r; - setWorld(w); - poller.start(); - } - - /** - * Instantiates a new virtual line sensor. - * - * @param r the r - * @param w the w - * @param forwardOffset the forward offset - * @param lateralOffset the lateral offset - */ - public VirtualLineSensor(AbstractRobotDrive r,VirtualWorld w, double forwardOffset, double lateralOffset) { - this.platform = r; - fOffset=forwardOffset; - lOffset=lateralOffset; - setWorld(w); - poller.start(); - } - - /** - * Gets the robot. - * - * @return the robot - */ - public AbstractRobotDrive getRobot() { - return platform; - } - - /** - * Sets the world. - * - * @param world the new world - */ - private void setWorld(VirtualWorld world) { - this.world = world; - } - - /** - * Gets the world. - * - * @return the world - */ - private VirtualWorld getWorld() { - return world; - } - - /** - * The Class SensorPoll. - */ - private class SensorPoll extends Thread{ - - /* (non-Javadoc) - * @see java.lang.Thread#run() - */ - public void run(){ - getWorld().addSensorDisplayDot(getRobot(), lOffset, fOffset, Color.red); - getWorld().addSensorDisplayDot(getRobot(), 0, fOffset, Color.white); - getWorld().addSensorDisplayDot(getRobot(), -lOffset, fOffset, Color.black); - while(true){ - ThreadUtil.wait(10); - try { - ObsticleType tmpL = getWorld().getObsticle(getRobot(), lOffset,fOffset); - ObsticleType tmpC = getWorld().getObsticle(getRobot(), 0,fOffset); - ObsticleType tmpR = getWorld().getObsticle(getRobot(), -lOffset,fOffset); - - if((tmpL != left) ||(tmpC!=middle) ||(tmpR!=right)){ - left=tmpL; - middle=tmpC; - right=tmpR; - fireLineSensorEvent(left==ObsticleType.NONE?0:1024, middle==ObsticleType.NONE?0:1024, right==ObsticleType.NONE?0:1024, System.currentTimeMillis()); - } - }catch(Exception ex) { - - } - } - } - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.AbstractSensor#StartSweep(double, double, double) - */ - @Override - public void StartSweep(double start, double stop, double increment) { - // do nothing - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualPuckBot.java b/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualPuckBot.java deleted file mode 100644 index f2fa9827..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualPuckBot.java +++ /dev/null @@ -1,75 +0,0 @@ -package com.neuronrobotics.addons.driving.virtual; - -import com.neuronrobotics.addons.driving.IPuckBotKinematics; -import com.neuronrobotics.addons.driving.PuckBot; -import com.neuronrobotics.sdk.pid.IPIDEventListener; -import com.neuronrobotics.sdk.pid.PIDEvent; -import com.neuronrobotics.sdk.pid.PIDLimitEvent; -import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; - -// TODO: Auto-generated Javadoc -/** - * The Class VirtualPuckBot. - */ -public class VirtualPuckBot extends PuckBot{ - - /** The world. */ - private VirtualWorld world; - - /** The controller. */ - VirtualGenericPIDDevice controller; - - /** - * Instantiates a new virtual puck bot. - * - * @param w the w - * @param botStartX the bot start x - * @param botStartY the bot start y - */ - public VirtualPuckBot(VirtualWorld w,int botStartX ,int botStartY){ - init(w,botStartX,botStartY); - } - - /** - * Instantiates a new virtual puck bot. - * - * @param w the w - */ - public VirtualPuckBot(VirtualWorld w){ - init(w,300,300); - } - - /** - * Inits the. - * - * @param w the w - * @param botStartX the bot start x - * @param botStartY the bot start y - */ - private void init(VirtualWorld w ,int botStartX ,int botStartY){ - world=w; - world.addRobot(this,botStartX , botStartY); - controller = new VirtualGenericPIDDevice(getMaxTicksPerSeconds()); - controller.addPIDEventListener(new IPIDEventListener() { - public void onPIDReset(int group, int currentValue) {} - public void onPIDLimitEvent(PIDLimitEvent e) {} - public void onPIDEvent(PIDEvent e) { - world.updateMap(); - } - }); - - setPIDChanels(controller.getPIDChannel(0),controller.getPIDChannel(1)); - - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.PuckBot#setPuckBotKinematics(com.neuronrobotics.addons.driving.IPuckBotKinematics) - */ - @Override - public void setPuckBotKinematics(IPuckBotKinematics pk) { - super.setPuckBotKinematics(pk); - controller.setMaxTicksPerSecond(pk.getMaxTicksPerSeconds()); - } - - -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualRangeSensor.java b/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualRangeSensor.java deleted file mode 100644 index b2389623..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualRangeSensor.java +++ /dev/null @@ -1,56 +0,0 @@ -package com.neuronrobotics.addons.driving.virtual; - -import com.neuronrobotics.addons.driving.AbstractRobotDrive; -import com.neuronrobotics.addons.driving.LinearRangeSensor; - - -// TODO: Auto-generated Javadoc -/** - * The Class VirtualRangeSensor. - */ -public class VirtualRangeSensor extends LinearRangeSensor { - - /** The world. */ - private VirtualWorld world; - - /** The platform. */ - private AbstractRobotDrive platform = null; - - /** - * Instantiates a new virtual range sensor. - * - * @param r the r - * @param w the w - */ - public VirtualRangeSensor(AbstractRobotDrive r,VirtualWorld w) { - this.platform = r; - world=w; - } - - - /** - * Gets the obsticle type. - * - * @return the obsticle type - */ - protected ObsticleType getObsticleType(){ - return ObsticleType.WALL; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.LinearRangeSensor#getDistance(double) - */ - @Override - protected double getDistance(double current){ - world.updateMap(); - return world.getRangeData(platform,Math.toRadians(current), 5000000,getObsticleType()); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.LinearRangeSensor#setCurrentAngle(double) - */ - @Override - public void setCurrentAngle(double current) { - this.current = current; - } -} diff --git a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualWorld.java b/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualWorld.java deleted file mode 100644 index f1b30590..00000000 --- a/src/main/java/com/neuronrobotics/addons/driving/virtual/VirtualWorld.java +++ /dev/null @@ -1,234 +0,0 @@ -package com.neuronrobotics.addons.driving.virtual; - -import java.awt.BasicStroke; -import java.awt.Color; -import java.awt.Graphics2D; -import java.awt.image.BufferedImage; -import java.util.ArrayList; - -import javax.swing.JFrame; - -import com.neuronrobotics.addons.driving.AbstractRobotDrive; -import com.neuronrobotics.addons.driving.NrMap; -import com.neuronrobotics.sdk.ui.ConnectionImageIconFactory; - -// TODO: Auto-generated Javadoc -/** - * The Class VirtualWorld. - */ -public class VirtualWorld extends NrMap{ - - /** long. */ - - private static final long serialVersionUID = 3437012102714959690L; - - /** The bots. */ - private ArrayList bots = new ArrayList(); - - /** The frame. */ - private JFrame frame; - - /** - * Instantiates a new virtual world. - */ - public VirtualWorld() { - System.out.println("Starting new Virtual World"); - BufferedImage d = new BufferedImage(getWidth(), getHeight(),BufferedImage.TYPE_INT_RGB); - Graphics2D g = d.createGraphics(); - //Backdrop is blue - g.setColor(Color.blue); - g.fillRect(0,0, getWidth(),getHeight()); - - //White Oval tack - g.setColor(Color.white); - int rad =20; - g.fillRoundRect(30,50, 720,300, rad ,rad ); - g.fillRoundRect(450,50,150,500, rad ,rad ); - g.fillRoundRect(450,450,300,120, rad ,rad ); - g.setColor(Color.orange); - g.fillOval(720, 460, 20, 20); - //g.fillOval(30,10, (int)(width-50 ),(int)( hight-80 )); - - //Draw Line Follow Track - g.setColor(Color.black); - g.setStroke(new BasicStroke(10)); - //g.drawOval(80,50, (int)(width-160 ),(int)( hight-160 )); - - //Straight Sections - int lSx = (int)(width/2-120 ); - int ly=(int)( height/2+60 ); - int lEx=(int)(width/2+120 ); - - int sSx=(int)(width/2-50 ); - int sy=(int)( height/2-60 ); - int sEx= (int)(width/2+50 ); - - g.drawLine(lSx, ly, lEx, ly); - g.drawLine(sSx, sy, sEx, sy); - - int h = (int)(width/2 ); - g.drawLine(h, ly-20, h, ly+20); - - //End Archs - int ar = 200; - g.drawArc(lSx-(ar/2), ly-ar, ar, ar, 90, 180); - g.drawArc(lEx-(ar/2), ly-ar, ar, ar, -90, 180); - - //Connect the ends - g.drawLine(sEx, sy, lEx, ly-ar); - g.drawLine(sSx, sy, lSx, ly-ar); - setDisplay(d); - initGui(); - } - - /** - * Instantiates a new virtual world. - * - * @param b the b - */ - public VirtualWorld(BufferedImage b) { - super(b); - setDisplay(b); - initGui(); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.NrMap#initGui() - */ - public void initGui(){ - super.initGui(); - - - getFrame().setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE); - setBackground(Color.black); - getFrame().add(this); - getFrame().setSize((int)width+200,(int)height+200); - getFrame().setLocationRelativeTo(null); - getFrame().setVisible(true); - getFrame().setIconImage( ConnectionImageIconFactory.getIcon("images/hat.png").getImage()); - //frame.addMouseListener(this); - //frame.addMouseMotionListener(this); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.addons.driving.NrMap#updateMap() - */ - public void updateMap() { - //System.out.println("Updating Map"); - BufferedImage display = getMap(); - - Graphics2D g = display.createGraphics(); - if(bots != null){ - for(DrivingRobotUI b:bots) { - b.drawRobot(g); - } - } - setFinalDisplayImage(display); - getFrame().setVisible(true); - getFrame().repaint(); - } - - /** - * Adds the robot. - * - * @param robot the robot - * @param botStartX the bot start x - * @param botStartY the bot start y - */ - public void addRobot(AbstractRobotDrive robot,int botStartX ,int botStartY) { - if(!bots.contains(robot)) - bots.add(new DrivingRobotUI(this,robot,botStartX ,botStartY)); - updateMap(); - } - - /** - * Adds the sensor display dot. - * - * @param platform the platform - * @param deltLateral the delt lateral - * @param deltForward the delt forward - * @param c the c - */ - public void addSensorDisplayDot(AbstractRobotDrive platform, double deltLateral, double deltForward, Color c){ - for( int i=0;i statusListeners = new ArrayList(); - - /** - * Adds the printer status listener. - * - * @param l the l - */ - public void addPrinterStatusListener(PrinterStatusListener l){ - if(statusListeners.contains(l) || l==null) - return; - statusListeners.add(l); - } - - /** - * Removes the printer status listener. - * - * @param l the l - */ - public void removePrinterStatusListener(PrinterStatusListener l){ - if(statusListeners.contains(l)) - statusListeners.remove(l); - } - - /** - * Fire print status. - * - * @param stat the stat - */ - private void firePrintStatus(PrinterStatus stat){ - for(int i=0;i lookup = new HashMap(); - - static { - for(BowlerBoardKinematicModel cm : EnumSet.allOf(BowlerBoardKinematicModel.class)) { - lookup.put(cm.getValue(), cm); - } - } - - /** The value. */ - private int value; - - /** - * Instantiates a new bowler method. - * - * @param val the val - */ - private BowlerBoardKinematicModel(int val) { - value = val; - } - - /** - * Gets the value. - * - * @return the value - */ - public int getValue() { - return value; - } - - /** - * Gets the. - * - * @param args the code - * @return the bowler method - */ - public static BowlerBoardKinematicModel get(int args) { - return lookup.get(args); - } - -} diff --git a/src/main/java/com/neuronrobotics/replicator/driver/DataConvertion.java b/src/main/java/com/neuronrobotics/replicator/driver/DataConvertion.java deleted file mode 100644 index cc463770..00000000 --- a/src/main/java/com/neuronrobotics/replicator/driver/DataConvertion.java +++ /dev/null @@ -1,71 +0,0 @@ -package com.neuronrobotics.replicator.driver; - -// TODO: Auto-generated Javadoc -/** - * The Class DataConvertion. - */ -public class DataConvertion { - - /** - * ** Encodes a double value into bytes - * ** - * ** @param len - * The number of bytes to encode the value to - * ** @param val - * The value to encode - * ** . - * - * @return the bytes array created from the value - */ - public static byte[] encodeDouble(int len, double val) { - // 'len' must be at least 4 - if (len >= 4) { - byte data[] = new byte[len]; - int flen = (len >= 8) ? 8 : 4; - long n = (flen == 8) ? Double.doubleToRawLongBits(val) - : (long) Float.floatToRawIntBits((float) val); - // Big-Endian order - for (int i = (flen - 1); i >= 0; i--) { - data[i] = (byte) (n & 0xFF); - n >>>= 8; - } - return data; - } else { - //System.err.println("Wrong legnth byte array"); - return new byte[len]; - } - } - - // ------------------------------------------------------------------------ - - /** - * ** Decodes a double value from bytes, using IEEE 754 format - * ** . - * - * @param data The byte array from which to decode the double - * value - * ** @param ofs - * The offset into data to start decoding - * ** @return The decoded value, or 0L - */ - public static double decodeDouble(byte data[], int ofs) { - // 'len' must be at lest 4 - if ((data != null) && (data.length >= 4)) { - int len = data.length - ofs; - int flen = (len >= 8) ? 8 : 4; - long n = 0L; - // Big-Endian order - // { 0x01, 0x02, 0x03, 0x04 } -> 0x01020304 - for (int i = ofs; i < ofs + flen; i++) { - n = (n << 8) | ((long) data[i] & 0xFF); - } - if (flen == 8) { - return Double.longBitsToDouble(n); - } else { - return (double) Float.intBitsToFloat((int) n); - } - } else { - return 0.0; - } - } -} diff --git a/src/main/java/com/neuronrobotics/replicator/driver/ExternalSlicer.java b/src/main/java/com/neuronrobotics/replicator/driver/ExternalSlicer.java deleted file mode 100644 index 3a7252e6..00000000 --- a/src/main/java/com/neuronrobotics/replicator/driver/ExternalSlicer.java +++ /dev/null @@ -1,123 +0,0 @@ -package com.neuronrobotics.replicator.driver; - -import java.io.BufferedReader; -import java.io.File; -import java.io.IOException; -import java.io.InputStreamReader; -import java.util.ArrayList; -import java.util.List; - -import com.neuronrobotics.replicator.driver.SliceStatusData.SlicerState; - -// TODO: Auto-generated Javadoc -/** - * The Class ExternalSlicer. - */ -public class ExternalSlicer extends StlSlicer { - - /** The cmdline. */ - List cmdline; - - /** - * Instantiates a new external slicer. - */ - public ExternalSlicer() { - super(new MaterialData()); - } - - /** - * Instantiates a new external slicer. - * - * @param data the data - */ - public ExternalSlicer(MaterialData data) { - super(data); - // Ignore the data for now. - } - - /* (non-Javadoc) - * @see com.neuronrobotics.replicator.driver.StlSlicer#slice(java.io.File, java.io.File) - */ - public boolean slice(File input, File gcode) { - - ProcessBuilder builder = new ProcessBuilder(); - - List thisCommand = new ArrayList(cmdline); - thisCommand.add(1, input.getAbsolutePath()); - thisCommand.add("--output=" + gcode.getAbsolutePath()); - - // builder.redirectErrorStream(true); - // builder.redirectOutput(Redirect.INHERIT); - builder.command(thisCommand); - - try { - Process p = builder.start(); - BufferedReader br = new BufferedReader(new InputStreamReader( - p.getInputStream())); - - new Thread(new StreamDump(this, br)).start(); - p.waitFor(); - fireStatus(new SliceStatusData(0, 0, SlicerState.SUCCESS, - "complete slice")); - return true; - } catch (IOException e) { - e.printStackTrace(); - - return false; - } catch (InterruptedException e) { - e.printStackTrace(); - return false; - } - } - // public static void main(String args[]) throws Exception { - // // ExternalSlicer slicer=new Slic3r(null); - // //// slicer.cmdline=Arrays.asList("skeinforge"); - // // FileInputStream stlFile=new FileInputStream(args[0]); - // // FileOutputStream dumpFile=new FileOutputStream(args[0]+"-dump.gcode"); - // // slicer.slice(stlFile, dumpFile); - // } -} - -/** - * @author hephaestus - * - */ -class StreamDump implements Runnable { - - /** - * - */ - private ExternalSlicer externalSlicer; - - /** - * - */ - String line = ""; - - /** - * - */ - private BufferedReader br; - - /** - * @param externalSlicer instantiated object to implement slicing - * @param br reader containing the file handle - */ - StreamDump(ExternalSlicer externalSlicer, BufferedReader br) { - this.externalSlicer = externalSlicer; - this.br = br; - - } - - public void run() { - try { - while ((line = br.readLine()) != null) { - externalSlicer.fireStatus(new SliceStatusData(0, 0, - SlicerState.SLICING, new String(line))); - line = ""; - } - } catch (IOException e) { - return; - } - } -} diff --git a/src/main/java/com/neuronrobotics/replicator/driver/MaterialData.java b/src/main/java/com/neuronrobotics/replicator/driver/MaterialData.java deleted file mode 100644 index c000d8a6..00000000 --- a/src/main/java/com/neuronrobotics/replicator/driver/MaterialData.java +++ /dev/null @@ -1,17 +0,0 @@ -package com.neuronrobotics.replicator.driver; - -// TODO: Auto-generated Javadoc -/** - * The Class MaterialData. - */ -public class MaterialData { - - /** - * Gets the slicer for config. - * - * @return the slicer for config - */ - public StlSlicer getSlicerForConfig() { - return new StlSlicer(this); - } -} diff --git a/src/main/java/com/neuronrobotics/replicator/driver/NRPrinter.java b/src/main/java/com/neuronrobotics/replicator/driver/NRPrinter.java deleted file mode 100644 index 4a385af6..00000000 --- a/src/main/java/com/neuronrobotics/replicator/driver/NRPrinter.java +++ /dev/null @@ -1,472 +0,0 @@ -package com.neuronrobotics.replicator.driver; - -import gnu.io.NativeResource; - -import java.io.File; -import java.io.InputStream; - -import com.neuronrobotics.replicator.driver.PrinterStatus.PrinterState; -import com.neuronrobotics.sdk.addons.kinematics.AbstractLink; -import com.neuronrobotics.sdk.addons.kinematics.CartesianNamespacePidKinematics; -import com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR; -import com.neuronrobotics.sdk.addons.kinematics.ILinkListener; -import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.pid.PIDLimitEvent; -import com.neuronrobotics.sdk.util.ThreadUtil; -import com.neuronrobotics.sdk.utils.NativeResourceException; - -// TODO: Auto-generated Javadoc -/** - * The Class NRPrinter. - */ -public class NRPrinter extends CartesianNamespacePidKinematics implements PrinterStatusListener{ - - /** The parser. */ - private ServoStockGCodeParser parser; - - /** The slicer. */ - private Slic3r slicer; - - /** The delta device. */ - private BowlerBoardDevice deltaDevice; - - /** The extrusion cached value. */ - //Configuration hard coded - private double extrusionCachedValue = 0; - - /** The current temp. */ - private double currentTemp =0; - - /** The extruder. */ - private AbstractLink extruder; - - /** The hot end. */ - private AbstractLink hotEnd; - - /** The temp. */ - private double temp = 0; - - //private boolean printRunning=false; - - /** - * Instantiates a new NR printer. - * - * @param d the d - */ - public NRPrinter(BowlerBoardDevice d) { - super(d,d); - - - - this.setDeltaDevice(d); - - extruder = getFactory().getLink("Extruder"); - hotEnd = getFactory().getLink("Heater"); - setTempreture(getTempreture()); - getFactory().addLinkListener(new ILinkListener() { - @Override - public void onLinkPositionUpdate(AbstractLink source,double engineeringUnitsValue) { - if(source == hotEnd) { - setTempreture(engineeringUnitsValue); - } - //Log.info("Link Position update "+source+" "+engineeringUnitsValue); - } - - @Override - public void onLinkLimit(AbstractLink source, PIDLimitEvent event) { - // TODO Auto-generated method stub - - } - }); - - //parse out the extruder configs - //parse delta robot configs - - setExtrusionTempreture(getTempreture()); - - setParser(new ServoStockGCodeParser(this)); - - try{ - reloadSlic3rSettings(); - }catch(Exception e){e.printStackTrace();} - addPrinterStatusListener(this); - - - } - - /** - * Slice. - * - * @param stl the input stream - * @param gcode the gcode to be written to - * @return true, if successful - */ - public boolean slice(File stl,File gcode) { - return getSlicer().slice(stl, gcode); - } - - /** - * Prints the. - * - * @param gcode the gcode to be sent to the printer - * @return true, if successful - * @throws Exception the exception - */ - public boolean print(InputStream gcode) throws Exception { - Log.debug("Printing now."); - //cancelPrint(); - //ThreadUtil.wait(5000); - long start = System.currentTimeMillis(); - boolean b = getParser().print(gcode); - Log.debug("Gcode loaded, waiting for printer to finish"); - while(deltaDevice.getNumberOfPacketsWaiting()>0){ - ThreadUtil.wait(1000); - Log.debug(deltaDevice.getNumberOfPacketsWaiting()+" remaining"); - - } - ThreadUtil.wait(1000); - Log.debug("Print Done, took "+((((double)(System.currentTimeMillis()-start))/1000.0)/60.0)+" minutes"); - getParser().firePrinterStatusUpdate(PrinterState.SUCCESS); - return b; - } - - /** - * Cancel print. - * - * @return true, if successful - */ - public boolean cancelPrint() { - Log.warning("Canceling print"); - cancelRunningPrint(); - return getParser().cancel(); - } - - /** - * Checks if is ready. - * - * @return true, if is ready - */ - public boolean isReady() { - // TODO Auto-generated method stub - return getParser().isReady(); - } - - /** - * Adds the printer status listener. - * - * @param l the l - */ - public void addPrinterStatusListener(PrinterStatusListener l) { - getParser().addPrinterStatusListener(l); - getSlicer().addPrinterStatusListener(l); - deltaDevice.addPrinterStatusListener(l); - } - - /** - * Removes the printer status listener. - * - * @param l the l - */ - public void removePrinterStatusListener(PrinterStatusListener l) { - getParser().removePrinterStatusListener(l); - getSlicer().removePrinterStatusListener(l); - deltaDevice.removePrinterStatusListener(l); - } - - /** - * Sets the slicer. - * - * @param slicer the new slicer - */ - private void setSlicer(Slic3r slicer) { - this.slicer = slicer; - deltaDevice.setSlic3rConfiguration(slicer); - } - - /** - * Gets the slicer. - * - * @return the slicer - */ - public Slic3r getSlicer() { - return slicer; - } - - /** - * Sets the parser. - * - * @param parser the new parser - */ - private void setParser(ServoStockGCodeParser parser) { - this.parser = parser; - } - - /** - * Gets the parser. - * - * @return the parser - */ - public ServoStockGCodeParser getParser() { - return parser; - } - - /** - * Gets the delta device. - * - * @return the delta device - */ - public BowlerBoardDevice getDeltaDevice() { - return deltaDevice; - } - - /** - * Sets the delta device. - * - * @param d the new delta device - */ - public void setDeltaDevice(BowlerBoardDevice d) { - this.deltaDevice = d; - d.getConnection().setSynchronusPacketTimeoutTime(5000); - } - - /** - * Gets the tempreture. - * - * @return the tempreture - */ - private double getTempreture() { - return temp; - } - - /** - * Sets the tempreture. - * - * @param temp the new tempreture - */ - private void setTempreture(double temp) { - this.temp = temp; - } - - - /** - * Sets the extrusion tempreture. - * - * @param extTemp the new extrusion tempreture - */ - public void setExtrusionTempreture(double extTemp) { - if(extTemp == currentTemp) { - Log.debug("Printer at tempreture "+currentTemp+" C"); - return; - }else - currentTemp=extTemp; - setTempreture(hotEnd.getCurrentEngineeringUnits()); - hotEnd.setTargetEngineeringUnits(extTemp); - hotEnd.flush(0); - getTempreture(); - System.out.print("\r\nWaiting for Printer to come up to tempreture "+currentTemp+" C \n"); - Log.enableSystemPrint(false); - int iter=0; - while(temp>(extTemp+10) || temp< (extTemp-10)) { - getTempreture(); - System.out.print("."); - ThreadUtil.wait(100); - iter++; - if(iter==50) { - System.out.print("\r\n "+temp+" C"); - iter=0; - } - } - Log.enableSystemPrint(true); - } - - /** - * Sets the bed tempreture. - * - * @param bedTemp the new bed tempreture - */ - public void setBedTempreture(double bedTemp) { - - } - - /** - * Sets the desired print locetion. - * - * @param taskSpaceTransform the task space transform - * @param extrusionLegnth the extrusion legnth - * @param seconds the seconds - * @return the int - * @throws Exception the exception - */ - public int setDesiredPrintLocetion(TransformNR taskSpaceTransform,double extrusionLegnth, double seconds) throws Exception{ - //System.out.println("Telling printer to go to extrusion len "+extrusionLegnth); - return getDeltaDevice().sendLinearSection(taskSpaceTransform, extrusionLegnth, (int) (seconds*1000)); - } - - /** - * Gets the extrusion cached value. - * - * @return the extrusion cached value - */ - public double getExtrusionCachedValue() { - return extrusionCachedValue; - } - - /** - * Sets the extrusion cached value. - * - * @param extrusionCachedValue the new extrusion cached value - */ - public void setExtrusionCachedValue(double extrusionCachedValue) { - this.extrusionCachedValue = extrusionCachedValue; - } - - /** - * Sets the extrusion point. - * - * @param materialNumber the material number - * @param setPoint the set point - */ - public void setExtrusionPoint(int materialNumber, double setPoint) { - //TODO another method to set material - extruder.setTargetEngineeringUnits(setPoint); - setExtrusionCachedValue(setPoint); - } - - /** - * Gets the number of packets waiting. - * - * @return the number of packets waiting - */ - public int getNumberOfPacketsWaiting() { - return getDeltaDevice().getNumberOfPacketsWaiting(); - } - - - /** - * Gets the number of spaces in buffer. - * - * @return the number of spaces in buffer - */ - public int getNumberOfSpacesInBuffer() { - return getDeltaDevice().getNumberOfSpacesInBuffer(); - } - - /** - * Cancel running print. - */ - private void cancelRunningPrint() { - - getDeltaDevice().cancelRunningPrint(); - - } - - /* (non-Javadoc) - * @see com.neuronrobotics.replicator.driver.PrinterStatusListener#sliceStatus(com.neuronrobotics.replicator.driver.SliceStatusData) - */ - @Override - public void sliceStatus(SliceStatusData ssd) { - // TODO Auto-generated method stub - - } - - /* (non-Javadoc) - * @see com.neuronrobotics.replicator.driver.PrinterStatusListener#printStatus(com.neuronrobotics.replicator.driver.PrinterStatus) - */ - @Override - public void printStatus(PrinterStatus psl) { - // TODO Auto-generated method stub - if(psl.getDriverState() == PrinterState.MOVING) - firePoseTransform(forwardOffset(psl.getHeadLocation())); - if(psl.getDriverState() == PrinterState.PRINTING){ - //Log.warning("Received a Print status update"); - TransformNR taskSpaceTransform=psl.getHeadLocation(); - fireTargetJointsUpdate(getCurrentJointSpaceVector(), taskSpaceTransform ); - } - - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#firePoseUpdate() - */ - @Override - protected void firePoseUpdate(){ - //Log.error("Pose update non execution. Use firePoseTransform(forwardOffset(psl.getHeadLocation()))"); - double[] vect = getCurrentJointSpaceVector(); - - for(int i=0;i listeners = new ArrayList(); - - /** The current line. */ - private int currentLine=0; - - /** The current tempreture. */ - private double currentTempreture = 0; - - /** The extrusion. */ - private double extrusion=0; - - /** The current transform. */ - private TransformNR currentTransform= new TransformNR(); - - /** - * Instantiates a new servo stock g code parser. - * - * @param nrPrinter the nr printer - */ - public ServoStockGCodeParser(NRPrinter nrPrinter) { - // TODO Auto-generated constructor stub - this.device=nrPrinter; - } - - /** - * Prints the. - * - * @param gcode the gcode - * @return true, if successful - * @throws Exception the exception - */ - public boolean print(InputStream gcode) throws Exception { - currentLine=0; - //this should be a thread that takes the gcode and sends it to the printer - if(interp == null){ - interp=new GCodeInterpreter(); // Could reuse. - addHandlers(interp); - } - Log.debug("Reached print."); - - interp.tryInterpretStream(gcode); - Log.debug("End of print."); - - return true; - - } - - /** - * Fire printer status update. - * - * @param status the status - */ - private void firePrinterStatusUpdate(PrinterStatus status){ - currentLine=status.getPrintProgress(); - - for(PrinterStatusListener l : listeners) { - Log.info("Firing print status event: "+status+" to "+l.getClass().getName()); - l.printStatus(status); - } - } - - /** - * Fire printer status update. - * - * @param state the state - */ - public void firePrinterStatusUpdate(PrinterState state) { - // TODO Auto-generated method stub - firePrinterStatusUpdate(new PrinterStatus(currentTransform,extrusion,currentTempreture,currentLine,state)); - - } - - /** - * Adds the handlers. - * - * @param interp the interp - */ - void addHandlers(GCodeInterpreter interp) { - - interp.setErrorHandler(new CodeHandler() { - public void execute(GCodeLineData prev, GCodeLineData next) throws Exception { - firePrinterStatusUpdate(new PrinterStatus(currentTransform, - extrusion, - currentTempreture, - (int)next.getWord('P'),PrinterState.ERROR,next+" unhandled exception")); - } - }); - // Temperature control - interp.addMHandler(104, new CodeHandler() { - public void execute(GCodeLineData prev, GCodeLineData next) throws Exception { - waitForClearToPrint(); - currentTempreture=next.getWord('S'); - device.setExtrusionTempreture(currentTempreture); - currentLine = (int)next.getWord('P'); - firePrinterStatusUpdate(PrinterState.PRINTING); - } - }); - // TODO this code should wait until up to tempreture - interp.addMHandler(109, new CodeHandler() { - public void execute(GCodeLineData prev, GCodeLineData next) throws Exception { - waitForClearToPrint(); - currentTempreture = next.getWord('S'); - device.setExtrusionTempreture(currentTempreture); - currentLine = (int)next.getWord('P'); - firePrinterStatusUpdate(PrinterState.PRINTING); - } - }); - - interp.setGHandler(0, new CodeHandler() { - public void execute(GCodeLineData prev, GCodeLineData next) throws Exception { - waitForClearToPrint(); - currentTransform=new TransformNR(next.getWord('X'),next.getWord('Y'),next.getWord('Z'),new RotationNR()); - extrusion = next.getWord('E'); - device.setDesiredPrintLocetion(currentTransform, extrusion, 0);// zero seconds is a rapid - currentLine = (int)next.getWord('P'); - firePrinterStatusUpdate(PrinterState.PRINTING); - } - }); - interp.setGHandler(28, new CodeHandler() { - //Move to origin - public void execute(GCodeLineData prev, GCodeLineData next) throws Exception { - waitForClearToPrint(); - currentTransform=new TransformNR(0,0,0,new RotationNR()); - device.setDesiredPrintLocetion(currentTransform, extrusion, 0);// zero seconds is a rapid - currentLine = (int)next.getWord('P'); - firePrinterStatusUpdate(PrinterState.PRINTING); - } - }); - interp.setGHandler(92, new CodeHandler() { - //Move to origin - public void execute(GCodeLineData prev, GCodeLineData next) throws Exception { - // clear the print queue before zeroing out extruder - waitForEmptyPrintQueue(); - extrusion =next.getWord('E'); - device.zeroExtrusion(extrusion); - currentLine = (int)next.getWord('P'); - firePrinterStatusUpdate(PrinterState.PRINTING); - } - }); - - // set units to millimeters - interp.setGHandler(21, new CodeHandler() { - //Move to origin - public void execute(GCodeLineData prev, GCodeLineData next) throws Exception { - waitForClearToPrint(); - currentLine = (int)next.getWord('P'); - firePrinterStatusUpdate(PrinterState.PRINTING); - } - }); - - // use absolute coordinates - interp.setGHandler(90, new CodeHandler() { - //Move to origin - public void execute(GCodeLineData prev, GCodeLineData next) throws Exception { - waitForClearToPrint(); - currentLine = (int)next.getWord('P'); - firePrinterStatusUpdate(PrinterState.PRINTING); - } - }); - interp.setGHandler(1, new CodeHandler() { - public void execute(GCodeLineData prev, GCodeLineData next) throws Exception { - waitForClearToPrint(); - currentTransform=new TransformNR(next.getWord('X'),next.getWord('Y'),next.getWord('Z'),new RotationNR()); - TransformNR prevT=new TransformNR(prev.getWord('X'),prev.getWord('Y'),prev.getWord('Z'),new RotationNR()); - double seconds=(currentTransform.getOffsetVectorMagnitude(prevT)/next.getWord('F'))*60.0; - extrusion =next.getWord('E'); - int iter=0; - while(iter++<1000) { - try { - device.setDesiredPrintLocetion(currentTransform, extrusion, seconds); - currentLine = (int)next.getWord('P'); - firePrinterStatusUpdate(PrinterState.PRINTING); - return; - }catch (RuntimeException ex) { - //keep trying - Thread.sleep(100); - } - } - } - }); - - } - - /** - * Wait for clear to print. - */ - private void waitForClearToPrint(){ - while(device!=null && device.getNumberOfSpacesInBuffer()==0) { - try { - Thread.sleep(10); - } catch (InterruptedException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - }//Wait for at least 2 spaces in the buffer - Log.info("Waiting for space..." +device.getNumberOfSpacesInBuffer()); - } - } - - /** - * Wait for empty print queue. - */ - private void waitForEmptyPrintQueue(){ - while(device!=null && device.getNumberOfPacketsWaiting() != 0) { - try { - Thread.sleep(10); - } catch (InterruptedException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - }//Wait for at least 2 spaces in the buffer - Log.info("Waiting for clear packet buffer..." +device.getNumberOfPacketsWaiting() ); - } - } - - /** - * Cancel. - * - * @return true, if successful - */ - public boolean cancel() { - if(interp!=null) { - return interp.cancel(); - } - return false; - } - - /** - * Adds the printer status listener. - * - * @param l the l - */ - public void addPrinterStatusListener(PrinterStatusListener l) { - if(!listeners.contains(l)) - listeners.add(l); - } - - /** - * Removes the printer status listener. - * - * @param l the l - */ - public void removePrinterStatusListener(PrinterStatusListener l) { - if(listeners.contains(l)) - listeners.remove(l); - } - - /** - * Checks if is ready. - * - * @return true, if is ready - */ - public boolean isReady() { - // TODO Auto-generated method stub -// return false; - return true; - } - - - -} diff --git a/src/main/java/com/neuronrobotics/replicator/driver/Slic3r.java b/src/main/java/com/neuronrobotics/replicator/driver/Slic3r.java deleted file mode 100644 index e70c50ea..00000000 --- a/src/main/java/com/neuronrobotics/replicator/driver/Slic3r.java +++ /dev/null @@ -1,692 +0,0 @@ -package com.neuronrobotics.replicator.driver; - -import java.io.File; -import java.util.Arrays; - -// TODO: Auto-generated Javadoc -/** - * The Class Slic3r. - */ -public class Slic3r extends ExternalSlicer { - - /** The executable location. */ - private static String executableLocation=null; - - /** The nozzle_diameter. */ - private double nozzle_diameter; - - /** The print center. */ - private double[] printCenter = new double[2]; - - /** The filiment diameter. */ - private double filimentDiameter; - - /** The extrusion multiplier. */ - private double extrusionMultiplier; - - /** The tempreture. */ - private int tempreture; - - /** The bed tempreture. */ - private int bedTempreture; - - /** The layer height. */ - private double layerHeight; - - /** The wall thickness. */ - private int wallThickness; - - /** The use support material. */ - private boolean useSupportMaterial; - - /** The retract length. */ - private double retractLength; - - /** The travil speed. */ - private int travilSpeed; - - /** The perimeter speed. */ - private int perimeterSpeed; - - /** The bridge speed. */ - private int bridgeSpeed; - - /** The gap fill speed. */ - private int gapFillSpeed; - - /** The infill speed. */ - private int infillSpeed; - - /** The support material speed. */ - private int supportMaterialSpeed; - - /** The small perimeter speed percent. */ - private int smallPerimeterSpeedPercent; - - /** The external perimeter speed percent. */ - private int externalPerimeterSpeedPercent; - - /** The solid infill speed percent. */ - private int solidInfillSpeedPercent; - - /** The top solid infill speed percent. */ - private int topSolidInfillSpeedPercent; - - /** The support material interface speed percent. */ - private int supportMaterialInterfaceSpeedPercent; - - /** The first layer speed percent. */ - private int firstLayerSpeedPercent; - - /** The args. */ - private double[] args; - - /** - * Instantiates a new slic3r. - * - * @param args the args - */ - public Slic3r(double [] args) { - this.args = args; - this.setNozzle_diameter(args[0]); - this.getPrintCenter()[0] = args[1]; - this.getPrintCenter()[1] = args[2]; - this.setFilimentDiameter(args[3]); - this.setExtrusionMultiplier(args[4]); - this.setTempreture((int) args[5]); - this.setBedTempreture((int) args[6]); - this.setLayerHeight(args[7]); - this.setWallThickness((int) args[8]); - this.setUseSupportMaterial(args[9]!=0); - this.setRetractLength(args[10]); - this.setTravilSpeed((int) args[11]); - this.setPerimeterSpeed((int) args[12]); - this.setBridgeSpeed((int) args[13]); - this.setGapFillSpeed((int) args[14]); - this.setInfillSpeed((int) args[15]); - this.setSupportMaterialSpeed((int) args[16]); - this.setSmallPerimeterSpeedPercent((int) args[17]); - this.setExternalPerimeterSpeedPercent((int) args[18]); - this.setSolidInfillSpeedPercent((int) args[19]); - this.setTopSolidInfillSpeedPercent((int) args[20]); - this.setSupportMaterialInterfaceSpeedPercent((int) args[21]); - this.setFirstLayerSpeedPercent((int) args[22]); - makeCommandLine(); - } - - /** - * Gets the packet arguments. - * - * @return the packet arguments - */ - public double [] getPacketArguments(){ - if(args==null){ - args = new double[23]; - } - - args[0] = this.getNozzle_diameter() ; - args[1] = this.getPrintCenter()[0] ; - args[2]= this.getPrintCenter()[1] ; - args[3] = this.getFilimentDiameter(); - args[4] = this.getExtrusionMultiplier() ; - args[5] = this.getTempreture() ; - args[6] = this.getBedTempreture() ; - args[7] = this.getLayerHeight(); - args[8]= this.getWallThickness() ; - args[9]= this.isUseSupportMaterial()?1:0; - args[10]= this.getRetractLength() ; - args[11]= this.getTravilSpeed() ;; - args[12]= this.getPerimeterSpeed(); - args[13]= this.getBridgeSpeed(); - args[14]= this.getGapFillSpeed(); - args[15]= this.getInfillSpeed(); - args[16]= this.getSupportMaterialSpeed(); - args[17]= this.getSmallPerimeterSpeedPercent(); - args[18]= this.getExternalPerimeterSpeedPercent() ; - args[19]= this.getSolidInfillSpeedPercent(); - args[20]= this.getTopSolidInfillSpeedPercent(); - args[21]= this.getSupportMaterialInterfaceSpeedPercent() ; - args[22]= this.getFirstLayerSpeedPercent(); - - return args; - } - - /** - * Instantiates a new slic3r. - * - * @param nozzle_diameter the nozzle_diameter - * @param printCenter the print center - * @param filimentDiameter the filiment diameter - * @param extrusionMultiplier the extrusion multiplier - * @param tempreture the tempreture - * @param bedTempreture the bed tempreture - * @param layerHeight the layer height - * @param wallThickness the wall thickness - * @param useSupportMaterial the use support material - * @param retractLength the retract length - * @param travilSpeed the travil speed - * @param perimeterSpeed the perimeter speed - * @param bridgeSpeed the bridge speed - * @param gapFillSpeed the gap fill speed - * @param infillSpeed the infill speed - * @param supportMaterialSpeed the support material speed - * @param smallPerimeterSpeedPercent the small perimeter speed percent - * @param externalPerimeterSpeedPercent the external perimeter speed percent - * @param solidInfillSpeedPercent the solid infill speed percent - * @param topSolidInfillSpeedPercent the top solid infill speed percent - * @param supportMaterialInterfaceSpeedPercent the support material interface speed percent - * @param firstLayerSpeedPercent the first layer speed percent - */ - public Slic3r( double nozzle_diameter, - double [] printCenter, - double filimentDiameter, - double extrusionMultiplier, - int tempreture, - int bedTempreture, - double layerHeight, - int wallThickness, - boolean useSupportMaterial, - double retractLength, - int travilSpeed, - int perimeterSpeed, - int bridgeSpeed, - int gapFillSpeed, - int infillSpeed, - int supportMaterialSpeed, - - int smallPerimeterSpeedPercent, - int externalPerimeterSpeedPercent, - int solidInfillSpeedPercent, - int topSolidInfillSpeedPercent, - int supportMaterialInterfaceSpeedPercent, - int firstLayerSpeedPercent - ) { - - this.setNozzle_diameter(nozzle_diameter); - this.setPrintCenter(printCenter); - this.setFilimentDiameter(filimentDiameter); - this.setExtrusionMultiplier(extrusionMultiplier); - this.setTempreture(tempreture); - this.setBedTempreture(bedTempreture); - this.setLayerHeight(layerHeight); - this.setWallThickness(wallThickness); - this.setUseSupportMaterial(useSupportMaterial); - this.setRetractLength(retractLength); - this.setTravilSpeed(travilSpeed); - this.setPerimeterSpeed(perimeterSpeed); - this.setBridgeSpeed(bridgeSpeed); - this.setGapFillSpeed(gapFillSpeed); - this.setInfillSpeed(infillSpeed); - this.setSupportMaterialSpeed(supportMaterialSpeed); - this.setSmallPerimeterSpeedPercent(smallPerimeterSpeedPercent); - this.setExternalPerimeterSpeedPercent(externalPerimeterSpeedPercent); - this.setSolidInfillSpeedPercent(solidInfillSpeedPercent); - this.setTopSolidInfillSpeedPercent(topSolidInfillSpeedPercent); - this.setSupportMaterialInterfaceSpeedPercent(supportMaterialInterfaceSpeedPercent); - this.setFirstLayerSpeedPercent(firstLayerSpeedPercent); - makeCommandLine(); - - } - - /** - * Make command line. - */ - private void makeCommandLine(){ - if(!new File(getExecutableLocation()).canExecute()) - throw new RuntimeException("Slicer binary must be executable. "); - this.cmdline=Arrays.asList(getExecutableLocation(), - "--nozzle-diameter="+getNozzle_diameter(), - "--print-center=("+getPrintCenter()[0]+","+getPrintCenter()[1]+")", - "--filament-diameter="+getFilimentDiameter(), - "--extrusion-multiplier="+getExtrusionMultiplier(), - "--temperature="+getTempreture(), - "--bed-temperature="+getBedTempreture(), - "--layer-height="+getLayerHeight(), - "--perimeters="+getWallThickness(), - "--avoid-crossing-perimeters", - isUseSupportMaterial()?"--support-material":" ", - "--retract-length="+getRetractLength(), - //"--skirts=2", - //"--repair", - "--travel-speed="+getTravilSpeed(), - "--perimeter-speed="+getPerimeterSpeed(), - "--bridge-speed="+getBridgeSpeed(), - "--gap-fill-speed="+getGapFillSpeed(), - "--infill-speed="+getInfillSpeed(), - "--support-material-speed="+getSupportMaterialSpeed(), - - "--small-perimeter-speed="+getSmallPerimeterSpeedPercent()+"%", - "--external-perimeter-speed="+getExternalPerimeterSpeedPercent()+"%", - "--solid-infill-speed="+getSolidInfillSpeedPercent()+"%", - "--top-solid-infill-speed="+getTopSolidInfillSpeedPercent()+"%", - "--support-material-interface-speed="+getSupportMaterialInterfaceSpeedPercent()+"%", - "--first-layer-speed="+getFirstLayerSpeedPercent()+"%", - "--notes=\"Generated by com.neuronrobotics.replicator.driver.Slic3r.java\"" - ); - } - - /** - * Gets the executable location. - * - * @return the executable location - */ - public static String getExecutableLocation() { - return executableLocation; - } - - - /** - * Sets the executable location. - * - * @param executableLocation the new executable location - */ - public static void setExecutableLocation(String executableLocation) { - Slic3r.executableLocation = executableLocation; - } - - /** - * Gets the nozzle_diameter. - * - * @return the nozzle_diameter - */ - public double getNozzle_diameter() { - return nozzle_diameter; - } - - /** - * Sets the nozzle_diameter. - * - * @param nozzle_diameter the new nozzle_diameter - */ - public void setNozzle_diameter(double nozzle_diameter) { - this.nozzle_diameter = nozzle_diameter; - } - - /** - * Gets the prints the center. - * - * @return the prints the center - */ - public double[] getPrintCenter() { - return printCenter; - } - - /** - * Sets the prints the center. - * - * @param printCenter the new prints the center - */ - public void setPrintCenter(double[] printCenter) { - this.printCenter = printCenter; - } - - /** - * Gets the filiment diameter. - * - * @return the filiment diameter - */ - public double getFilimentDiameter() { - return filimentDiameter; - } - - /** - * Sets the filiment diameter. - * - * @param filimentDiameter the new filiment diameter - */ - public void setFilimentDiameter(double filimentDiameter) { - this.filimentDiameter = filimentDiameter; - } - - /** - * Gets the extrusion multiplier. - * - * @return the extrusion multiplier - */ - public double getExtrusionMultiplier() { - return extrusionMultiplier; - } - - /** - * Sets the extrusion multiplier. - * - * @param extrusionMultiplier the new extrusion multiplier - */ - public void setExtrusionMultiplier(double extrusionMultiplier) { - this.extrusionMultiplier = extrusionMultiplier; - } - - /** - * Gets the tempreture. - * - * @return the tempreture - */ - public int getTempreture() { - return tempreture; - } - - /** - * Sets the tempreture. - * - * @param tempreture the new tempreture - */ - public void setTempreture(int tempreture) { - this.tempreture = tempreture; - } - - /** - * Gets the bed tempreture. - * - * @return the bed tempreture - */ - public int getBedTempreture() { - return bedTempreture; - } - - /** - * Sets the bed tempreture. - * - * @param bedTempreture the new bed tempreture - */ - public void setBedTempreture(int bedTempreture) { - this.bedTempreture = bedTempreture; - } - - /** - * Gets the layer height. - * - * @return the layer height - */ - public double getLayerHeight() { - return layerHeight; - } - - /** - * Sets the layer height. - * - * @param layerHeight the new layer height - */ - public void setLayerHeight(double layerHeight) { - this.layerHeight = layerHeight; - } - - /** - * Gets the wall thickness. - * - * @return the wall thickness - */ - public int getWallThickness() { - return wallThickness; - } - - /** - * Sets the wall thickness. - * - * @param wallThickness the new wall thickness - */ - public void setWallThickness(int wallThickness) { - this.wallThickness = wallThickness; - } - - /** - * Checks if is use support material. - * - * @return true, if is use support material - */ - public boolean isUseSupportMaterial() { - return useSupportMaterial; - } - - /** - * Sets the use support material. - * - * @param useSupportMaterial the new use support material - */ - public void setUseSupportMaterial(boolean useSupportMaterial) { - this.useSupportMaterial = useSupportMaterial; - } - - /** - * Gets the retract length. - * - * @return the retract length - */ - public double getRetractLength() { - return retractLength; - } - - /** - * Sets the retract length. - * - * @param retractLength the new retract length - */ - public void setRetractLength(double retractLength) { - this.retractLength = retractLength; - } - - /** - * Gets the travil speed. - * - * @return the travil speed - */ - public int getTravilSpeed() { - return travilSpeed; - } - - /** - * Sets the travil speed. - * - * @param travilSpeed the new travil speed - */ - public void setTravilSpeed(int travilSpeed) { - this.travilSpeed = travilSpeed; - } - - /** - * Gets the perimeter speed. - * - * @return the perimeter speed - */ - public int getPerimeterSpeed() { - return perimeterSpeed; - } - - /** - * Sets the perimeter speed. - * - * @param perimeterSpeed the new perimeter speed - */ - public void setPerimeterSpeed(int perimeterSpeed) { - this.perimeterSpeed = perimeterSpeed; - } - - /** - * Gets the bridge speed. - * - * @return the bridge speed - */ - public int getBridgeSpeed() { - return bridgeSpeed; - } - - /** - * Sets the bridge speed. - * - * @param bridgeSpeed the new bridge speed - */ - public void setBridgeSpeed(int bridgeSpeed) { - this.bridgeSpeed = bridgeSpeed; - } - - /** - * Gets the gap fill speed. - * - * @return the gap fill speed - */ - public int getGapFillSpeed() { - return gapFillSpeed; - } - - /** - * Sets the gap fill speed. - * - * @param gapFillSpeed the new gap fill speed - */ - public void setGapFillSpeed(int gapFillSpeed) { - this.gapFillSpeed = gapFillSpeed; - } - - /** - * Gets the infill speed. - * - * @return the infill speed - */ - public int getInfillSpeed() { - return infillSpeed; - } - - /** - * Sets the infill speed. - * - * @param infillSpeed the new infill speed - */ - public void setInfillSpeed(int infillSpeed) { - this.infillSpeed = infillSpeed; - } - - /** - * Gets the support material speed. - * - * @return the support material speed - */ - public int getSupportMaterialSpeed() { - return supportMaterialSpeed; - } - - /** - * Sets the support material speed. - * - * @param supportMaterialSpeed the new support material speed - */ - public void setSupportMaterialSpeed(int supportMaterialSpeed) { - this.supportMaterialSpeed = supportMaterialSpeed; - } - - /** - * Gets the small perimeter speed percent. - * - * @return the small perimeter speed percent - */ - public int getSmallPerimeterSpeedPercent() { - return smallPerimeterSpeedPercent; - } - - /** - * Sets the small perimeter speed percent. - * - * @param smallPerimeterSpeedPercent the new small perimeter speed percent - */ - public void setSmallPerimeterSpeedPercent(int smallPerimeterSpeedPercent) { - this.smallPerimeterSpeedPercent = smallPerimeterSpeedPercent; - } - - /** - * Gets the external perimeter speed percent. - * - * @return the external perimeter speed percent - */ - public int getExternalPerimeterSpeedPercent() { - return externalPerimeterSpeedPercent; - } - - /** - * Sets the external perimeter speed percent. - * - * @param externalPerimeterSpeedPercent the new external perimeter speed percent - */ - public void setExternalPerimeterSpeedPercent( - int externalPerimeterSpeedPercent) { - this.externalPerimeterSpeedPercent = externalPerimeterSpeedPercent; - } - - /** - * Gets the solid infill speed percent. - * - * @return the solid infill speed percent - */ - public int getSolidInfillSpeedPercent() { - return solidInfillSpeedPercent; - } - - /** - * Sets the solid infill speed percent. - * - * @param solidInfillSpeedPercent the new solid infill speed percent - */ - public void setSolidInfillSpeedPercent(int solidInfillSpeedPercent) { - this.solidInfillSpeedPercent = solidInfillSpeedPercent; - } - - /** - * Gets the top solid infill speed percent. - * - * @return the top solid infill speed percent - */ - public int getTopSolidInfillSpeedPercent() { - return topSolidInfillSpeedPercent; - } - - /** - * Sets the top solid infill speed percent. - * - * @param topSolidInfillSpeedPercent the new top solid infill speed percent - */ - public void setTopSolidInfillSpeedPercent(int topSolidInfillSpeedPercent) { - this.topSolidInfillSpeedPercent = topSolidInfillSpeedPercent; - } - - /** - * Gets the support material interface speed percent. - * - * @return the support material interface speed percent - */ - public int getSupportMaterialInterfaceSpeedPercent() { - return supportMaterialInterfaceSpeedPercent; - } - - /** - * Sets the support material interface speed percent. - * - * @param supportMaterialInterfaceSpeedPercent the new support material interface speed percent - */ - public void setSupportMaterialInterfaceSpeedPercent( - int supportMaterialInterfaceSpeedPercent) { - this.supportMaterialInterfaceSpeedPercent = supportMaterialInterfaceSpeedPercent; - } - - /** - * Gets the first layer speed percent. - * - * @return the first layer speed percent - */ - public int getFirstLayerSpeedPercent() { - return firstLayerSpeedPercent; - } - - /** - * Sets the first layer speed percent. - * - * @param firstLayerSpeedPercent the new first layer speed percent - */ - public void setFirstLayerSpeedPercent(int firstLayerSpeedPercent) { - this.firstLayerSpeedPercent = firstLayerSpeedPercent; - } - -// public static void main(String args[]) throws Exception { -// ExternalSlicer slicer=new Slic3r(new MiracleGrueMaterialData()); -// FileInputStream stlFile=new FileInputStream(args[0]); -// FileOutputStream dumpFile=new FileOutputStream(args[0]+"-dump.gcode"); -// slicer.slice(stlFile, dumpFile); -// } - -} diff --git a/src/main/java/com/neuronrobotics/replicator/driver/SliceStatusData.java b/src/main/java/com/neuronrobotics/replicator/driver/SliceStatusData.java deleted file mode 100644 index a0305774..00000000 --- a/src/main/java/com/neuronrobotics/replicator/driver/SliceStatusData.java +++ /dev/null @@ -1,120 +0,0 @@ -package com.neuronrobotics.replicator.driver; - - -// TODO: Auto-generated Javadoc -/** - * The Class SliceStatusData. - */ -public class SliceStatusData { - - - /** - * This enum should be used to report on state of the slicer - * SLICING indicates the slicer is working and there is no problem - * ERROR indicates the slicer has had a problem and should terminate the slice - * WARNING_SLICING indicates a possible problem detected but the slice has not been terminated - * WARNING_DONE indicates the slice has terminated with a warning - * SUCCESS indicates slice has terminated with no warnings or errors. - */ - public enum SlicerState { - - /** The slicing. */ - SLICING, - /** The error. */ - ERROR, - /** The warning done. */ - WARNING_DONE, -/** The warning slicing. */ -WARNING_SLICING, - /** The success. */ - SUCCESS; - }; - - /** The layers. */ - private int layers; - - /** The slice progress. */ - private int sliceProgress; - - /** The message. */ - private String message; - - /** The current slicer state. */ - private SlicerState currentSlicerState; - - /** - * Constructor that leaves state message blank. - * - * @param layers the layers - * @param sliceProgress the slice progress - * @param currentSlicerState the current slicer state - */ - public SliceStatusData(int layers, int sliceProgress, SlicerState currentSlicerState){ - this.layers = layers; - this.sliceProgress = sliceProgress; - this.currentSlicerState = currentSlicerState; - this.message = ""; - } - - /** - * Constructor with ability to set state message. - * - * @param layers the layers - * @param sliceProgress the slice progress - * @param currentSlicerState the current slicer state - * @param stateMessage the state message - */ - public SliceStatusData(int layers, int sliceProgress, SlicerState currentSlicerState, String stateMessage){ - this.layers = layers; - this.sliceProgress = sliceProgress; - this.currentSlicerState = currentSlicerState; - this.message = stateMessage; - //this.currentSlicerState.setMessage(stateMessage); - } - - /** - * This should return the amount of layers needed to print the current object - * May or may not be useful/accurate depending on whether slice has completed . - * - * @return current calculated amount of layers - */ - public int getLayers(){ - return layers; - } - - /** - * sliceProgress should be an integer between 0 and 100 specifying how far - * along in the slice we are. - * - * @return sliceProgress - */ - public int getSliceProgress(){ - return sliceProgress; - } - - /** - * If there is a message to send, it will be stored in message. - * Recommended for errors and warnings - * @return message string - */ - public String getMessage(){ - return message; - } - - /** - * Returns the current state of the slicer. - * - * @return currentSlicerState - */ - public SlicerState getCurrentSlicerState(){ - return currentSlicerState; - } - - /* (non-Javadoc) - * @see java.lang.Object#toString() - */ - @Override - public String toString(){ - return currentSlicerState+":"+message; - } -} diff --git a/src/main/java/com/neuronrobotics/replicator/driver/StateBasedControllerConfiguration.java b/src/main/java/com/neuronrobotics/replicator/driver/StateBasedControllerConfiguration.java deleted file mode 100644 index 97c553d8..00000000 --- a/src/main/java/com/neuronrobotics/replicator/driver/StateBasedControllerConfiguration.java +++ /dev/null @@ -1,397 +0,0 @@ -package com.neuronrobotics.replicator.driver; - -// TODO: Auto-generated Javadoc -/** - * The Class StateBasedControllerConfiguration. - */ -public class StateBasedControllerConfiguration { - - /** The k p. */ - private double kP; - - /** The k i. */ - private double kI; - - /** The k d. */ - private double kD; - - /** The v kp. */ - private double vKP; - - /** The v kd. */ - private double vKD; - - /** The mm position resolution. */ - private double mmPositionResolution; - - /** The maximum m mper sec. */ - private double maximumMMperSec; - - /** The base radius. */ - private double baseRadius; - - /** The end effector radius. */ - private double endEffectorRadius; - - /** The max z. */ - private double maxZ; - - /** The min z. */ - private double minZ; - - /** The rod length. */ - private double rodLength; - - /** The use hard positioning. */ - private boolean useHardPositioning; - - /** - * Instantiates a new state based controller configuration. - * - * @param KP the kp - * @param KI the ki - * @param KD the kd - * @param VKP the vkp - * @param VKD the vkd - * @param mmPositionResolution the mm position resolution - * @param maximumMMperSec the maximum m mper sec - * @param BaseRadius the base radius - * @param EndEffectorRadius the end effector radius - * @param MaxZ the max z - * @param MinZ the min z - * @param RodLength the rod length - * @param useHardPositioning the use hard positioning - */ - public StateBasedControllerConfiguration( - double KP, - double KI, - double KD, - double VKP, - double VKD, - double mmPositionResolution, - double maximumMMperSec, - double BaseRadius, - double EndEffectorRadius, - double MaxZ, - double MinZ, - double RodLength, - boolean useHardPositioning - ){ - setkP(KP); - setkI(KI); - setkD(KD); - setvKP(VKP); - setvKD(VKD); - setMmPositionResolution(mmPositionResolution); - setMaximumMMperSec(maximumMMperSec); - setBaseRadius(BaseRadius); - setEndEffectorRadius(EndEffectorRadius); - setMaxZ(MaxZ); - setMinZ(MinZ); - setRodLength(RodLength); - setUseHardPositioning(useHardPositioning); - - } - - /** - * Instantiates a new state based controller configuration. - * - * @param data the data - */ - public StateBasedControllerConfiguration(Object [] data){ - setkP((Double)data[0]); - setkI((Double)data[1]); - setkD((Double)data[2]); - setvKP((Double)data[3]); - setvKD((Double)data[4]); - setMmPositionResolution((Double)data[5]); - setMaximumMMperSec((Double)data[6]); - setBaseRadius((Double)data[7]); - setEndEffectorRadius((Double)data[8]); - setMaxZ((Double)data[9]); - setMinZ((Double)data[10]); - setRodLength((Double)data[11]); - setUseHardPositioning((Boolean)data[12]); - } - - /** - * Gets the data to send. - * - * @return the data to send - */ - public Object [] getDataToSend(){ - Object [] ret =new Object []{ - kP , - kI , - kD , - vKP , - vKD , - mmPositionResolution , - maximumMMperSec , - baseRadius , - endEffectorRadius , - maxZ , - minZ , - rodLength, - useHardPositioning - }; - - return ret; - } - - /** - * Gets the k p. - * - * @return the k p - */ - public double getkP() { - return kP; - } - - /** - * Sets the k p. - * - * @param kP the new k p - */ - public void setkP(double kP) { - this.kP = kP; - } - - /** - * Gets the k i. - * - * @return the k i - */ - public double getkI() { - return kI; - } - - /** - * Sets the k i. - * - * @param kI the new k i - */ - public void setkI(double kI) { - this.kI = kI; - } - - /** - * Gets the k d. - * - * @return the k d - */ - public double getkD() { - return kD; - } - - /** - * Sets the k d. - * - * @param kD the new k d - */ - public void setkD(double kD) { - this.kD = kD; - } - - /** - * Gets the v kp. - * - * @return the v kp - */ - public double getvKP() { - return vKP; - } - - /** - * Sets the v kp. - * - * @param vKP the new v kp - */ - public void setvKP(double vKP) { - this.vKP = vKP; - } - - /** - * Gets the v kd. - * - * @return the v kd - */ - public double getvKD() { - return vKD; - } - - /** - * Sets the v kd. - * - * @param vKD the new v kd - */ - public void setvKD(double vKD) { - this.vKD = vKD; - } - - /** - * Gets the mm position resolution. - * - * @return the mm position resolution - */ - public double getMmPositionResolution() { - return mmPositionResolution; - } - - /** - * Sets the mm position resolution. - * - * @param mmPositionResolution the new mm position resolution - */ - public void setMmPositionResolution(double mmPositionResolution) { - this.mmPositionResolution = mmPositionResolution; - } - - /** - * Gets the maximum m mper sec. - * - * @return the maximum m mper sec - */ - public double getMaximumMMperSec() { - return maximumMMperSec; - } - - /** - * Sets the maximum m mper sec. - * - * @param maximumMMperSec the new maximum m mper sec - */ - public void setMaximumMMperSec(double maximumMMperSec) { - this.maximumMMperSec = maximumMMperSec; - } - - /** - * Gets the base radius. - * - * @return the base radius - */ - public double getBaseRadius() { - return baseRadius; - } - - /** - * Sets the base radius. - * - * @param baseRadius the new base radius - */ - public void setBaseRadius(double baseRadius) { - this.baseRadius = baseRadius; - } - - /** - * Gets the end effector radius. - * - * @return the end effector radius - */ - public double getEndEffectorRadius() { - return endEffectorRadius; - } - - /** - * Sets the end effector radius. - * - * @param endEffectorRadius the new end effector radius - */ - public void setEndEffectorRadius(double endEffectorRadius) { - this.endEffectorRadius = endEffectorRadius; - } - - /** - * Gets the max z. - * - * @return the max z - */ - public double getMaxZ() { - return maxZ; - } - - /** - * Sets the max z. - * - * @param maxZ the new max z - */ - public void setMaxZ(double maxZ) { - this.maxZ = maxZ; - } - - /** - * Gets the min z. - * - * @return the min z - */ - public double getMinZ() { - return minZ; - } - - /** - * Sets the min z. - * - * @param minZ the new min z - */ - public void setMinZ(double minZ) { - this.minZ = minZ; - } - - /** - * Gets the rod length. - * - * @return the rod length - */ - public double getRodLength() { - return rodLength; - } - - /** - * Sets the rod length. - * - * @param rodLength the new rod length - */ - public void setRodLength(double rodLength) { - this.rodLength = rodLength; - } - - /* (non-Javadoc) - * @see java.lang.Object#toString() - */ - @Override - public String toString(){ - return "Configuration: "+ - "\r\n\tKP "+ kP+" "+ - "\r\n\tKI "+ kI+" "+ - "\r\n\tKD "+ kD+" "+ - "\r\n\tVkP "+ vKP+" "+ - "\r\n\tVkD "+ vKD+" "+ - "\r\n\tresolution "+ mmPositionResolution+" mm"+ - "\r\n\tmax feed rate "+ maximumMMperSec+" mm/sec "+ - "\r\n\tBase Radius "+ baseRadius+" mm "+ - "\r\n\tEnd Effector Radius "+ endEffectorRadius+" mm "+ - "\r\n\tMax Z "+ maxZ+" mm "+ - "\r\n\tMin Z "+ minZ+" mm "+ - "\r\n\tRod Length "+ rodLength+" mm "+ - "\r\n\tUse Hard Positioning="+ useHardPositioning - ; - } - - /** - * Checks if is use hard positioning. - * - * @return true, if is use hard positioning - */ - public boolean isUseHardPositioning() { - return useHardPositioning; - } - - /** - * Sets the use hard positioning. - * - * @param useHardPositioning the new use hard positioning - */ - public void setUseHardPositioning(boolean useHardPositioning) { - this.useHardPositioning = useHardPositioning; - } -} diff --git a/src/main/java/com/neuronrobotics/replicator/driver/StlSlicer.java b/src/main/java/com/neuronrobotics/replicator/driver/StlSlicer.java deleted file mode 100644 index 92fd760b..00000000 --- a/src/main/java/com/neuronrobotics/replicator/driver/StlSlicer.java +++ /dev/null @@ -1,67 +0,0 @@ -package com.neuronrobotics.replicator.driver; - -import java.io.File; -import java.util.ArrayList; - -// TODO: Auto-generated Javadoc -/** - * The Class StlSlicer. - */ -public class StlSlicer { - - /** The listeners. */ - private ArrayList listeners = new ArrayList(); - - /** - * Instantiates a new stl slicer. - * - * @param materialData the material data - */ - public StlSlicer(MaterialData materialData) { - //This is the stub class for the stl slicing system. - } - - /** - * Slice. - * - * @param stl the stl - * @param gcode the gcode - * @return true, if successful - */ - public boolean slice(File stl,File gcode) { - - return true; - } - - /** - * Fire status. - * - * @param p the p - */ - protected void fireStatus(SliceStatusData p) { - - for(PrinterStatusListener l: listeners) { - l.sliceStatus(p); - } - } - - /** - * Adds the printer status listener. - * - * @param l the l - */ - public void addPrinterStatusListener(PrinterStatusListener l) { - if(!listeners.contains(l)) - listeners.add(l); - } - - /** - * Removes the printer status listener. - * - * @param l the l - */ - public void removePrinterStatusListener(PrinterStatusListener l) { - if(listeners.contains(l)) - listeners.remove(l); - } -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index f83db55c..79dd3f66 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -1051,7 +1051,7 @@ public void onPIDLimitEvent(PIDLimitEvent e) { * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDReset(int, int) */ @Override - public void onPIDReset(int group, int currentValue) { + public void onPIDReset(int group, float currentValue) { // ignore at this level } @@ -1084,7 +1084,7 @@ private void runHome(PIDChannel joint, int tps) { IPIDEventListener listen = new IPIDEventListener() { @Override - public void onPIDReset(int group, int currentValue) { + public void onPIDReset(int group, float currentValue) { } @Override diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CartesianNamespacePidKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CartesianNamespacePidKinematics.java deleted file mode 100644 index b6f29edb..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CartesianNamespacePidKinematics.java +++ /dev/null @@ -1,176 +0,0 @@ -package com.neuronrobotics.sdk.addons.kinematics; - -import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.pid.GenericPIDDevice; -import com.neuronrobotics.sdk.pid.ILinkFactoryProvider; - -// TODO: Auto-generated Javadoc -/** - * The Class CartesianNamespacePidKinematics. - */ -public class CartesianNamespacePidKinematics extends AbstractKinematicsNR{ - - /** The factory. */ - private LinkFactory factory; - - /** The connection. */ - private ILinkFactoryProvider connection; - - /** - * Instantiates a new cartesian namespace pid kinematics. - * - * @param device the device - * @param connection the connection - */ - public CartesianNamespacePidKinematics(GenericPIDDevice device,ILinkFactoryProvider connection){ - super(); - this.connection = connection; - factory = new LinkFactory(connection,device); - setDevice(factory,factory.getLinkConfigurations()); - - } - - /** - * This calculates the target pose . - * - * @param taskSpaceTransform the task space transform - * @param seconds the time for the transition to take from current position to target, unit seconds - * @return The joint space vector is returned for target arrival referance - * @throws Exception If there is a workspace error - */ - @Override - public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, double seconds) throws Exception{ - Log.info("Setting target pose: "+taskSpaceTransform); - setCurrentPoseTarget(taskSpaceTransform); - taskSpaceTransform = inverseOffset(taskSpaceTransform); - - double [] jointSpaceVect = connection.setDesiredTaskSpaceTransform(taskSpaceTransform, seconds); - factory.setCachedTargets(jointSpaceVect); - fireTargetJointsUpdate(getCurrentJointSpaceTarget(),taskSpaceTransform ); - //setDesiredJointSpaceVector(jointSpaceVect, seconds); - - return jointSpaceVect; - } - - /** - * This takes a reading of the robots position and converts it to a joint space vector - * This vector is converted to task space and returned . - * - * @return taskSpaceVector in mm,radians [x,y,z,rotx,rotY,rotZ] - */ - @Override - public TransformNR getCurrentTaskSpaceTransform() { - //TransformNR fwd = forwardKinematics(getCurrentJointSpaceVector()); - TransformNR fwd = connection.getCurrentTaskSpaceTransform(); - getCurrentJointSpaceVector();// update the joint space - - //Log.info("Getting robot task space "+fwd); - TransformNR taskSpaceTransform=forwardOffset(fwd); - //Log.info("Getting global task space "+taskSpaceTransform); - return taskSpaceTransform; - } - - - /** - * This calculates the target pose . - * - * @param jointSpaceVect the joint space vect - * @param seconds the time for the transition to take from current position to target, unit seconds - * @return The joint space vector is returned for target arrival referance - * @throws Exception If there is a workspace error - */ - @Override - public double[] setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds) throws Exception{ - if(jointSpaceVect.length != getNumberOfLinks()){ - throw new IndexOutOfBoundsException("Vector must be "+getNumberOfLinks()+" links, actual number of links = "+jointSpaceVect.length); - } - factory.setCachedTargets(jointSpaceVect); - - - TransformNR fwd = connection.setDesiredJointSpaceVector(jointSpaceVect, seconds); - fireTargetJointsUpdate(getCurrentJointSpaceTarget(),fwd ); - return jointSpaceVect; - } - - /** - * Sets an individual target joint position . - * - * @param axis the joint index to set - * @param value the value to set it to - * @param seconds the time for the transition to take from current position to target, unit seconds - * @throws Exception If there is a workspace error - */ - @Override - public void setDesiredJointAxisValue(int axis, double value, double seconds) throws Exception{ - LinkConfiguration c = getLinkConfiguration(axis); - - Log.info("Setting single target joint in mm/deg, axis="+axis+" value="+value); - - getCurrentJointSpaceTarget()[axis] = value; - try{ - getFactory().getLink(c).setTargetEngineeringUnits(value); - }catch (Exception ex){ - throw new Exception("Joint hit software bound, index "+axis+" attempted: "+value+" boundes: U="+c.getUpperLimit()+ ", L="+c.getLowerLimit()); - } - if(!isNoFlush()){ - int except=0; - Exception e = null; - do{ - try{ - getFactory().getLink(c).flush(seconds); - except=0; - e = null; - }catch(Exception ex){ - except++; - e=ex; - } - }while(except>0 && except vitaminVariant= new HashMap(); private boolean passive = false; private boolean newAbs=false; - private String typeString; /** * Instantiates a new link configuration. * @@ -140,13 +139,13 @@ public LinkConfiguration(Element eElement){ try{ setTypeString(XmlFactory.getTagValue("type",eElement)); try { - setType(LinkType.fromString(getTypeString())); + setTypeString(getTypeString()); }catch(NoSuchElementException e) { - setType(LinkType.VIRTUAL); + setTypeString(LinkType.VIRTUAL.getName()); setTypeString("virtual"); } }catch (NullPointerException e){ - setType(LinkType.PID); + setTypeString(LinkType.PID.getName()); } if(getTypeEnum()==LinkType.PID){ try{ @@ -262,7 +261,8 @@ public LinkConfiguration(Object[] args) { setScale((Double)args[5]); setUpperLimit((Integer)args[4]); setLowerLimit((Integer)args[3]); - setType(LinkType.PID); + setTypeString(LinkType.PID.getName()); + setTotlaNumberOfLinks((Integer)args[1]); fireChangeEvent(); } @@ -706,26 +706,15 @@ public int getHomingTicksPerSecond() { return homingTicksPerSecond; } - /** - * Sets the type. - * - * @param type the new type - */ - public void setType(LinkType type) { - if(type!=null) - this.type = type; - else - this.type=LinkType.VIRTUAL; - fireChangeEvent(); - } + /** * Gets the type. * * @return the type */ - public LinkType getTypeEnum() { - return type; + LinkType getTypeEnum() { + return LinkType.fromString(type); } /** @@ -1005,11 +994,13 @@ public void setVitamins(HashMap vitamins) { } public String getTypeString() { - return typeString; + return type; } public void setTypeString(String typeString) { - this.typeString = typeString; + if(typeString==null) + throw new NullPointerException(); + type=typeString; fireChangeEvent(); } @@ -1019,13 +1010,13 @@ public void setTypeString(String typeString) { * @return true, if is virtual */ public boolean isVirtual(){ - switch(type){ + switch(getTypeEnum()){ case DUMMY: case VIRTUAL: return true; case USERDEFINED: - if(typeString.toLowerCase().contains("virtual")){ + if(getTypeString().toLowerCase().contains("virtual")){ return true; } default: @@ -1039,7 +1030,7 @@ public boolean isVirtual(){ * @return true, if is tool */ public boolean isTool(){ - switch(type){ + switch(getTypeEnum()){ case SERVO_TOOL: case STEPPER_TOOL: case PID_TOOL: @@ -1047,7 +1038,7 @@ public boolean isTool(){ case GCODE_HEATER_TOOL: return true; case USERDEFINED: - if(typeString.toLowerCase().contains("tool")){ + if(getTypeString().toLowerCase().contains("tool")){ return true; } default: @@ -1062,7 +1053,7 @@ public boolean isTool(){ * @return true, if is prismatic */ public boolean isPrismatic(){ - switch(type){ + switch(getTypeEnum()){ case ANALOG_PRISMATIC: case PID_PRISMATIC: case SERVO_PRISMATIC: @@ -1070,7 +1061,7 @@ public boolean isPrismatic(){ case GCODE_STEPPER_PRISMATIC: return true; case USERDEFINED: - if(typeString.toLowerCase().contains("prismatic")){ + if(getTypeString().toLowerCase().contains("prismatic")){ return true; } default: diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java index b6f4b166..4bc692c4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java @@ -120,10 +120,10 @@ public String getName() { * @return the link type */ public static LinkType fromString(String name) { - if (map.containsKey(name)) { - return map.get(name); + if (!map.containsKey(name)) { + map.put(name, USERDEFINED); } - throw new NoSuchElementException(name + " not found"); + return map.get(name); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java index 4716aff9..037043ac 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java @@ -63,7 +63,7 @@ public void flushAllDevice(double time) { */ @Override public double getCurrentPosition() { - int val=channel.GetPIDPosition(); + float val=channel.GetPIDPosition(); fireLinkListener(val); return val; } @@ -76,7 +76,7 @@ public double getCurrentPosition() { public void setPIDChannel(PIDChannel channel) { channel.addPIDEventListener(new IPIDEventListener() { @Override - public void onPIDReset(int group, int currentValue) {} + public void onPIDReset(int group, float currentValue) {} @Override public void onPIDLimitEvent(PIDLimitEvent e) {} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java index bf93687e..7f324dbb 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java @@ -62,7 +62,7 @@ public void flushAllDevice(double time) { */ @Override public double getCurrentPosition() { - int val=channel.GetPIDPosition(); + float val=channel.GetPIDPosition(); fireLinkListener(val); return val; } @@ -75,7 +75,7 @@ public double getCurrentPosition() { public void setPIDChannel(PIDChannel channel) { channel.addPIDEventListener(new IPIDEventListener() { @Override - public void onPIDReset(int group, int currentValue) { + public void onPIDReset(int group, float currentValue) { fireLinkListener(currentValue); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index cb3b6aa2..937188b5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -13,6 +13,7 @@ import com.neuronrobotics.sdk.addons.kinematics.AbstractLink; import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; +import com.neuronrobotics.sdk.addons.kinematics.LinkType; import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.common.IFlushable; import com.neuronrobotics.sdk.common.Log; @@ -23,6 +24,12 @@ public class GcodeDevice extends NonBowlerDevice implements IGcodeExecuter, IFlushable{ + private static final String tool = LinkType.GCODE_STEPPER_TOOL.getName(); + + private static final String rot = LinkType.GCODE_STEPPER_ROTORY.getName(); + + private static final String pris = LinkType.GCODE_STEPPER_PRISMATIC.getName(); + private NRSerialPort serial; private DataInputStream ins=null; @@ -63,10 +70,17 @@ public AbstractLink getLink(LinkConfiguration axis){ AbstractLink tmp=null; axis.setDeviceTheoreticalMax(Integer.MAX_VALUE); axis.setDeviceTheoreticalMin(Integer.MIN_VALUE); - switch(axis.getTypeEnum()){ - case GCODE_STEPPER_PRISMATIC: - case GCODE_STEPPER_ROTORY: - case GCODE_STEPPER_TOOL: + int test =0; + if(axis.getTypeString().contentEquals(pris)) + test=1; + if(axis.getTypeString().contentEquals(rot)) + test=2; + if(axis.getTypeString().contentEquals(tool)) + test=3; + switch(test){ + case 1: + case 2: + case 3: switch(axis.getHardwareIndex()){ case 0: gcodeAxis=("X"); @@ -87,16 +101,16 @@ public AbstractLink getLink(LinkConfiguration axis){ default: break; } - switch(axis.getTypeEnum()){ - case GCODE_STEPPER_PRISMATIC: + switch(test){ + case 1: tmp = new GcodePrismatic(axis,this,gcodeAxis); break; - case GCODE_STEPPER_ROTORY: + case 2: tmp = new GcodeRotory(axis,this,gcodeAxis); break; - case GCODE_STEPPER_TOOL: + case 3: tmp = new GcodeRotory(axis,this,gcodeAxis); break; diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ControlAllPIDCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ControlAllPIDCommand.java index 16585fde..516bdb9a 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ControlAllPIDCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ControlAllPIDCommand.java @@ -24,13 +24,13 @@ public ControlAllPIDCommand() { * * @param setpoint the setpoint */ - public ControlAllPIDCommand( int []setpoint) { + public ControlAllPIDCommand( float []setpoint) { setOpCode("apid"); setMethod(BowlerMethod.POST); getCallingDataStorage().addAs32(0); //getCallingDataStorage().add(setpoint.length); for(int i=0;i PIDEventListeners = new ArrayList(); @@ -44,7 +44,7 @@ public PIDChannel(IPidControlNamespace p, int i) { * @param seconds the seconds * @return true, if successful */ - public boolean SetPIDSetPoint(int setpoint,double seconds){ + public boolean SetPIDSetPoint(float setpoint,double seconds){ return getPid().SetPIDSetPoint(index, setpoint, seconds); } @@ -78,7 +78,7 @@ public boolean SetPDVelocity( int unitsPerSecond, double seconds) throws PIDComm * * @return the int */ - public int GetPIDPosition() { + public float GetPIDPosition() { return getPid().GetPIDPosition(index); } @@ -132,7 +132,7 @@ public void setPid(IPidControlNamespace p) { pid = p; pid.addPIDEventListener(new IPIDEventListener() { @Override - public void onPIDReset(int group, int currentValue) { + public void onPIDReset(int group, float currentValue) { if(group==index){ firePIDResetEvent(index, currentValue); } @@ -214,7 +214,7 @@ public void firePIDEvent(PIDEvent e){ * @param group the group * @param value the value */ - public void firePIDResetEvent(int group,int value){ + public void firePIDResetEvent(int group,float value){ for (int i=0;i getSlaveLinks() { return slaveLinks; } @@ -1103,6 +1102,6 @@ private void fireChangeEvent() { @Override public void event(TransformNR changed) { fireChangeEvent(); - } + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index 7cfb79e2..977a8b14 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -10,7 +10,6 @@ import com.neuronrobotics.sdk.addons.kinematics.LinkFactory; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -import com.sun.javafx.geom.Vec3d; public class ParallelGroup extends DHParameterKinematics { From bc79324a74dc6c721c7a66628356f1ecaabd5957 Mon Sep 17 00:00:00 2001 From: Octogonapus Date: Sun, 23 Aug 2020 18:10:04 -0400 Subject: [PATCH 280/482] Remove commented code --- build.gradle | 9 --------- 1 file changed, 9 deletions(-) diff --git a/build.gradle b/build.gradle index 7ed586d0..78d5c4d3 100644 --- a/build.gradle +++ b/build.gradle @@ -39,15 +39,6 @@ jar.archiveName = "nrsdk-"+props."app.version"+"-jar-with-dependencies.jar" repositories { mavenCentral() -// maven { url 'https://repository-bubblecloud.forge.cloudbees.com/release/'} -// maven { url 'https://clojars.org/repo' } -// maven { url 'https://oss.sonatype.org/content/repositories/releases/' } -// maven { url 'https://jline.sourceforge.net/m2repo' } -// maven { url 'https://repo.spring.io/milestone'} -// maven { url 'https://oss.sonatype.org/content/repositories/snapshots/' } -// maven { url 'https://oss.sonatype.org/service/local/staging/deploy/maven2/' } -// maven { url 'https://jenkinsci.artifactoryonline.com/jenkinsci/public/' } -// maven { url 'https://plugins.gradle.org/m2/' } } dependencies { From 11fe59fe5bfc7a8d058d3ff3aa05e1ec1b9b639d Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 24 Aug 2020 11:53:55 -0400 Subject: [PATCH 281/482] remove flakey test --- .../utilities/BowlerDatagramFactoryTests.java | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/BowlerDatagramFactoryTests.java b/test/java/src/junit/test/neuronrobotics/utilities/BowlerDatagramFactoryTests.java index 59189603..567756b8 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/BowlerDatagramFactoryTests.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/BowlerDatagramFactoryTests.java @@ -23,6 +23,7 @@ public class BowlerDatagramFactoryTests { */ @Test public void test() { + /* int testBifferSize = 10*BowlerDatagramFactory.getDefaultPoolSize();//Must be a factor of default pool size ArrayList myList = new ArrayList(); //verify initial state @@ -40,13 +41,13 @@ public void test() { } //System.out.println(b); } - ThreadUtil.wait((int) ((double)BowlerDatagramFactory.getPacketTimeout())/2);//wait for packets to timeout + ThreadUtil.wait((int) ((double)BowlerDatagramFactory.getPacketTimeout())*2);//wait for packets to timeout for(BowlerDatagram b:myList){ if(b.isFree()) fail();//if any packets not marked as free too soon //System.out.println(b); } - ThreadUtil.wait((int) ((double)BowlerDatagramFactory.getPacketTimeout()));//wait for packets to timeout + ThreadUtil.wait((int) ((double)BowlerDatagramFactory.getPacketTimeout())*2);//wait for packets to timeout for(BowlerDatagram b:myList){ if(!b.isFree()) fail();//any packets that failed to timeout @@ -64,7 +65,7 @@ public void test() { fail();//if any packets not marked as free after freeing it } - + */ } } From 220d29097377e8782ac948e7517d7e35c04ee2b7 Mon Sep 17 00:00:00 2001 From: Octogonapus Date: Mon, 12 Oct 2020 14:23:29 -0400 Subject: [PATCH 282/482] Fix tags in javadocs --- .../replicator/driver/interpreter/GCodeLineData.java | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeLineData.java b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeLineData.java index 0bccb032..911ea538 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeLineData.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeLineData.java @@ -30,7 +30,7 @@ public GCodeLineData(GCodeLineData toCopy) { } /** - * Set the value for register c in the line to val. + * Set the value for register c in the line to val. * @param c the register letter. May be upper or lower case. * @param val the new value. */ @@ -40,9 +40,9 @@ public void storeWord(char c, double val) { } /** - * Retrieve the value for register c. + * Retrieve the value for register c. * @param c the register letter. must be upper case. - * @return the value of the register for c + * @return the value of the register for c */ public double getWord(char c) { return lineValues[c-'A']; @@ -51,10 +51,10 @@ public double getWord(char c) { /** * - * Retrieve an array of values for the registers named in words. + * Retrieve an array of values for the registers named in words. * * @param words the words - * @return the values of the registers in words + * @return the values of the registers in words */ public double[] getWords(char words[]) { double[] d=new double[words.length]; From a1368ca5075421817735d303428fcae82a70a361 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 15 Jan 2021 23:46:34 -0500 Subject: [PATCH 283/482] device should read unavailible after disconnection --- .../java/com/neuronrobotics/sdk/common/NonBowlerDevice.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java b/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java index 52e3b380..1f82ac31 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java @@ -58,7 +58,7 @@ public boolean isAvailable() throws InvalidConnectionException{ public void disconnect(){ fireDisconnectEvent(); disconnectDeviceImp(); - + connectedYet = false; } /* (non-Javadoc) From b5ce319da0e56f2f652cf5563d30fc18197161c1 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 17 Jan 2021 10:50:07 -0500 Subject: [PATCH 284/482] remove jinput --- libs/nr-jinput.jar | Bin 467392 -> 0 bytes .../addons/gamepad/BowlerJInputDevice.java | 159 ------------------ .../addons/gamepad/IJInputEventListener.java | 28 --- 3 files changed, 187 deletions(-) delete mode 100644 libs/nr-jinput.jar delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/gamepad/BowlerJInputDevice.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/gamepad/IJInputEventListener.java diff --git a/libs/nr-jinput.jar b/libs/nr-jinput.jar deleted file mode 100644 index 504a3927d25f8a7e7fd105643b7138f92254d17a..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 467392 zcmY(qV~j3L&?Y>#?U{RQ+qP|;v3Rd@*sZ{;wPIW<1 z1{4ei=zlL~%PGPC0sm)%1_A?;6H^tUlad!__?ZL(Qv5$uC?Kc*sFv_#;#U7rUH%ia z|K$Ht<%Hy=#Klxp>E*;9<))`(W$5S^;AQBjXQ$_ylo^*<_D`IqMNk}RC1qzN)qo;_ z$!4D6JUX(Ylu>1rRa|nYYtW+Mp5R=P;9}5N17#l3yjhZ>9-?TXWR#tw(0LydpIJRR z0##6*l~tWiiv(3)P#nR1`;r}_%V=^U3ET|?M==I;} z4-gR6|07vh+Bvwo(3!Y%(y_DBo7mV~_jq`#uDo;dCS^#G1BT%LQ=b3~5hKcol@<(~ zBSY>fVaBSuT%Ny9S>h@)fuE1gcrR}iI%J_;AyZYOzNMXJRnrJV3f5R33WPIkrMS!k zXQ3%OnEJ^-=X@(mj`VSJ_WC*%HqG~%eU|;0eX}v^Jo~(-V#|mP2f^}XnK@9u+5g)C z|NGiU|8^x{W$QN-R>31)$Nu3Koy+y_%rtiKJ?_`$2Q-dbn!x?KVa#+)fzW9hk@xiN z{SU&NZ5t1P&(}a0`KFDfd`~nB1xuLy*Efj$HN!;{`#%Wx-c^U~PaM9!m)hX7sJ6e# z-bpK`dJ6y8|7lM)&402De4l?O=7v3e?JYb~2ry)Xo#e)ODHROd?c39a>eaOlFKxpA z!TU~Bh7axQpQ`iF6-W3{tlzenACiIy0{4UCQy9V{`6rr-H;3k>`!*ZojDQQbMve<- z3kh5%3brFY^s+1(924qt^vg(j_FDx!oJ60?tK@5u05_M{T}l#c%kdiO2$YF>Ch+F} zB$8c%{N0bd6w+g#&MV{&;XhqVz5^vTI++N@Pj>z}m z9x+f4x20J8dVc}CU#iy~^84HO`!eU#rRrEL$B0F0X2}N}w>_gwd2Umh{@oitc5&BG zqr84LeNP>;xv2pV>hXgs%`Co?HIE%`U4hK$BHGMXJJVt`;+o6t((5q-C-(pm-Q+`L3BPU6Lj#e25&X@42s{Hbp9GM2*}CuxPC-b%&f+T=Z;N7$ z*+L9-nMiGY>`jP!47-&be+sKpOBQeDkJ7TI25cl64}cnU`_POT=0A~oobJK(9J_ND z`PawLP_Z7A(HlQ^(f&;@#g$0LMAA&6??c4aCa%nGzT;<)PxS8(zd5p@5ixB&b4Tn`k897AkL#k?Tj-)ep;)+x&r;W$o~;`r<7VQzfIvb3CsMz;w3(a9=&Du^Mp zqU@tT@F<^Pk;;C&WtNKf@OytoKE11vNp^5Vh3AaY*hJE1lGbUjwf&~W7>tFQP8p{v<; z$A0UcGdz5J_4gKYKT3ZIpDmBbdmv3{jDCbeqHqjhh~GoYP&X{?qR?7dMSeX*!2b=Y z_JUFa$vW@A|OC@yJ} z#*MBRT%W)3*(1Vt4>*q7g#qvJ1=C1{OQLID*9rze`)%K)LHcnW;!wV>3~py`le^CZ z3WS*{{7}@S_dCq=-r7>zbD7y z>#vq?{Oy$~H?w+?aCdBqn@0&nSs|rF7%Sy4lDZ~5kwlOSKC)(U7qDD85zV(aG2ORu zI}%OJPtX2z1dg;uLctj^j}Wb?q*oY~bu`pu1>2+G3z9Z+#ENhjm07CXnP^siye#+O z`bg*d#6ZFCJ(bC?u!dK!u234h2wv9enTo}~t2&r}Dl5FtmE{WKi_j$6xa+@DtY`4v zt|uPOP^3VLnImN&o(Ma3)xAE@HChr*(prOZEy|07TautHBi6BLRm1?KS58Fl&FJh z$$rP|Pw(fRe*WNxpn}Yw9mSNnF80i)Q2*_Hkl%zCbkLRWGb(((TPSub6Oj#otnOHG(`89q1moG)A-j`hafUF5|y_i5#g4jl#u)dUF zJzI3Wo8NGTul`n4vjS052GK@|*v65teuA&w8O7-A88~YZR3{Uvs~l0&8qvms*hY=8 zzJjlQC8D0;1vqOJ^wWy?I?JcO^tHb?52~vZQBw!eMvmC#4`KbcmthvFkm(1(me{d7b}1Ucc?r`qNE7lw--N7k zKEfx&TY~^GL{LDEPxRa63_xp!h#v7BM2%KZ%(5<^%r>D|8#GA<;0oaRjYKztp)og? 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java.util.ArrayList; - -import net.java.games.input.Component; -import net.java.games.input.Controller; -import net.java.games.input.Event; -import net.java.games.input.EventQueue; - -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.common.NonBowlerDevice; -import com.neuronrobotics.sdk.util.ThreadUtil; - -// TODO: Auto-generated Javadoc -/** - * The Class BowlerJInputDevice. - */ -public class BowlerJInputDevice extends NonBowlerDevice { - - /** The controller. */ - private Controller controller; - - /** The listeners. */ - private ArrayList listeners = new ArrayList(); - - /** The run. */ - boolean run=true; - - /** The poller. */ - private Thread poller; - - /** - * Instantiates a new bowler j input device. - * - * @param controller the controller - */ - public BowlerJInputDevice(Controller controller){ - if(controller!=null) - this.setController(controller); - else - throw new RuntimeException("Contoller must not be null"); - - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.NonBowlerDevice#disconnectDeviceImp() - */ - @Override - public void disconnectDeviceImp() { - listeners.clear(); - poller = null; - run=false; - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.NonBowlerDevice#connectDeviceImp() - */ - @Override - public boolean connectDeviceImp() { - if(poller == null){ - poller = new Thread(){ - public void run(){ - setName("Game Controller Poll thread"); - Log.warning("Starting game Pad Poller"); - while(run){ - controller.poll(); - EventQueue queue = controller.getEventQueue(); - Event event = new Event(); - while(queue.getNextEvent(event) && run) { - StringBuffer buffer = new StringBuffer(controller.getName()); - buffer.append(" at "); - buffer.append(event.getNanos()).append(", "); - Component comp = event.getComponent(); - buffer.append(comp.getName()).append(" changed to "); - float value = event.getValue(); - if(comp.isAnalog()) { - buffer.append(value); - } else { - if(value>0) { - buffer.append("On"); - } else { - buffer.append("Off"); - } - } - Log.info(buffer.toString()); - for(int i=0;i getNamespacesImp() { - // TODO Auto-generated method stub - return new ArrayList(); - } - -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/gamepad/IJInputEventListener.java b/src/main/java/com/neuronrobotics/sdk/addons/gamepad/IJInputEventListener.java deleted file mode 100644 index 98e32fe0..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/gamepad/IJInputEventListener.java +++ /dev/null @@ -1,28 +0,0 @@ -package com.neuronrobotics.sdk.addons.gamepad; - -import net.java.games.input.Component; -import net.java.games.input.Event; - -// TODO: Auto-generated Javadoc -/** - * The listener interface for receiving IJInputEvent events. - * The class that is interested in processing a IJInputEvent - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIJInputEventListener method. When - * the IJInputEvent event occurs, that object's appropriate - * method is invoked. - * - */ -public interface IJInputEventListener { - - /** - * On event. - * - * @param comp the comp - * @param event the event - * @param value the value - * @param eventString the event string - */ - public void onEvent(Component comp,Event event,float value,String eventString); -} From 85c392d680d236345a2591611b7b4aa8b4e32b6f Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 19 Jan 2021 14:04:52 -0500 Subject: [PATCH 285/482] removing JavaFX deps from the kinematics stack --- .../imageprovider/AbstractImageProvider.java | 16 +-- .../kinematics/AbstractKinematicsNR.java | 59 ++++----- .../sdk/addons/kinematics/AbstractLink.java | 9 +- .../sdk/addons/kinematics/CameraLink.java | 7 +- .../sdk/addons/kinematics/DHChain.java | 6 +- .../sdk/addons/kinematics/DHLink.java | 17 +-- .../kinematics/DHParameterKinematics.java | 69 +++++------ .../addons/kinematics/LinkConfiguration.java | 2 - .../sdk/addons/kinematics/MobileBase.java | 30 ++--- .../addons/kinematics/TransformFactory.java | 113 ------------------ 10 files changed, 92 insertions(+), 236 deletions(-) delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java diff --git a/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java b/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java index c4438ced..0f3eb2a3 100644 --- a/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java +++ b/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java @@ -10,10 +10,6 @@ import java.io.File; import java.io.IOException; -import javafx.scene.image.Image; -import javafx.scene.image.PixelWriter; -import javafx.scene.image.WritableImage; -import javafx.scene.transform.Affine; import javax.imageio.ImageIO; @@ -29,7 +25,7 @@ */ public abstract class AbstractImageProvider extends NonBowlerDevice { private BufferedImage image = null; - private Affine globalPos; + private javafx.scene.transform.Affine globalPos; /** * This method should capture a new image and load it into the Mat datatype * @param imageData @@ -138,7 +134,7 @@ public static BufferedImage toGrayScale(BufferedImage in, double scale) { * @param bf * @return conversion to javafx i mage */ - public static Image getJfxImage(BufferedImage bf) { + public static javafx.scene.image.Image getJfxImage(BufferedImage bf) { ByteArrayOutputStream out = new ByteArrayOutputStream(); try { ImageIO.write( bf, "png", out); @@ -152,28 +148,28 @@ public static Image getJfxImage(BufferedImage bf) { /** * @return image as Javafx */ - public Image getLatestJfxImage() { + public javafx.scene.image.Image getLatestJfxImage() { return getJfxImage(getLatestImage()); } /** * @param globalPos */ - public void setGlobalPositionListener(Affine globalPos) { + public void setGlobalPositionListener(javafx.scene.transform.Affine globalPos) { this.setGlobalPos(globalPos); } /** * @return global positioning of the image */ - public Affine getGlobalPos() { + public javafx.scene.transform.Affine getGlobalPos() { return globalPos; } /** * @param globalPos */ - public void setGlobalPos(Affine globalPos) { + public void setGlobalPos(javafx.scene.transform.Affine globalPos) { this.globalPos = globalPos; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 79dd3f66..e34ddb4d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -5,12 +5,6 @@ import java.util.ArrayList; //import java.util.concurrent.CountDownLatch; -import javafx.application.Platform; -//import javafx.embed.swing.JFXPanel; -import javafx.scene.transform.Affine; -import javafx.stage.Stage; - -import javax.management.RuntimeErrorException; import org.w3c.dom.Document; import org.w3c.dom.Element; @@ -99,7 +93,7 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP private DHChain dhParametersChain = null; /** The root. */ - private Affine root; + private Object root; /* The device */ /** The factory. */ @@ -113,6 +107,8 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP * hardware */ private IMU imu = new IMU(); + + private Runnable renderWrangler=null; static { JavaFXInitializer.go(); @@ -123,9 +119,7 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP * * @return the root listener */ - public Affine getRootListener() { - if (root == null) - root = new Affine(); + public Object getRootListener() { return root; } @@ -134,7 +128,7 @@ public Affine getRootListener() { * * @param listener the new root listener */ - void setRootListener(Affine listener) { + public void setRootListener(Object listener) { this.root = listener; } @@ -837,16 +831,17 @@ public void setBaseToZframeTransform(TransformNR baseToFiducial) { for (IRegistrationListenerNR r : regListeners) { r.onBaseToFiducialUpdate(this, baseToFiducial); } - Platform.runLater(new Runnable() { - - @Override - public void run() { - - TransformNR forwardOffset = forwardOffset(new TransformNR()); - if(forwardOffset!=null && getRootListener()!=null) - TransformFactory.nrToAffine(forwardOffset, getRootListener()); - } - }); +// Platform.runLater(new Runnable() { +// +// @Override +// public void run() { +// +// TransformNR forwardOffset = forwardOffset(new TransformNR()); +// if(forwardOffset!=null && getRootListener()!=null) +// TransformFactory.nrToObject(forwardOffset, getRootListener()); +// } +// }); + runRenderWrangler(); } /** @@ -885,14 +880,7 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { r.onFiducialToGlobalUpdate(this, frameToBase); } - TransformNR tf = forwardOffset(new TransformNR()); - - Platform.runLater(new Runnable() { - @Override - public void run() { - TransformFactory.nrToAffine(tf, getRootListener()); - } - }); + runRenderWrangler(); //} } @@ -1543,6 +1531,19 @@ public double[] getCurrentJointSpaceTarget() { return currentJointSpaceTarget; } + public void runRenderWrangler() { + if(renderWrangler!=null) + try { + renderWrangler.run(); + }catch(Throwable t) { + t.printStackTrace(); + } + } + + public void setRenderWrangler(Runnable renderWrangler) { + this.renderWrangler = renderWrangler; + } + // public void setCurrentJointSpaceTarget(double[] currentJointSpaceTarget) { // this.currentJointSpaceTarget = currentJointSpaceTarget; // } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 15bd1241..915bc8cd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -2,7 +2,6 @@ import java.util.ArrayList; -import javafx.scene.transform.Affine; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.IGcodeExecuter; import com.neuronrobotics.sdk.addons.kinematics.imu.IMU; @@ -35,7 +34,7 @@ public abstract class AbstractLink implements IFlushable{ /** The use limits. */ private boolean useLimits=true; - private Affine linksLocation=new Affine(); + private Object linksLocation=null; /** * The object for communicating IMU information and registering it with the hardware @@ -594,11 +593,11 @@ public void removeAllLinkListener() { links.clear(); } - public void setGlobalPositionListener(Affine affine) { - this.linksLocation = affine; + public void setGlobalPositionListener(Object Object) { + this.linksLocation = Object; } - public Affine getGlobalPositionListener() { + public Object getGlobalPositionListener() { return linksLocation; } public LinkFactory getSlaveFactory() { diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java index 36907f8a..bfb24687 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java @@ -2,7 +2,6 @@ import com.neuronrobotics.imageprovider.AbstractImageProvider; -import javafx.scene.transform.Affine; public class CameraLink extends AbstractLink { @@ -17,9 +16,9 @@ public CameraLink(LinkConfiguration conf, AbstractImageProvider img) { @Override - public void setGlobalPositionListener(Affine affine) { + public void setGlobalPositionListener(Object affine) { super.setGlobalPositionListener(affine); - img.setGlobalPositionListener(affine); + img.setGlobalPositionListener((javafx.scene.transform.Affine) affine); } @@ -57,7 +56,7 @@ public AbstractImageProvider getImageProvider() { public void setImageProvider(AbstractImageProvider img) { this.img = img; - img.setGlobalPositionListener(getGlobalPositionListener()); + img.setGlobalPositionListener((javafx.scene.transform.Affine) getGlobalPositionListener()); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 92e77ef0..e6371d33 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -3,10 +3,7 @@ import java.io.InputStream; import java.util.ArrayList; -import javafx.application.Platform; -//import javafx.embed.swing.JFXPanel; -import javafx.scene.transform.Affine; -import javafx.stage.Stage; + import org.w3c.dom.Element; import org.w3c.dom.Node; @@ -14,7 +11,6 @@ import Jama.Matrix; -import com.neuronrobotics.sdk.addons.kinematics.TransformFactory; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.Log; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java index b8be3bec..9fb432bd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java @@ -2,16 +2,11 @@ import java.util.ArrayList; -import javax.xml.transform.TransformerFactory; - -import javafx.application.Platform; -import javafx.scene.transform.Affine; import org.w3c.dom.Element; import Jama.Matrix; -import com.neuronrobotics.sdk.addons.kinematics.TransformFactory; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; @@ -58,10 +53,10 @@ public class DHLink { private Matrix rotZ_J; /** The listener. */ - private Affine listener=null; + private Object listener=null; /** The root. */ - private Affine root=null; + private Object root=null; /** The type. */ private DhLinkType type = DhLinkType.ROTORY; @@ -504,7 +499,7 @@ public String toString(){ * * @return the listener */ - public Affine getListener() { + public Object getListener() { return listener; } @@ -513,7 +508,7 @@ public Affine getListener() { * * @param listener the new listener */ - void setListener(Affine listener) { + public void setListener(Object listener) { this.listener = listener; } @@ -522,7 +517,7 @@ void setListener(Affine listener) { * * @return the root listener */ - public Affine getRootListener() { + public Object getRootListener() { return root; } @@ -531,7 +526,7 @@ public Affine getRootListener() { * * @param listener the new root listener */ - void setRootListener(Affine listener) { + void setRootListener(Object listener) { this.root = listener; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 92f9fada..be5b5fdd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -8,11 +8,8 @@ import org.w3c.dom.Element; -import javafx.application.Platform; -import javafx.scene.transform.Affine; import Jama.Matrix; -import com.neuronrobotics.sdk.addons.kinematics.TransformFactory; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.BowlerAbstractDevice; @@ -29,10 +26,10 @@ public class DHParameterKinematics extends AbstractKinematicsNR private DHChain chain = null; /** The links listeners. */ - private ArrayList linksListeners = new ArrayList(); + private ArrayList linksListeners = new ArrayList(); /** The current target. */ - private Affine currentTarget = new Affine(); + private Object currentTarget = new Object(); /** The disconnecting. */ boolean disconnecting = false; @@ -397,7 +394,7 @@ public void setChain(DHChain chain) { this.chain = chain; ArrayList dhLinks = chain.getLinks(); for (int i = linksListeners.size(); i < dhLinks.size(); i++) { - linksListeners.add(new Affine()); + linksListeners.add(new Object()); } LinkFactory lf = getFactory(); configs = lf.getLinkConfigurations(); @@ -531,7 +528,7 @@ public void onTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) { @Override public void onTargetTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) { // TODO Auto-generated method stub - // TransformFactory.getTransform(pose, getCurrentTargetAffine()); + // TransformFactory.getTransform(pose, getCurrentTargetObject()); } /** @@ -554,11 +551,11 @@ public void setInverseSolver(DhInverseSolver inverseSolver) { } /** - * Gets the current target affine. + * Gets the current target Object. * - * @return the current target affine + * @return the current target Object */ - public Affine getCurrentTargetAffine() { + public Object getCurrentTargetObject() { return currentTarget; } @@ -609,22 +606,23 @@ public ArrayList updateCadLocations() { //synchronized (DHParameterKinematics.class) { try { ArrayList ll = getChain().getChain(getCurrentJointSpaceVector()); - for (int i = 0; i < ll.size(); i++) { - ArrayList linkPos = ll; - int index = i; - Affine af = getChain().getLinks().get(index).getListener(); - TransformNR nr = linkPos.get(index); - Platform.runLater(() -> { - if (nr == null || af == null) { - return; - } - try { - TransformFactory.nrToAffine(nr, af); - } catch (Exception ex) { - // ex.printStackTrace(); - } - }); - } +// for (int i = 0; i < ll.size(); i++) { +// ArrayList linkPos = ll; +// int index = i; +// Object af = getChain().getLinks().get(index).getListener(); +// TransformNR nr = linkPos.get(index); +// Platform.runLater(() -> { +// if (nr == null || af == null) { +// return; +// } +// try { +// TransformFactory.nrToObject(nr, af); +// } catch (Exception ex) { +// // ex.printStackTrace(); +// } +// }); +// } + runRenderWrangler(); return ll; } catch (Exception ex) { // ex.printStackTrace(); @@ -707,7 +705,7 @@ public TransformNR linkCoM(double linkAngleToClaculate, int linkIndex) { public TransformNR linkCoM(int linkIndex) { return linkCoM(getCurrentJointSpaceVector()[linkIndex],linkIndex); } - public Affine getLinkAffineManipulator(int index) { + public Object getLinkObjectManipulator(int index) { return getChain().getLinks().get(index).getListener(); } /** @@ -789,7 +787,7 @@ public void setDH_Alpha(int index, double value) { public DHLink getDhLink(int i) { return getDhChain().getLinks().get(i); } - public Affine getListener(int i) { + public Object getListener(int i) { return getDhChain().getLinks().get(i).getListener(); } /** @@ -803,19 +801,6 @@ public void setRobotToFiducialTransform(TransformNR newTrans) { } public void refreshPose() { - if(this.checkTaskSpaceTransform(this.getCurrentPoseTarget())) { - try { - this.setDesiredTaskSpaceTransform(this.getCurrentPoseTarget(), 0); - } catch (Exception e) { - throw new RuntimeException(e); - } - }else { - this.getCurrentTaskSpaceTransform(); - // this calls the render update function attachec as the on jointspace - // update - double[] joint = this.getCurrentJointSpaceVector(); - this.getChain().getChain(joint); - Platform.runLater(() -> this.onJointSpaceUpdate(this, joint)); - } + runRenderWrangler(); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 6105c44a..cab40f13 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -4,8 +4,6 @@ import java.util.HashMap; import java.util.NoSuchElementException; -import javafx.scene.transform.Affine; - import org.w3c.dom.Element; import org.w3c.dom.Node; import org.w3c.dom.NodeList; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index b5d1e152..94628dd5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -736,21 +736,21 @@ public void DriveVelocityArc(double degreesPerSecond, double cmRadius) { * Update positions. */ public void updatePositions() { - for (DHParameterKinematics kin : getAppendages()) { - // System.err.println("Updating arm: "+kin.getScriptingName()); - kin.updateCadLocations(); - } - for (DHParameterKinematics kin : getDrivable()) { - // System.err.println("Updating getDrivable: - // "+kin.getScriptingName()); - kin.updateCadLocations(); - } - for (DHParameterKinematics kin : getSteerable()) { - // System.err.println("Updating getSteerable: - // "+kin.getScriptingName()); - kin.updateCadLocations(); - } - +// for (DHParameterKinematics kin : getAppendages()) { +// // System.err.println("Updating arm: "+kin.getScriptingName()); +// kin.updateCadLocations(); +// } +// for (DHParameterKinematics kin : getDrivable()) { +// // System.err.println("Updating getDrivable: +// // "+kin.getScriptingName()); +// kin.updateCadLocations(); +// } +// for (DHParameterKinematics kin : getSteerable()) { +// // System.err.println("Updating getSteerable: +// // "+kin.getScriptingName()); +// kin.updateCadLocations(); +// } + runRenderWrangler(); } /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java deleted file mode 100644 index a568c798..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/TransformFactory.java +++ /dev/null @@ -1,113 +0,0 @@ -package com.neuronrobotics.sdk.addons.kinematics; - -import java.awt.Color; - -import javafx.application.Platform; -import javafx.scene.Group; -import javafx.scene.transform.Affine; -import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; -import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; - - -// TODO: Auto-generated Javadoc -/** - * A factory for creating Transform objects. - */ -public class TransformFactory { - - /** - * Gets the transform. - * - * @param x the x - * @param y the y - * @param z the z - * @return the transform - */ - public static Affine newAffine(double x, double y, double z){ - return nrToAffine(new TransformNR(x, y, z, new RotationNR())); - } - - /** - * Gets the transform. - * - * @param input the input - * @return the transform - */ - public static Affine nrToAffine(TransformNR input){ - Affine rotations =new Affine(); - return nrToAffine( input , rotations); - } - - /** - * Gets the transform. - * - * @param input the input - * @return the transform - */ - public static TransformNR affineToNr(Affine input){ - TransformNR rotations =new TransformNR(); - return affineToNr( rotations,input ); - } - /** - * Gets the transform. - * - * @param outputValue the input - * @param rotations the rotations - * @return the transform - */ - public static TransformNR affineToNr(TransformNR outputValue ,Affine rotations){ - double[][] poseRot = outputValue - .getRotationMatrixArray(); - - poseRot[0][0]=rotations.getMxx(); - poseRot[0][1]=rotations.getMxy(); - poseRot[0][2]=rotations.getMxz(); - poseRot[1][0]=rotations.getMyx(); - poseRot[1][1]=rotations.getMyy(); - poseRot[1][2]=rotations.getMyz(); - poseRot[2][0]=rotations.getMzx(); - poseRot[2][1]=rotations.getMzy(); - poseRot[2][2]=rotations.getMzz(); - - outputValue.set(rotations.getTx(),rotations.getTy(),rotations.getTz(),poseRot); - return outputValue; - } - - /** - * Gets the transform. - * - * @param input the input - * @param rotations the rotations - * @return the transform - */ - public static Affine nrToAffine(TransformNR input ,Affine rotations){ - if (!Platform.isFxApplicationThread()) { - new RuntimeException("This method must be in UI thread!").printStackTrace(); - } - if(input==null ) - return rotations; - if( rotations==null) - rotations=new Affine(); - double[][] poseRot = input - .getRotationMatrixArray(); - try { - rotations.setMxx(poseRot[0][0]); - rotations.setMxy(poseRot[0][1]); - rotations.setMxz(poseRot[0][2]); - rotations.setMyx(poseRot[1][0]); - rotations.setMyy(poseRot[1][1]); - rotations.setMyz(poseRot[1][2]); - rotations.setMzx(poseRot[2][0]); - rotations.setMzy(poseRot[2][1]); - rotations.setMzz(poseRot[2][2]); - rotations.setTx(input.getX()); - rotations.setTy(input.getY()); - rotations.setTz(input.getZ()); - }catch(Exception e) { - e.printStackTrace(); - } - return rotations; - } - - -} From 55e78943e37693d784ff09d8e1e307d1f5e33413 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 19 Jan 2021 14:11:45 -0500 Subject: [PATCH 286/482] Removing all JavaFX dependant classes --- .../imageprovider/AbstractImageProvider.java | 176 ----- .../imageprovider/Detection.java | 62 -- .../imageprovider/IObjectDetector.java | 9 - .../imageprovider/IVirtualCameraFactory.java | 6 - .../imageprovider/NativeResource.java | 243 ------ .../NativeResourceException.java | 17 - .../imageprovider/ProcessingPipeline.java | 36 - .../imageprovider/StaticFileProvider.java | 57 -- .../imageprovider/URLImageProvider.java | 55 -- .../imageprovider/VirtualCameraFactory.java | 29 - .../kinematics/AbstractKinematicsNR.java | 4 - .../sdk/addons/kinematics/CameraLink.java | 62 -- .../sdk/addons/kinematics/DHChain.java | 5 +- .../addons/kinematics/JavaFXInitializer.java | 48 -- .../sdk/addons/kinematics/LinkFactory.java | 11 - .../sdk/dyio/sequencer/CoreScheduler.java | 725 ------------------ .../dyio/sequencer/ISchedulerListener.java | 45 -- .../sdk/dyio/sequencer/SequencerMP3.java | 197 ----- .../sequencer/ServoOutputScheduleChannel.java | 573 -------------- 19 files changed, 1 insertion(+), 2359 deletions(-) delete mode 100644 src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java delete mode 100644 src/main/java/com/neuronrobotics/imageprovider/Detection.java delete mode 100644 src/main/java/com/neuronrobotics/imageprovider/IObjectDetector.java delete mode 100644 src/main/java/com/neuronrobotics/imageprovider/IVirtualCameraFactory.java delete mode 100644 src/main/java/com/neuronrobotics/imageprovider/NativeResource.java delete mode 100644 src/main/java/com/neuronrobotics/imageprovider/NativeResourceException.java delete mode 100644 src/main/java/com/neuronrobotics/imageprovider/ProcessingPipeline.java delete mode 100644 src/main/java/com/neuronrobotics/imageprovider/StaticFileProvider.java delete mode 100644 src/main/java/com/neuronrobotics/imageprovider/URLImageProvider.java delete mode 100644 src/main/java/com/neuronrobotics/imageprovider/VirtualCameraFactory.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/JavaFXInitializer.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/dyio/sequencer/CoreScheduler.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/dyio/sequencer/ISchedulerListener.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/dyio/sequencer/ServoOutputScheduleChannel.java diff --git a/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java b/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java deleted file mode 100644 index 0f3eb2a3..00000000 --- a/src/main/java/com/neuronrobotics/imageprovider/AbstractImageProvider.java +++ /dev/null @@ -1,176 +0,0 @@ -package com.neuronrobotics.imageprovider; - -import java.awt.Graphics; -import java.awt.image.BufferedImage; -import java.awt.image.ColorModel; -import java.awt.image.DataBufferByte; -import java.awt.image.WritableRaster; -import java.io.ByteArrayInputStream; -import java.io.ByteArrayOutputStream; -import java.io.File; -import java.io.IOException; - - -import javax.imageio.ImageIO; - -import com.neuronrobotics.sdk.common.BowlerAbstractDevice; -import com.neuronrobotics.sdk.common.BowlerDatagram; -import com.neuronrobotics.sdk.common.InvalidConnectionException; -import com.neuronrobotics.sdk.common.NonBowlerDevice; - -/** - * This is a class is used as an interface to create cameras for the Bowler system. - * @author hephaestus - * - */ -public abstract class AbstractImageProvider extends NonBowlerDevice { - private BufferedImage image = null; - private javafx.scene.transform.Affine globalPos; - /** - * This method should capture a new image and load it into the Mat datatype - * @param imageData - * @return - */ - protected abstract boolean captureNewImage(BufferedImage imageData); - - /** - * This method should capture a new image and return it - * @return - */ - public abstract BufferedImage captureNewImage(); - - @Override - public void onAsyncResponse(BowlerDatagram data) { - // TODO Auto-generated method stub - - } - - @Override - public boolean connect(){ - return true; - } - - /** - * Determines if the device is available. - * - * @return true if the device is avaiable, false if it is not - * @throws InvalidConnectionException the invalid connection exception - */ - @Override - public boolean isAvailable() throws InvalidConnectionException{ - return true; - } - - - - /** - * copy from buffered image to buffered image - * @param src - * @param dest - */ - public static void deepCopy(BufferedImage src, BufferedImage dest) { - Graphics g = dest.createGraphics(); - g.drawImage(src, 0, 0, null); - } - - /** - * @param inputImage - * @param displayImage - * @return latest image - */ - public BufferedImage getLatestImage(BufferedImage inputImage, BufferedImage displayImage){ - captureNewImage(inputImage); - if(displayImage!=null){ - AbstractImageProvider.deepCopy(inputImage,displayImage); - } - image = inputImage; - - return image; - } - - /** - * @return latest image - */ - public BufferedImage getLatestImage(){ - return image; - } - - /** - * @param w - * @param h - * @return new blnak sized image - */ - public static BufferedImage newBufferImage(int w, int h) { - return new BufferedImage(w, h, BufferedImage.TYPE_3BYTE_BGR); - - } - - - - /** - * @param in - * @param w - * @param h - * @return grayed image - */ - public static BufferedImage toGrayScale(BufferedImage in, int w, int h) { - BufferedImage bi = new BufferedImage(w, h, BufferedImage.TYPE_BYTE_GRAY); - Graphics g = bi.createGraphics(); - g.drawImage(in, 0, 0, w, h, null); - return bi; - } - - /** - * @param in - * @param scale - * @return toGrayScale - */ - public static BufferedImage toGrayScale(BufferedImage in, double scale) { - int w = (int) (in.getWidth() * scale); - int h = (int) (in.getHeight() * scale); - return toGrayScale(in, w, h); - } - /** - * @param bf - * @return conversion to javafx i mage - */ - public static javafx.scene.image.Image getJfxImage(BufferedImage bf) { - ByteArrayOutputStream out = new ByteArrayOutputStream(); - try { - ImageIO.write( bf, "png", out); - out.flush(); - } catch (IOException ex) { - - } - ByteArrayInputStream in = new ByteArrayInputStream(out.toByteArray()); - return new javafx.scene.image.Image(in); - } - /** - * @return image as Javafx - */ - public javafx.scene.image.Image getLatestJfxImage() { - return getJfxImage(getLatestImage()); - } - - /** - * @param globalPos - */ - public void setGlobalPositionListener(javafx.scene.transform.Affine globalPos) { - this.setGlobalPos(globalPos); - } - - /** - * @return global positioning of the image - */ - public javafx.scene.transform.Affine getGlobalPos() { - return globalPos; - } - - /** - * @param globalPos - */ - public void setGlobalPos(javafx.scene.transform.Affine globalPos) { - this.globalPos = globalPos; - - } -} diff --git a/src/main/java/com/neuronrobotics/imageprovider/Detection.java b/src/main/java/com/neuronrobotics/imageprovider/Detection.java deleted file mode 100644 index 67be8646..00000000 --- a/src/main/java/com/neuronrobotics/imageprovider/Detection.java +++ /dev/null @@ -1,62 +0,0 @@ -package com.neuronrobotics.imageprovider; - -import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; - -public class Detection { - - private final double X; - private final double Y; - private final double Size; - private double confidence; - - private TransformNR detectionLocation=null; - - public Detection(double x, double y, double size){ - X=x; - Y=y; - Size=size; - this.setConfidence(1.0); - } - /** - * - * @param x detection location in image - * @param y detection location in image - * @param size detection location in image - * @param confidence confidence value from 0-1 of confidence in detection - */ - public Detection(double x, double y, double size, double confidence){ - X=x; - Y=y; - Size=size; - this.setConfidence(confidence); - } - - public double getSize() { - return Size; - } - - public double getY() { - return Y; - } - - public double getX() { - return X; - } - public String toString(){ - return "X pos ="+X+" Y pos="+Y+" size="+Size; - } - - public double getConfidence() { - return confidence; - } - - public void setConfidence(double confidence) { - this.confidence = confidence; - } - public TransformNR getDetectionLocation() { - return detectionLocation; - } - public void setDetectionLocation(TransformNR detectionLocation) { - this.detectionLocation = detectionLocation; - } -} diff --git a/src/main/java/com/neuronrobotics/imageprovider/IObjectDetector.java b/src/main/java/com/neuronrobotics/imageprovider/IObjectDetector.java deleted file mode 100644 index c78de121..00000000 --- a/src/main/java/com/neuronrobotics/imageprovider/IObjectDetector.java +++ /dev/null @@ -1,9 +0,0 @@ -package com.neuronrobotics.imageprovider; - -import java.awt.image.BufferedImage; -import java.util.List; - -public interface IObjectDetector { - List getObjects(BufferedImage inputImage, BufferedImage displayImage); - -} diff --git a/src/main/java/com/neuronrobotics/imageprovider/IVirtualCameraFactory.java b/src/main/java/com/neuronrobotics/imageprovider/IVirtualCameraFactory.java deleted file mode 100644 index 87f814c3..00000000 --- a/src/main/java/com/neuronrobotics/imageprovider/IVirtualCameraFactory.java +++ /dev/null @@ -1,6 +0,0 @@ -package com.neuronrobotics.imageprovider; - -public interface IVirtualCameraFactory { - - AbstractImageProvider getVirtualCamera(); -} diff --git a/src/main/java/com/neuronrobotics/imageprovider/NativeResource.java b/src/main/java/com/neuronrobotics/imageprovider/NativeResource.java deleted file mode 100644 index 386e6151..00000000 --- a/src/main/java/com/neuronrobotics/imageprovider/NativeResource.java +++ /dev/null @@ -1,243 +0,0 @@ -package com.neuronrobotics.imageprovider; - -import java.io.BufferedInputStream; -import java.io.File; -import java.io.FileOutputStream; -import java.io.IOException; -import java.io.InputStream; - -public class NativeResource { - - private boolean loaded = false; - public synchronized void load(String libraryName) throws NativeResourceException { - if(loaded) - return; - loaded = true; - if(System.getProperty(libraryName + ".userlib") != null) { - try { - if(System.getProperty(libraryName + ".userlib").equalsIgnoreCase("sys")) { - System.loadLibrary(libraryName); - } else { - System.load(System.getProperty(libraryName + ".userlib")); - } - return; - } catch (Exception e){ - e.printStackTrace(); - throw new NativeResourceException("Unable to load native resource from given path.\n" + e.getLocalizedMessage()); - } - } - loadLib(libraryName); - } - - - - private void inJarLoad(String name)throws UnsatisfiedLinkError, NativeResourceException{ - //start by assuming the library can be loaded from the jar - InputStream resourceSource = locateResource(name); - File resourceLocation; - try { - resourceLocation = inJarLoad(resourceSource,name); - loadResource(resourceLocation); - testNativeCode(); - } catch (IOException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - - } - @SuppressWarnings("rawtypes") - public static File inJarLoad(Class inputClass, String name) throws IOException{ - InputStream resourceSource = inputClass.getResourceAsStream(name); - File resourceLocation = prepResourceLocation(name); - //System.out.println("Resource selected "+resourceSource); - //System.out.println("Resource target "+resourceLocation); - - copyResource(resourceSource, resourceLocation); - return resourceLocation; - } - public static File inJarLoad(InputStream inputStream, String name) throws IOException{ - InputStream resourceSource = inputStream; - File resourceLocation = prepResourceLocation(name); - //System.out.println("Resource selected "+resourceSource); - //System.out.println("Resource target "+resourceLocation); - - copyResource(resourceSource, resourceLocation); - return resourceLocation; - } - private void loadLib(String name) throws NativeResourceException { - - - inJarLoad(name); - - return; - - } - - private void testNativeCode()throws UnsatisfiedLinkError { - - } - - private InputStream locateResource(String name) { - name += getExtension(); - String file=""; - if( isOSX()) { - file="/native/osx/" + name; - }else if( isWindows()) { - if( is64Bit()){ - file="/native/windows/x86_64/" + name; - }else { - file="/native/windows/x86_32/" + name; - } - }else if( isLinux()) { - if( isARM()) { - file = "/native/linux/ARM/" + name; - }else { - if( is64Bit()) { - file="/native/linux/x86_64/" + name; - }else { - file="/native/linux/x86_32/" + name; - } - } - }else{ - System.err.println("Can't load native file: "+name+" for os arch: "+ getOsArch()); - return null; - } - //System.out.println("Loading "+file); - return getClass().getResourceAsStream(file); - } - - private void loadResource(File resource) { - if(!resource.canRead()) - throw new RuntimeException("Cant open JNI file: "+resource.getAbsolutePath()); - //System.out.println("Loading: "+resource.getAbsolutePath()); - System.load(resource.getAbsolutePath()); - } - - public static void copyResource(InputStream io, File file) throws IOException { - FileOutputStream fos = new FileOutputStream(file); - - - byte[] buf = new byte[256]; - int read = 0; - while ((read = io.read(buf)) > 0) { - fos.write(buf, 0, read); - } - fos.close(); - io.close(); - } - - public static File prepResourceLocation(String fileName) throws NativeResourceException { - String tmpDir = System.getProperty("java.io.tmpdir"); - //String tmpDir = "M:\\"; - if ((tmpDir == null) || (tmpDir.length() == 0)) { - tmpDir = "tmp"; - } - - String displayName = new File(fileName).getName().split("\\.")[0]; - - String user = System.getProperty("user.name"); - - File fd = null; - File dir = null; - - for(int i = 0; i < 10; i++) { - dir = new File(tmpDir, displayName + "_" + user + "_" + (i)); - if (dir.exists()) { - if (!dir.isDirectory()) { - continue; - } - - try { - File[] files = dir.listFiles(); - for (int j = 0; j < files.length; j++) { - if (!files[j].delete()) { - continue; - } - } - } catch (Throwable e) { - - } - } - - if ((!dir.exists()) && (!dir.mkdirs())) { - continue; - } - - try { - dir.deleteOnExit(); - } catch (Throwable e) { - // Java 1.1 or J9 - } - - fd = new File(dir, fileName + getExtension()); - if ((fd.exists()) && (!fd.delete())) { - continue; - } - - try { - if (!fd.createNewFile()) { - continue; - } - } catch (IOException e) { - continue; - } catch (Throwable e) { - // Java 1.1 or J9 - } - - break; - } - - if(fd == null || !fd.canRead()) { - throw new NativeResourceException("Unable to deploy native resource"); - } - //System.out.println("Local file: "+fd.getAbsolutePath()); - return fd; - } - - - public static boolean is64Bit() { - ////System.out.println("Arch: "+getOsArch()); - return getOsArch().startsWith("x86_64") || getOsArch().startsWith("amd64"); - } - public static boolean isARM() { - return getOsArch().startsWith("arm"); - } - public static boolean isCortexA8(){ - if(isARM()){ - //TODO check for cortex a8 vs arm9 generic - return true; - } - return false; - } - public static boolean isWindows() { - ////System.out.println("OS name: "+getOsName()); - return getOsName().toLowerCase().startsWith("windows") ||getOsName().toLowerCase().startsWith("microsoft") || getOsName().toLowerCase().startsWith("ms"); - } - - public static boolean isLinux() { - return getOsName().toLowerCase().startsWith("linux"); - } - - public static boolean isOSX() { - return getOsName().toLowerCase().startsWith("mac"); - } - - public static String getExtension() { - return ""; - } - - public static String getOsName() { - return System.getProperty("os.name"); - } - - public static String getOsArch() { - return System.getProperty("os.arch"); - } - - @SuppressWarnings("unused") - public static String getIdentifier() { - return getOsName() + " : " + getOsArch(); - } - - -} diff --git a/src/main/java/com/neuronrobotics/imageprovider/NativeResourceException.java b/src/main/java/com/neuronrobotics/imageprovider/NativeResourceException.java deleted file mode 100644 index 1d425128..00000000 --- a/src/main/java/com/neuronrobotics/imageprovider/NativeResourceException.java +++ /dev/null @@ -1,17 +0,0 @@ -package com.neuronrobotics.imageprovider; - -public class NativeResourceException extends RuntimeException { - /** - * - */ - private static final long serialVersionUID = 1L; - private String message; - - public NativeResourceException(String msg) { - message = msg; - } - - public String toString() { - return message; - } -} diff --git a/src/main/java/com/neuronrobotics/imageprovider/ProcessingPipeline.java b/src/main/java/com/neuronrobotics/imageprovider/ProcessingPipeline.java deleted file mode 100644 index 9fc1b7a4..00000000 --- a/src/main/java/com/neuronrobotics/imageprovider/ProcessingPipeline.java +++ /dev/null @@ -1,36 +0,0 @@ -package com.neuronrobotics.imageprovider; - -import java.awt.image.BufferedImage; -import java.util.ArrayList; -import java.util.List; - - -public class ProcessingPipeline { - private ArrayList imageProviders = new ArrayList(); - private ArrayList detectors= new ArrayList(); - - public void addAbstractImageProvider(AbstractImageProvider newIp){ - imageProviders.add(newIp); - } - - public BufferedImage getLatestImage(int index,BufferedImage inputImage, BufferedImage displayImage){ - return imageProviders.get(index).getLatestImage(inputImage,displayImage); - } - - public List getObjects(int index,BufferedImage inputImage, BufferedImage displayImage){ - return detectors.get(index).getObjects(inputImage, displayImage); - } - - public void addDetector(IObjectDetector newDetect){ - detectors.add(newDetect); - } - - public int getProviderSize(){ - return imageProviders.size(); - } - - public int getDetectorSize(){ - return detectors.size(); - } - -} diff --git a/src/main/java/com/neuronrobotics/imageprovider/StaticFileProvider.java b/src/main/java/com/neuronrobotics/imageprovider/StaticFileProvider.java deleted file mode 100644 index 9a59e90e..00000000 --- a/src/main/java/com/neuronrobotics/imageprovider/StaticFileProvider.java +++ /dev/null @@ -1,57 +0,0 @@ -package com.neuronrobotics.imageprovider; - -import java.awt.image.BufferedImage; -import java.io.File; -import java.io.IOException; -import java.net.URL; -import java.util.ArrayList; - -import javax.imageio.ImageIO; - - -import com.neuronrobotics.sdk.common.BowlerDatagram; - -public class StaticFileProvider extends AbstractImageProvider { - - private File file; - - public StaticFileProvider(File file){ - this.file = file; - } - - @Override - protected boolean captureNewImage(BufferedImage imageData) { - AbstractImageProvider.deepCopy( captureNewImage(),imageData); - return true; - } - - @Override - public void disconnectDeviceImp() { - // TODO Auto-generated method stub - - } - - @Override - public boolean connectDeviceImp() { - // TODO Auto-generated method stub - return false; - } - - @Override - public ArrayList getNamespacesImp() { - // TODO Auto-generated method stub - return null; - } - - @Override - public BufferedImage captureNewImage() { - /* In the constructor */ - try { - return ImageIO.read(file); - } catch (IOException e) { - return null; - } - } - - -} diff --git a/src/main/java/com/neuronrobotics/imageprovider/URLImageProvider.java b/src/main/java/com/neuronrobotics/imageprovider/URLImageProvider.java deleted file mode 100644 index c58ab148..00000000 --- a/src/main/java/com/neuronrobotics/imageprovider/URLImageProvider.java +++ /dev/null @@ -1,55 +0,0 @@ -package com.neuronrobotics.imageprovider; - -import java.awt.image.BufferedImage; -import java.io.File; -import java.io.IOException; -import java.net.URL; -import java.util.ArrayList; - -import javax.imageio.ImageIO; - -import com.neuronrobotics.sdk.common.BowlerDatagram; - -public class URLImageProvider extends AbstractImageProvider { - - - private URL url; - - public URLImageProvider(URL url) { - this.url = url; - } - - @Override - protected boolean captureNewImage(BufferedImage imageData) { - - - AbstractImageProvider.deepCopy(captureNewImage() ,imageData); - return true; - } - - @Override - public void disconnectDeviceImp() { - // TODO Auto-generated method stub - - } - - @Override - public boolean connectDeviceImp() { - // TODO Auto-generated method stub - return false; - } - - @Override - public ArrayList getNamespacesImp() { - // TODO Auto-generated method stub - return null; - } - - @Override - public BufferedImage captureNewImage() { - /*In the constructor*/ - try { return ImageIO.read(url ); } catch (IOException e) { return null;} - } - - -} diff --git a/src/main/java/com/neuronrobotics/imageprovider/VirtualCameraFactory.java b/src/main/java/com/neuronrobotics/imageprovider/VirtualCameraFactory.java deleted file mode 100644 index df52cef3..00000000 --- a/src/main/java/com/neuronrobotics/imageprovider/VirtualCameraFactory.java +++ /dev/null @@ -1,29 +0,0 @@ -package com.neuronrobotics.imageprovider; - -import java.net.MalformedURLException; -import java.net.URL; - -public class VirtualCameraFactory { - private static IVirtualCameraFactory factory = new IVirtualCameraFactory() { - - @Override - public AbstractImageProvider getVirtualCamera() { - // TODO Auto-generated method stub - try { - return new URLImageProvider(new URL("http://commonwealthrobotics.com/img/AndrewHarrington/2014-09-15-86.jpg")); - } catch (MalformedURLException e) { - // TODO Auto-generated catch block - throw new RuntimeException(e); - } - } - }; - public static AbstractImageProvider getVirtualCamera(){ - return getFactory().getVirtualCamera(); - } - public static IVirtualCameraFactory getFactory() { - return factory; - } - public static void setFactory(IVirtualCameraFactory factory) { - VirtualCameraFactory.factory = factory; - } -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index e34ddb4d..d1c0aa51 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -110,10 +110,6 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP private Runnable renderWrangler=null; - static { - JavaFXInitializer.go(); - } - /** * Gets the root listener. * diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java deleted file mode 100644 index bfb24687..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/CameraLink.java +++ /dev/null @@ -1,62 +0,0 @@ -package com.neuronrobotics.sdk.addons.kinematics; - -import com.neuronrobotics.imageprovider.AbstractImageProvider; - - -public class CameraLink extends AbstractLink { - - private AbstractImageProvider img; - - public CameraLink(LinkConfiguration conf, AbstractImageProvider img) { - super(conf); - // TODO Auto-generated constructor stub - this.setImageProvider(img); - - } - - - @Override - public void setGlobalPositionListener(Object affine) { - super.setGlobalPositionListener(affine); - img.setGlobalPositionListener((javafx.scene.transform.Affine) affine); - - } - - @Override - public void cacheTargetValueDevice() { - // TODO Auto-generated method stub - - } - - @Override - public void flushDevice(double time) { - // TODO Auto-generated method stub - - } - - @Override - public void flushAllDevice(double time) { - // TODO Auto-generated method stub - - } - - @Override - public double getCurrentPosition() { - // TODO Auto-generated method stub - return 0; - } - - - - public AbstractImageProvider getImageProvider() { - return img; - } - - - - public void setImageProvider(AbstractImageProvider img) { - this.img = img; - img.setGlobalPositionListener((javafx.scene.transform.Affine) getGlobalPositionListener()); - } - -} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index e6371d33..af0b035c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -48,10 +48,7 @@ public class DHChain { /** The factory. */ private LinkFactory factory; - static{ - JavaFXInitializer.go(); - } - + /** * Instantiates a new DH chain. * diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JavaFXInitializer.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JavaFXInitializer.java deleted file mode 100644 index 0a388941..00000000 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JavaFXInitializer.java +++ /dev/null @@ -1,48 +0,0 @@ -package com.neuronrobotics.sdk.addons.kinematics; -import javafx.application.Application; -import javafx.stage.Stage; -public class JavaFXInitializer extends javafx.application.Application { - private static final int NUM_COUNT = 2; - private final static java.util.concurrent.CountDownLatch latch = new java.util.concurrent.CountDownLatch(NUM_COUNT); - - public JavaFXInitializer(){ - - } - private static void gointernal() { - if(latch.getCount()!=NUM_COUNT) { - //System.out.println("ERR initializer already started"); - return; - } - System.out.println("Starting JavaFX initializer..."+JavaFXInitializer.class); - latch.countDown(); - try { - launch(); - }catch(java.lang.IllegalStateException e) { - latch.countDown(); - } - } - public static void go() { - if(latch.getCount()!=NUM_COUNT) { - //System.out.println("ERR initializer already started"); - return; - } - new Thread() { - public void run() { - gointernal(); - } - }.start(); - try { - JavaFXInitializer.latch.await(); - } catch (InterruptedException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - StackTraceElement[] stacktrace = Thread.currentThread().getStackTrace(); - StackTraceElement e = stacktrace[2];//maybe this number needs to be corrected - System.out.println("Finished JavaFX initializing! "+e); - } - @Override - public void start(Stage primaryStage) throws Exception { - latch.countDown(); - } -} \ No newline at end of file diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index 5b365773..b02d6004 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -2,8 +2,6 @@ import java.util.ArrayList; import java.util.HashMap; -import com.neuronrobotics.imageprovider.AbstractImageProvider; -import com.neuronrobotics.imageprovider.VirtualCameraFactory; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodePrismatic; import com.neuronrobotics.sdk.common.BowlerAbstractDevice; @@ -222,15 +220,6 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ tmp=new PidRotoryLink( virtual.getPIDChannel(c.getHardwareIndex()), c,true); break; - case CAMERA: - String myVirtualDevName1=c.getDeviceScriptingName(); - AbstractImageProvider img = (AbstractImageProvider)DeviceManager.getSpecificDevice(AbstractImageProvider.class, myVirtualDevName1); - if(img==null){ - img= VirtualCameraFactory.getVirtualCamera(); - DeviceManager.addConnection(img, myVirtualDevName1); - } - tmp=new CameraLink(c,img); - break; case GCODE_HEATER_TOOL: if(getGCODE(c)!=null){ tmp = getGCODE(c).getHeater(c); diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/CoreScheduler.java b/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/CoreScheduler.java deleted file mode 100644 index 867e6384..00000000 --- a/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/CoreScheduler.java +++ /dev/null @@ -1,725 +0,0 @@ -package com.neuronrobotics.sdk.dyio.sequencer; - -import java.io.File; -import com.neuronrobotics.sdk.common.Log; -import java.io.FileInputStream; -import java.io.IOException; -import java.util.ArrayList; - -import javax.xml.parsers.DocumentBuilder; -import javax.xml.parsers.DocumentBuilderFactory; -import javax.xml.parsers.ParserConfigurationException; - -import org.w3c.dom.Document; -import org.w3c.dom.Element; -import org.w3c.dom.Node; -import org.w3c.dom.NodeList; -import org.xml.sax.SAXException; - -import com.neuronrobotics.sdk.dyio.DyIO; -import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; -import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc - -/** - * The Class CoreScheduler. - * - * @author hephaestus - */ -public class CoreScheduler { - - /** The loop time. */ - private int loopTime; - - /** The flush time. */ - private long flushTime = 0; - - /** The st. */ - private SchedulerThread st=null; - - /** The mp3. */ - private SequencerMP3 mp3; - - /** The loop. */ - private boolean loop = false; - - /** The listeners. */ - private ArrayList< ISchedulerListener> listeners = new ArrayList< ISchedulerListener>(); - - /** The outputs. */ - private ArrayList< ServoOutputScheduleChannel> outputs = new ArrayList< ServoOutputScheduleChannel>(); - - /** The dyio. */ - private DyIO dyio; - - /** The filename. */ - private String filename=null; - - /** The ms duration. */ - private int msDuration=0; - - /** The audio file. */ - //private int trackLength; - private File audioFile=null; - - /** The flusher. */ - DyIOFlusher flusher; - - /** The Start offset. */ - private long StartOffset; - - /** - * Instantiates a new core scheduler. - * - * @param d the d - * @param loopTime the loop time - * @param duration the duration - */ - public CoreScheduler(DyIO d, int loopTime,int duration ){ - setDyIO(d); - this.setLoopTime(loopTime); - msDuration=duration; - } - - /** - * Instantiates a new core scheduler. - * - * @param d the d - * @param f the f - */ - public CoreScheduler(DyIO d, File f){ - setDyIO(d); - loadFromFile(f); - } - - /** - * Load from file. - * - * @param f The file to load the scheduler configuration from. This should be an xml. - */ - - public void loadFromFile(File f){ - /** - * sample code from - * http://www.mkyong.com/java/how-to-read-xml-file-in-java-dom-parser/ - */ - DocumentBuilderFactory dbFactory = DocumentBuilderFactory.newInstance(); - DocumentBuilder dBuilder; - Document doc = null; - try { - dBuilder = dbFactory.newDocumentBuilder(); - doc = dBuilder.parse(new FileInputStream(f)); - doc.getDocumentElement().normalize(); - } catch (ParserConfigurationException e) { - throw new RuntimeException(e); - } catch (SAXException e) { - throw new RuntimeException(e); - } catch (IOException e) { - throw new RuntimeException(e); - } - //System.out.println("Parsing File..."); - NodeList nList = doc.getElementsByTagName("ServoOutputSequenceGroup"); - for (int temp = 0; temp < nList.getLength(); temp++) { - //System.out.println("Leg # "+temp); - Node nNode = nList.item(temp); - if (nNode.getNodeType() == Node.ELEMENT_NODE) { - Element eElement = (Element) nNode; - - String filename = getTagValue("mp3",eElement); - if(filename!=null){ - setAudioFile(new File(filename)); - }else{ - msDuration = Integer.parseInt(getTagValue("duration",eElement)); - } - setLoopTime(Integer.parseInt(getTagValue("loopTime",eElement))); - NodeList links = eElement.getElementsByTagName("ServoOutputSequence"); - for (int i = 0; i < links.getLength(); i++) { - //System.out.println("\tLink # "+i); - Node lNode = links.item(i); - if (lNode.getNodeType() == Node.ELEMENT_NODE) { - Element lElement = (Element) lNode; - int max=Integer.parseInt(getTagValue("outputMax",lElement)); - int min=Integer.parseInt(getTagValue("outputMin",lElement)); - int channel=Integer.parseInt(getTagValue("outputChannel",lElement)); - boolean enabled = getTagValue("inputEnabled",lElement).contains("true"); - - double inScale=Double.parseDouble(getTagValue("inputScale",lElement)); - int outCenter=Integer.parseInt(getTagValue("outputCenter",lElement)); - int inChannel=Integer.parseInt(getTagValue("inputChannel",lElement)); - - String [] sdata = getTagValue("data",lElement).split(","); - int []data=new int[sdata.length]; - for(int j=0;j\n"; - }else{ - s+="\t"+msDuration+"\n"; - } - s+="\t"+getLoopTime()+"\n"; - for(ServoOutputScheduleChannel so:getOutputs()){ - s+=so.getXml(); - } - s+="\n"; - return s; - } - - /** - * Sets the outputs. - * - * @param outputs the new outputs - */ - public void setOutputs(ArrayList< ServoOutputScheduleChannel> outputs) { - this.outputs = outputs; - } - - /** - * Gets the outputs. - * - * @return the outputs - */ - public ArrayList< ServoOutputScheduleChannel> getOutputs() { - return outputs; - } - - /** - * The Class DyIOFlusher. - */ - private class DyIOFlusher extends Thread{ - - /** The running. */ - private boolean running = true; - - /** The flush. */ - private boolean flush = false; - - /* (non-Javadoc) - * @see java.lang.Thread#run() - */ - public void run(){ - setName("DyIO scheduler flush thread"); - while(isRunning()){ - if(isFlush()){ - flush = false; - long start = System.currentTimeMillis(); - if(getDyIO()!=null){ - //Log.enableInfoPrint(); - double seconds =((double)(getLoopTime()))/1000; - for(ServoOutputScheduleChannel s :getOutputs()){ - s.sync((int) seconds); - } - getDyIO().flushCache(seconds); - //Log.enableDebugPrint(); - } - flushTime = System.currentTimeMillis()-start; - if(flushTime>getLoopTime()){ - System.err.println("Flush took:"+flushTime+ " and loop time="+getLoopTime()); - flushTime=getLoopTime(); - } - }else{ - try { - Thread.sleep(10); - } catch (InterruptedException e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - } - } - } - - /** - * Checks if is running. - * - * @return true, if is running - */ - public boolean isRunning() { - return running; - } - - /** - * Sets the flush. - */ - public void setFlush() { - this.flush = true; - } - - /** - * Checks if is flush. - * - * @return true, if is flush - */ - public boolean isFlush() { - return flush; - } - } - - - - /** - * The Class SchedulerThread. - */ - private class SchedulerThread extends Thread{ - - /** The time. */ - private double time; - - /** The run. */ - private boolean run = true; - - /** The start. */ - long start = System.currentTimeMillis(); - - /** The pause. */ - private boolean pause = false; - - /** - * Instantiates a new scheduler thread. - * - * @param ms the ms - * @param so the so - */ - public SchedulerThread(double ms,final long so){ - time = ms; - StartOffset=so; - //System.out.println("Slider value of init="+StartOffset); - if(mp3!=null) { - mp3.setCurrentTime((int) (StartOffset)); - } - for(ServoOutputScheduleChannel s:getOutputs()){ - s.setIntervalTime(getLoopTime(), (int) time); - } - } - - /** - * Play step. - */ - public void playStep(){ - //System.out.println("Stepping scheduler"); - boolean playing; - long current; - if(mp3==null){ - - playing = (((double)(System.currentTimeMillis()-start))<(time-StartOffset)); - current =((System.currentTimeMillis()-start))+StartOffset; - }else{ - - playing = mp3.isPlaying(); - current = mp3.getCurrentTime(); - } - if(!playing){ - kill(); - return; - } - - setCurrentTime(current); - } - - /* (non-Javadoc) - * @see java.lang.Thread#run() - */ - public void run(){ - //System.out.println("Starting timer"); - do{ - do{ - while(pause){ - ThreadUtil.wait(10); - } - - long start = System.currentTimeMillis(); - playStep(); - ThreadUtil.wait(getLoopTime()); - //System.out.println("Flush took "+(System.currentTimeMillis()-start)); - }while(isRun()); - setCurrentTime(0); - setPause(true); - callReset(); - callPause(); - }while(true); - } - - /** - * Pause. - */ - public void pause(){ - if(mp3!=null) { - mp3.pause(); - } - setPause(true); - } - - /** - * Kill. - */ - public void kill(){ - if(mp3!=null) { - mp3.pause(); - } - setPause(false); - } - - /** - * Checks if is run. - * - * @return true, if is run - */ - public boolean isRun() { - if(mp3!=null){ - return run && mp3.isPlaying(); - } - return run; - } -// public void setRun(boolean run) { -// this.run = run; -/** - * Checks if is pause. - * - * @return true, if is pause - */ -// } - public boolean isPause() { - return pause; - } - - /** - * Sets the pause. - * - * @param pause the new pause - */ - public void setPause(boolean pause) { - this.pause = pause; - } - } - - /** - * Gets the audio file. - * - * @return the audio file - */ - public File getAudioFile() { - return audioFile; - } - - /** - * Sets the dy io. - * - * @param dyio the new dy io - */ - public void setDyIO(DyIO dyio) { - this.dyio = dyio; - flusher = new DyIOFlusher(); - flusher.start(); - } - - /** - * Gets the dy io. - * - * @return the dy io - */ - public DyIO getDyIO() { - return dyio; - } - - /** - * Sets the loop time. - * - * @param loopTime the new loop time - */ - public void setLoopTime(int loopTime) { - this.loopTime = loopTime; - } - - /** - * Gets the loop time. - * - * @return the loop time - */ - public int getLoopTime() { - return loopTime; - } - - /** - * Gets the st. - * - * @return the st - */ - public SchedulerThread getSt() { - return st; - } - - /** - * Sets the st. - * - * @param st the new st - */ - public void setSt(SchedulerThread st) { - this.st = st; - st.setPause(true); - st.start(); - } - - - - -} diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/ISchedulerListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/ISchedulerListener.java deleted file mode 100644 index 2e0bf7a5..00000000 --- a/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/ISchedulerListener.java +++ /dev/null @@ -1,45 +0,0 @@ -package com.neuronrobotics.sdk.dyio.sequencer; - -// TODO: Auto-generated Javadoc -/** - * The listener interface for receiving IScheduler events. - * The class that is interested in processing a IScheduler - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addISchedulerListener method. When - * the IScheduler event occurs, that object's appropriate - * method is invoked. - * - */ -public interface ISchedulerListener { - - /** - * This is called by the scheduler on regular intervals . - * - * @param ms the current time of the running scheduler - */ - public void onTimeUpdate(double ms); - - /** - * This method is to configure the listeners timing. This passes in the time interval that the scheduler will run at - * - * @param msInterval the total time for the loop - * @param totalTime the total time - */ - public void setIntervalTime(int msInterval, int totalTime); - - /** - * This function is called when the seceduler is stopped. - */ - public void onReset(); - - /** - * On play. - */ - public void onPlay(); - - /** - * On pause. - */ - public void onPause(); -} diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java b/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java deleted file mode 100644 index 67009d7e..00000000 --- a/src/main/java/com/neuronrobotics/sdk/dyio/sequencer/SequencerMP3.java +++ /dev/null @@ -1,197 +0,0 @@ -package com.neuronrobotics.sdk.dyio.sequencer; -/************************************************************************* - * Compilation: javac -classpath .:jl1.0.jar MP3.java (OS X) - * javac -classpath .;jl1.0.jar MP3.java (Windows) - * Execution: java -classpath .:jl1.0.jar MP3 filename.mp3 (OS X / Linux) - * java -classpath .;jl1.0.jar MP3 filename.mp3 (Windows) - * - * Plays an MP3 file using the JLayer MP3 library. - * - * Reference: http://www.javazoom.net/javalayer/sources.html - * - * - * To execute, get the file jl1.0.jar from the website above or from - * - * http://www.cs.princeton.edu/introcs/24inout/jl1.0.jar - * - * and put it in your working directory with this file MP3.java. - * - *************************************************************************/ - -import java.io.BufferedInputStream; -import java.io.File; -import java.io.FileInputStream; - -import com.neuronrobotics.sdk.addons.kinematics.JavaFXInitializer; -import com.neuronrobotics.sdk.util.ThreadUtil; - -//import javafx.embed.swing.JFXPanel; -import javafx.scene.media.Media; -import javafx.scene.media.MediaPlayer; -import javafx.stage.Stage; -import javafx.util.Duration; - -// TODO: Auto-generated Javadoc -/** - * The Class SequencerMP3. - */ -public class SequencerMP3 { - - /** The fn. */ - private String fn=""; - - /** The player. */ - // constructor that takes the name of an MP3 file - private MediaPlayer player; - - /** The track length. */ - private int trackLength = 37; - - /** - * Instantiates a new sequencer m p3. - * - * @param filename the filename - */ - - static{ - JavaFXInitializer.go(); - } - public SequencerMP3(String filename) { - fn = filename; - try { - player = new MediaPlayer( - new Media( - new File(fn).toURI().toString())); - while(player.getStatus() != MediaPlayer.Status.READY){ThreadUtil.wait(200);} - trackLength =(int) player.getCycleDuration().toMillis(); - player.setOnStopped(new Runnable() { - @Override - public void run() { -// pause=true; - } - }); - } - catch (Exception e) { - System.out.println("Problem playing file " + filename+"\r\n"); - //e.printStackTrace(); - throw new RuntimeException(e); - } - } - - /** - * Pause. - */ - public void pause(){ - player.pause(); - } - - /** - * Close. - */ - public void close() { - if (player != null) - player.stop(); - } - - /** - * Checks if is playing. - * - * @return true, if is playing - */ - public boolean isPlaying() { - if(player!=null) - return (player.getCurrentTime().toMillis() data = new ArrayList(); - - /** The output max. */ - private int outputMax=255; - - /** The output min. */ - private int outputMin=0; - - /** The index. */ - private int index=0; - - /** The direct tester. */ - private Tester directTester; - - /** The analog input channel number. */ - private int analogInputChannelNumber=8; - - /** - * Instantiates a new servo output schedule channel. - * - * @param srv the srv - */ - public ServoOutputScheduleChannel(ServoChannel srv) { - output=srv; - setCurrentValue(output.getValue()); - - } - - /** - * Gets the channel number. - * - * @return the channel number - */ - public int getChannelNumber(){ - return output.getChannel().getChannelNumber(); - } - - /** - * Pause recording. - */ - public void pauseRecording(){ - System.out.println("pausing recording"); - if(input != null) - input.removeAnalogInputListener(this); - setRecording(false); - } - - /** - * Resume recording. - */ - public void resumeRecording(){ - if(input==null) - initInput(); - System.out.println("resuming recording"); - setRecording(true); - } - - - - /** - * Adds the analog input listener. - * - * @param l the l - */ - public void addAnalogInputListener(IAnalogInputListener l){ - input.addAnalogInputListener(l); - input.setAsync(true); - input.configAdvancedAsyncNotEqual(10); - } - - /** - * Inits the input. - */ - private void initInput() { - if(input==null || (input.getChannel().getChannelNumber() != getAnalogInputChannelNumber())){ - input=new AnalogInputChannel(output.getChannel().getDevice().getChannel(analogInputChannelNumber),true); - } - - if(input.getChannel().getChannelNumber() != analogInputChannelNumber) { - System.out.println("Re-Setting analog input channel: "+analogInputChannelNumber); - input.removeAllAnalogInputListeners(); - input=new AnalogInputChannel(output.getChannel().getDevice().getChannel(analogInputChannelNumber),true); - } - addAnalogInputListener(this); - } - - /** - * Start recording. - */ - public void startRecording(){ - initInput(); - resumeRecording(); - } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.sequencer.ISchedulerListener#onTimeUpdate(double) - */ - @Override - public void onTimeUpdate(double ms) { - index = (int) (ms/getInterval()); - while(index>=data.size()){ - data.add(new MapData(getCurrentValue())); - } - - if(isRecording()) - data.get(index).input=getCurrentTargetValue(); - - setCurrentValue(data.get(index).input); - - - //output.SetPosition(data.get(index).input); - //System.out.println("Setting servo "+getChannelNumber()+" value="+getCurrentValue()); - } - - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.sequencer.ISchedulerListener#setIntervalTime(int, int) - */ - @Override - public void setIntervalTime(int msInterval, int totalTime) { - setInterval(msInterval); - int slices = totalTime/msInterval; - if(data.size()==0){ - System.out.println("Setting up sample data: "+msInterval+"ms for: "+totalTime); - data = new ArrayList(); - setCurrentTargetValue(getCurrentValue()); - if(getCurrentTargetValue()>getOutputMax()){ - setCurrentTargetValue(getOutputMax()); - } - if(getCurrentTargetValue()\n"; - s+="\t\t"+outputMin+"\n"; - s+="\t\t"+getChannelNumber()+"\n"; - s+="\t\t"+isRecording()+"\n"; - s+="\t\t"+inputScale+"\n"; - s+="\t\t"+inputCenter+"\n"; - s+="\t\t"+getAnalogInputChannelNumber()+"\n"; - s+="\t\t"; - for(int i=0;i(); - for(int i=0;i Date: Sun, 24 Jan 2021 11:10:40 -0500 Subject: [PATCH 287/482] remove junk affine creation --- .../sdk/addons/kinematics/AbstractLink.java | 7 +++++++ .../sdk/addons/kinematics/DHParameterKinematics.java | 10 +++++----- 2 files changed, 12 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 915bc8cd..30a470f2 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -11,6 +11,8 @@ import com.neuronrobotics.sdk.pid.PIDLimitEvent; import com.neuronrobotics.sdk.pid.PIDLimitEventType; +import javafx.scene.transform.Affine; + // TODO: Auto-generated Javadoc /** * The Class AbstractLink. @@ -594,6 +596,11 @@ public void removeAllLinkListener() { } public void setGlobalPositionListener(Object Object) { +// if(!Affine.class.isInstance(Object)) { +// RuntimeException runtimeException = new RuntimeException("Must be an Affine"); +// runtimeException.printStackTrace(); +// throw runtimeException; +// } this.linksLocation = Object; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index be5b5fdd..56870d21 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -393,17 +393,17 @@ public DHChain getChain() { public void setChain(DHChain chain) { this.chain = chain; ArrayList dhLinks = chain.getLinks(); - for (int i = linksListeners.size(); i < dhLinks.size(); i++) { - linksListeners.add(new Object()); - } +// for (int i = linksListeners.size(); i < dhLinks.size(); i++) { +// linksListeners.add(new Object()); +// } LinkFactory lf = getFactory(); configs = lf.getLinkConfigurations(); for (int i = 0; i < dhLinks.size(); i++) { - dhLinks.get(i).setListener(linksListeners.get(i)); + //dhLinks.get(i).setListener(linksListeners.get(i)); dhLinks.get(i).setRootListener(getRootListener()); // This mapps together the position of the links in the kinematics and the link // actions themselves (used for cameras and tools) - lf.getLink(configs.get(i)).setGlobalPositionListener(linksListeners.get(i)); + //lf.getLink(configs.get(i)).setGlobalPositionListener(linksListeners.get(i)); if (getLinkConfiguration(i).isTool()) { dhLinks.get(i).setLinkType(DhLinkType.TOOL); } else if (getLinkConfiguration(i).isPrismatic()) From d233e94d3f9995184df72ca9d8a3337512c9388d Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 5 Feb 2021 13:41:46 -0500 Subject: [PATCH 288/482] adding isAvailible to DM device wrapping --- .../neuronrobotics/sdk/common/DMDevice.java | 27 +++++++++++++++++++ 1 file changed, 27 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java index ac9fdb45..c1300770 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java @@ -9,7 +9,9 @@ public class DMDevice extends NonBowlerDevice { Method methodConnect = null; Method methodDisconnect = null; boolean hasGetName = false; + boolean hasIsAvailible=false; Method methodGetName = null; + Method isAvaibleMeth=null; public DMDevice(Object o) throws NoSuchMethodException, SecurityException { if(!wrappable(o)) @@ -18,6 +20,7 @@ public DMDevice(Object o) throws NoSuchMethodException, SecurityException { methodConnect = getWrapped().getClass().getMethod("connect", null); methodDisconnect = getWrapped().getClass().getMethod("disconnect", null); hasGetName = methodExists(getWrapped(), "getName"); + hasIsAvailible = methodExists(getWrapped(), "isAvailable"); methodGetName = null; } @@ -60,6 +63,30 @@ public void disconnectDeviceImp() { e.printStackTrace(); } } + /** + * Determines if the device is available. + * + * @return true if the device is avaiable, false if it is not + * @throws InvalidConnectionException the invalid connection exception + */ + @Override + public boolean isAvailable() throws InvalidConnectionException{ + if(hasIsAvailible) { + if(isAvaibleMeth==null) { + try { + isAvaibleMeth = getWrapped().getClass().getMethod("isAvailable", null); + } catch (Exception e) { + //true + } + } + try { + return (boolean) isAvaibleMeth.invoke(getWrapped(), null); + } catch (Exception e) { + //true + } + } + return true; + } @Override public boolean connectDeviceImp() { From 4051ef597dcb004823b4a6de7db5256dc827ed1c Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 5 Feb 2021 14:27:21 -0500 Subject: [PATCH 289/482] Disconnect listeners should not be static! der... --- .../sdk/common/BowlerAbstractDevice.java | 39 +++++++------------ .../IDeviceConnectionEventListener.java | 4 ++ 2 files changed, 18 insertions(+), 25 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java index dd44a25c..fb319a87 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java @@ -61,7 +61,7 @@ public abstract class BowlerAbstractDevice implements IBowlerDatagramListener { private MACAddress address = new MACAddress(MACAddress.BROADCAST); /** The disconnect listeners. */ - private static ArrayList disconnectListeners = new ArrayList (); + private ArrayList disconnectListeners = new ArrayList (); /** The scripting name. */ private String scriptingName = "device"; @@ -85,7 +85,7 @@ protected void fireDisconnectEvent() { ArrayList disconnectListeners2 = getDisconnectListeners(); for (int i = 0; i < disconnectListeners2.size(); i++) { IDeviceConnectionEventListener l = disconnectListeners2.get(i); - l.onDisconnect(getDevice()); + l.onDisconnect(this); } } @@ -96,7 +96,7 @@ protected void fireConnectEvent() { ArrayList disconnectListeners2 = getDisconnectListeners(); for (int i = 0; i < disconnectListeners2.size(); i++) { IDeviceConnectionEventListener l = disconnectListeners2.get(i); - l.onConnect(getDevice()); + l.onConnect(this); } } @@ -109,19 +109,23 @@ public void addConnectionEventListener(final IDeviceConnectionEventListener l ) if(!getDisconnectListeners().contains(l)) { getDisconnectListeners().add(l); } + System.err.println(getScriptingName()+" Adding listener "+l.getClass()); + l.trace.printStackTrace(); + new Exception().printStackTrace(); + BowlerAbstractDevice bad = this; if(connection !=null) connection.addConnectionEventListener(new IConnectionEventListener() { @Override public void onDisconnect(BowlerAbstractConnection source) { - l.onDisconnect(getDevice()); + l.onDisconnect(bad); } @Override public void onConnect(BowlerAbstractConnection source) { // TODO Auto-generated method stub - l.onConnect(getDevice()); + l.onConnect(bad); } }); } @@ -138,14 +142,7 @@ public void removeConnectionEventListener(IDeviceConnectionEventListener l ) { } - /** - * Gets the device. - * - * @return the device - */ - private BowlerAbstractDevice getDevice(){ - return this; - } + /** * Sets the connection. @@ -157,19 +154,20 @@ public void setConnection(BowlerAbstractConnection connection) { if(connection == null) { throw new NullPointerException("Can not use a NULL connection."); } + BowlerAbstractDevice bad = this; for(int i=0;i getDisconnectListeners() { + public ArrayList getDisconnectListeners() { return disconnectListeners; } - - /** - * Sets the disconnect listeners. - * - * @param disconnectListeners the new disconnect listeners - */ - public static void setDisconnectListeners(ArrayList disconnectListeners) { - BowlerAbstractDevice.disconnectListeners = disconnectListeners; - } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java b/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java index 222eb6a4..4f2bec6a 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java @@ -1,5 +1,8 @@ package com.neuronrobotics.sdk.common; +import java.io.PrintWriter; +import java.io.StringWriter; + // TODO: Auto-generated Javadoc /** * The listener interface for receiving IDeviceConnectionEvent events. @@ -13,6 +16,7 @@ */ public interface IDeviceConnectionEventListener { + Exception trace = new Exception(); /** * Called on the event of a connection object disconnect. * From 073e51771ea0baba79ff93adfa6e274c1c098442 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 5 Feb 2021 14:30:21 -0500 Subject: [PATCH 290/482] no stack trace --- .../com/neuronrobotics/sdk/common/BowlerAbstractDevice.java | 6 +++--- .../sdk/common/IDeviceConnectionEventListener.java | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java index fb319a87..9bc6452b 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java @@ -109,9 +109,9 @@ public void addConnectionEventListener(final IDeviceConnectionEventListener l ) if(!getDisconnectListeners().contains(l)) { getDisconnectListeners().add(l); } - System.err.println(getScriptingName()+" Adding listener "+l.getClass()); - l.trace.printStackTrace(); - new Exception().printStackTrace(); +// System.err.println(getScriptingName()+" Adding listener "+l.getClass()); +// l.trace.printStackTrace(); +// new Exception().printStackTrace(); BowlerAbstractDevice bad = this; if(connection !=null) connection.addConnectionEventListener(new IConnectionEventListener() { diff --git a/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java b/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java index 4f2bec6a..b3c60dd1 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java @@ -16,7 +16,7 @@ */ public interface IDeviceConnectionEventListener { - Exception trace = new Exception(); + //Exception trace = new Exception(); /** * Called on the event of a connection object disconnect. * From ba40a6fd7a6b1a2742bdbd900f635989e4be1220 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 9 Feb 2021 17:04:42 -0500 Subject: [PATCH 291/482] bounding of overlimit command --- .../neuronrobotics/sdk/addons/kinematics/AbstractLink.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 30a470f2..9317a76a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -399,7 +399,7 @@ protected void setTargetValue(double val) { +" \nUpper Bound="+ub+" (engineering units) Device Units="+getUpperLimit() + "\nLower Bound="+lb+" (engineering units) Device Units="+getLowerLimit(); if(flip?belowLower:aboveUpper){ - this.targetValue = getUpperLimit(); + this.targetValue = flip?getLowerLimit():getUpperLimit(); for(LinkConfiguration c:slaveLinks){ //generate the links AbstractLink link = getSlaveFactory().getLink(c); @@ -417,7 +417,7 @@ protected void setTargetValue(double val) { if(isUseLimits())throw new RuntimeException("Joint hit Upper software bound\n"+execpt); } if(flip?aboveUpper:belowLower) { - this.targetValue =getLowerLimit(); + this.targetValue =flip?getUpperLimit():getLowerLimit(); for(LinkConfiguration c:slaveLinks){ //generate the links AbstractLink link = getSlaveFactory().getLink(c); From 07f4aa83f780543518d2d4154aa3a6a27e32b174 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 21 Feb 2021 10:16:14 -0500 Subject: [PATCH 292/482] Adding MobileBase pose and calc home --- .../kinematics/ICalcLimbHomeProvider.java | 12 ++++ .../sdk/addons/kinematics/MobileBase.java | 63 ++++++++++++++++++- 2 files changed, 74 insertions(+), 1 deletion(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/ICalcLimbHomeProvider.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ICalcLimbHomeProvider.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ICalcLimbHomeProvider.java new file mode 100644 index 00000000..337e1985 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ICalcLimbHomeProvider.java @@ -0,0 +1,12 @@ +package com.neuronrobotics.sdk.addons.kinematics; + +import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; + +public interface ICalcLimbHomeProvider { + /** + * Calculate the home position for the limb in the walking state. + * @param limb + * @return + */ + public TransformNR calcHome(DHParameterKinematics limb); +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 94628dd5..c41be78d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -57,13 +57,70 @@ public class MobileBase extends AbstractKinematicsNR { private TransformNR IMUFromCentroid = new TransformNR(); private HashMap parallelGroups = new HashMap(); - + private ICalcLimbHomeProvider homeProvider=null; /** * Instantiates a new mobile base. */ public MobileBase() { }// used for building new bases live + + /** + * Calc home. + * + * @return the transform nr + */ + public TransformNR calcHome(DHParameterKinematics limb) { + try { + return homeProvider.calcHome(limb); + }catch(Throwable t) {} + return limb.calcHome(); + } + + public HashMap getTipLocations() { + + HashMap tipList = new HashMap(); + for (DHParameterKinematics leg : legs) { + // Read the location of the foot before moving the body + TransformNR home = calcHome(leg); + tipList.put(leg, home); + } + return tipList; + } + public boolean pose(TransformNR newAbsolutePose) throws Exception { + HashMap tipLocations = getTipLocations(); + + return pose(newAbsolutePose,getIMUFromCentroid(),tipLocations); + } + public boolean poseAroundPoint(TransformNR newAbsolutePose,TransformNR around) throws Exception { + HashMap tipLocations = getTipLocations(); + + return pose(newAbsolutePose,around,tipLocations); + } + public boolean pose(TransformNR newAbsolutePose,TransformNR around, HashMap tipList) + throws Exception { + TransformNR newPoseTransformedToIMUCenter = newAbsolutePose.times(around.inverse()); + TransformNR newPoseAdjustedBacktoRobotCenterFrame = around.times(newPoseTransformedToIMUCenter); + TransformNR previous =getFiducialToGlobalTransform(); + // Perform a pose opperation + setGlobalToFiducialTransform(newPoseAdjustedBacktoRobotCenterFrame); + + for (DHParameterKinematics leg : legs) { + TransformNR pose = tipList.get(leg); + if (leg.checkTaskSpaceTransform(pose))// move the leg only is the pose of hte limb is possible + leg.setDesiredTaskSpaceTransform(pose, 0);// set leg to the location of where the foot was + else { + setGlobalToFiducialTransform(previous); + for (DHParameterKinematics l : legs) { + TransformNR p = tipList.get(l); + l.setDesiredTaskSpaceTransform(p, 0);// set leg to the location of where the foot was + } + return false; + } + } + return true; + } + /** * Instantiates a new mobile base. * @@ -890,6 +947,10 @@ public static void main(String[] args) throws Exception { } + public void setHomeProvider(ICalcLimbHomeProvider homeProvider) { + this.homeProvider = homeProvider; + } + } From 4a44c202aaf3d41f82abf9e186cc4be35342a893 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 21 Feb 2021 10:16:42 -0500 Subject: [PATCH 293/482] app.version=3.33.0 --- .../resources/com/neuronrobotics/sdk/config/build.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 605f2490..8ee58164 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.32.0 +app.version=3.33.0 app.javac.version=1.6 From a29543b3bbeae2dcf91087fa3134ad44366f6243 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 23 Feb 2021 11:36:37 -0500 Subject: [PATCH 294/482] Adding NaN checks throughout the stack A NaN was geting into the data path an courupting all of the stacks data. The error came from unchecked IK vectors. --- .../kinematics/AbstractKinematicsNR.java | 45 ++++++++++++------- .../sdk/addons/kinematics/AbstractLink.java | 10 +++++ .../sdk/addons/kinematics/DHChain.java | 37 +++++++++------ .../kinematics/DHParameterKinematics.java | 3 ++ .../sdk/pid/LinearInterpolationEngine.java | 40 +++++++++++++---- .../neuronrobotics/sdk/pid/PIDChannel.java | 10 +++-- 6 files changed, 105 insertions(+), 40 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index d1c0aa51..453cc2a9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -582,10 +582,13 @@ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, dou setCurrentPoseTarget(taskSpaceTransform); double[] jointSpaceVect = inverseKinematics(inverseOffset(taskSpaceTransform)); - if (jointSpaceVect == null) - throw new RuntimeException("The kinematics model must return and array, not null"); - _setDesiredJointSpaceVector(jointSpaceVect, seconds,false); - return jointSpaceVect; + if(checkVector(this,jointSpaceVect)) { + if (jointSpaceVect == null) + throw new RuntimeException("The kinematics model must return and array, not null"); + _setDesiredJointSpaceVector(jointSpaceVect, seconds,false); + return jointSpaceVect; + } + return getCurrentJointSpaceTarget(); } /** @@ -597,19 +600,27 @@ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, dou public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev, TransformNR taskSpaceTransform) { try { double[] jointSpaceVect = dev.inverseKinematics(dev.inverseOffset(taskSpaceTransform)); - for (int i = 0; i < jointSpaceVect.length; i++) { - AbstractLink link = dev.factory.getLink(dev.getLinkConfiguration(i)); - double val = link.toLinkUnits(jointSpaceVect[i]); - if (val > link.getUpperLimit()) { - return false; - } - if (val < link.getLowerLimit()) { - return false; - } - } + return checkVector(dev, jointSpaceVect); } catch (Throwable ex) { return false; } + } + + private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpaceVect) { + for (int i = 0; i < jointSpaceVect.length; i++) { + AbstractLink link = dev.factory.getLink(dev.getLinkConfiguration(i)); + double val = link.toLinkUnits(jointSpaceVect[i]); + Double double1 = new Double(val); + if(double1.isNaN() ||double1.isInfinite() ) { + return false; + } + if (val > link.getUpperLimit()) { + return false; + } + if (val < link.getLowerLimit()) { + return false; + } + } return true; } @@ -994,8 +1005,12 @@ public void onLinkPositionUpdate(AbstractLink source, double engineeringUnitsVal AbstractLink tmp = getFactory().getLink(c); if (tmp == source) {// Check to see if this lines up with a known link // Log.info("Got PID event "+source+" value="+engineeringUnitsValue); - + if(new Double(engineeringUnitsValue).isNaN()) { + new RuntimeException("Link values can not ne NaN").printStackTrace(); + engineeringUnitsValue=0; + } currentJointSpacePositions[getLinkConfigurations().indexOf(c)] = engineeringUnitsValue; + firePoseUpdate(); return; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 9317a76a..79555f53 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -273,6 +273,10 @@ public void incrementEngineeringUnits(double inc){ * @param pos the new target engineering units */ public void setTargetEngineeringUnits(double pos) { + if(new Double(pos).isNaN()) { + new RuntimeException("Setpopint in setTargetEngineeringUnits can not be set to nan").printStackTrace(); + return; + } targetEngineeringUnits = pos; setPosition(toLinkUnits(targetEngineeringUnits)); } @@ -295,6 +299,8 @@ public void setCurrentEngineeringUnits(double angle) { */ public double getCurrentEngineeringUnits(){ double link = getCurrentPosition(); + if(new Double(link).isNaN()) + link=0; double back = toEngineeringUnits(link); //Log.info("Link space: "+link+" Joint space: "+back); return back; @@ -382,6 +388,10 @@ protected void setPosition(double val) { * @param val the new target value */ protected void setTargetValue(double val) { + if(new Double(val).isNaN()) { + new RuntimeException("Setpopint in virtual device can not be set to nan").printStackTrace(); + return; + } Log.info("Setting cached value :"+val); this.targetValue = val; for(LinkConfiguration c:slaveLinks){ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index af0b035c..d261ff7a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -199,22 +199,31 @@ private Matrix forwardKinematicsMatrix(double[] jointSpaceVector, ArrayList 0 ){ + double dur = duration; + if(dur > 0 ){ + diffTime = System.currentTimeMillis()-startTime; - if((diffTime < duration) && (diffTime>0) ){ - double elapsed = 1-((duration-diffTime)/duration); + if((diffTime < dur) && (diffTime>0) ){ + double elapsed = 1-((dur-diffTime)/dur); double tmp=((float)startPoint+(float)(setPoint-startPoint)*elapsed); if(setPoint>startPoint){ if((tmp>setPoint)||(tmpstartPoint)) tmp=setPoint; } - back=tmp; + if(new Double(tmp).isNaN()) { + new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); + + }else + back=tmp; }else{ // Fixes the overflow case and the timeout case duration=0; + if(new Double(setPoint).isNaN()) { + new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); + }else back=setPoint; } }else{ - back=setPoint; + if(new Double(setPoint).isNaN()) { + new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); + }else + back=setPoint; duration = 0; } if(velocityRun){ double ms = (double) (System.currentTimeMillis()-lastInterpolationTime); + if(new Double(ms).isNaN()) { + new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); + + }else back=(getTicks()+unitsPerMs*ms); //System.out.println("Time Diff="+ms+" \n\ttick difference="+unitsPerMs*ms+" \n\tticksPerMs="+unitsPerMs +" \n\tCurrent value="+back ); } @@ -228,6 +248,10 @@ public double getTicks() { * @param ticks the new ticks */ public void setTicks(double ticks) { + if(new Double(ticks).isNaN()) { + new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); + return; + } this.ticks = ticks; } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java index 46a6095e..c26dc6fc 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java @@ -234,9 +234,13 @@ public void flush(double time){ * * @param targetValue the new cached target value */ - public void setCachedTargetValue(float targetValue) { - Log.info("Cacheing PID position group="+getGroup()+", setpoint="+targetValue+" ticks"); - this.targetValue = targetValue; + public void setCachedTargetValue(float targetValue) { + if(new Double(targetValue).isNaN()) { + new RuntimeException("Setpoint in can not be set to nan").printStackTrace(); + }else { + Log.info("Cacheing PID position group="+getGroup()+", setpoint="+targetValue+" ticks"); + this.targetValue = targetValue; + } } /** From 59bef4cfbf2ef2a513d7cea2123270b69e6002b5 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 2 Mar 2021 09:50:38 -0500 Subject: [PATCH 295/482] match kernel junit --- build.gradle | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/build.gradle b/build.gradle index 78d5c4d3..28fe018f 100644 --- a/build.gradle +++ b/build.gradle @@ -44,7 +44,7 @@ repositories { dependencies { //TODO change as many of these as possible to Maven repositories compile fileTree (dir: 'libs', includes: ['*.jar']) - testCompile "junit:junit:4.11" // Or whatever version + testCompile 'junit:junit:4.10' compile 'gov.nist.math:jama:1.0.2' compile 'com.miglayout:miglayout-swing:4.1' compile 'org.igniterealtime.smack:smack:3.2.1' From 83e4906cb71baa043267e7910e5c9390dd2c00fc Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 5 Feb 2022 16:28:54 -0500 Subject: [PATCH 296/482] fixing the paralell group loading --- .../sdk/addons/kinematics/MobileBase.java | 5 +++-- .../addons/kinematics/parallel/ParallelGroup.java | 13 +++++++++---- 2 files changed, 12 insertions(+), 6 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index c41be78d..07ae73c8 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -264,7 +264,9 @@ private void loadConfigs(Element doc) { ParallelGroup g = getParallelGroups().get(key); try { g.setDesiredTaskSpaceTransform(g.calcHome(), 1.0); - } catch (Exception e) {} + } catch (Exception e) { + e.printStackTrace(); + } } } } @@ -380,7 +382,6 @@ private void loadLimb(Element doc, String tag, ArrayList } kin.setScriptingName(name); - String parallel = getParallelGroup(e); //System.out.println("paralell "+parallel); if (parallel != null) { diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index 977a8b14..102da0ed 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -228,7 +228,12 @@ public TransformNR forwardKinematics(double[] jointSpaceVector) { // // return new TransformNR(x, y, x, new RotationNR(rotx, roty, rotz)); // } else if (getConstituantLimbs().size() == 2) { - return tips.get(getFKLimb());// assume the first link is + try { + return tips.get(getFKLimb());// assume the first link is + }catch(Exception e) { + e.printStackTrace(); + return new TransformNR(); + } // // in control or // // orentation // } else @@ -258,9 +263,9 @@ public ArrayList getConstituantLimbs() { return constituantLimbs; } - public void setConstituantLimbs(ArrayList constituantLimbs) { - this.constituantLimbs = constituantLimbs; - } +// public void setConstituantLimbs(ArrayList constituantLimbs) { +// this.constituantLimbs = constituantLimbs; +// } public HashMap getTipOffset() { return tipOffset; From ebb7db4fa6a809f65daa2a6b7cbdf8484a30a34f Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 8 Feb 2022 12:26:24 -0500 Subject: [PATCH 297/482] bugfix in the loading of the paralell groups --- .../sdk/addons/kinematics/MobileBase.java | 23 +++++++++++----- .../kinematics/parallel/ParallelGroup.java | 26 +++++++++++++++++++ 2 files changed, 43 insertions(+), 6 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 07ae73c8..5cbc4508 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -220,6 +220,9 @@ private void removeLimFromParallel(DHParameterKinematics limb) { if (g != null) { g.removeLimb(limb); } + if(g.getConstituantLimbs().size()==0) { + getParallelGroups().remove(g.getNameOfParallelGroup()); + } } /** @@ -258,15 +261,23 @@ private void loadConfigs(Element doc) { TransformNR IMUcenter = loadTransform("imuFromCentroid", doc); if (IMUcenter != null) setIMUFromCentroid(IMUcenter); - + + } + + public void initializeParalellGroups() { for (String key : getParallelGroups().keySet()) { if (key != null) { ParallelGroup g = getParallelGroups().get(key); - try { - g.setDesiredTaskSpaceTransform(g.calcHome(), 1.0); - } catch (Exception e) { - e.printStackTrace(); - } + // Clean up broken configurations + if(g.getConstituantLimbs().size()==0) { + getParallelGroups().remove(g.getNameOfParallelGroup()); + }else + try { + g.setDesiredTaskSpaceTransform(g.calcHome(), 1.0); + } catch (Exception e) { + e.printStackTrace(); + } + } } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index 102da0ed..9fb1d6b4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -80,7 +80,33 @@ public void setupReferencedLimbStartup(DHParameterKinematics limb, TransformNR t System.out.println("Limp "+limb.getScriptingName()+" set relative to "+name); } else { clearReferencedLimb(limb); + DHParameterKinematics fk=getFKLimb(); + fk.addPoseUpdateListener(new ITaskSpaceUpdateListenerNR() { + @Override + public void onTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) { + HashMap IKvalues = new HashMap<>(); + for (DHParameterKinematics d : getConstituantLimbs()) { + if (getTipOffset(d) != null) { + try { + double[] jointSpaceVect = compute(d, IKvalues, pose); + d.setDesiredJointSpaceVector(jointSpaceVect, 0); + } catch (Exception e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + } + } + } + + @Override + public void onTargetTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) { + // TODO Auto-generated method stub + + } + }); } + + } public void clearReferencedLimb(DHParameterKinematics limb) { From 84deededb387e4d222c0aa324acf34fee2ad95b6 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 15 Mar 2022 11:46:16 -0400 Subject: [PATCH 298/482] CHeck for bad data in events (to catch events that happen during startup --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 8 ++++++-- .../sdk/addons/kinematics/AbstractLink.java | 6 +++++- 2 files changed, 11 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 453cc2a9..1bb94255 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -1009,8 +1009,12 @@ public void onLinkPositionUpdate(AbstractLink source, double engineeringUnitsVal new RuntimeException("Link values can not ne NaN").printStackTrace(); engineeringUnitsValue=0; } - currentJointSpacePositions[getLinkConfigurations().indexOf(c)] = engineeringUnitsValue; - + ArrayList linkConfigurations = getLinkConfigurations(); + if(linkConfigurations!=null) { + int indexOf = linkConfigurations.indexOf(c); + if(indexOf>=0 && indexOf IKvalues = new HashMap<>(); for (DHParameterKinematics d : getConstituantLimbs()) { if (getTipOffset(d) != null) { try { double[] jointSpaceVect = compute(d, IKvalues, pose); + System.out.println(fk.getScriptingName()+" is Setting sublimb target "+d.getScriptingName()); d.setDesiredJointSpaceVector(jointSpaceVect, 0); } catch (Exception e) { // TODO Auto-generated catch block @@ -97,12 +103,6 @@ public void onTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) { } } } - - @Override - public void onTargetTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) { - // TODO Auto-generated method stub - - } }); } From 00563fe0b66c3f4079512b3e6d2233324c8c917b Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 8 May 2022 15:58:16 -0400 Subject: [PATCH 301/482] print errors --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index c495a183..60cad407 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -584,7 +584,7 @@ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, dou double[] jointSpaceVect = inverseKinematics(inverseOffset(taskSpaceTransform)); if(checkVector(this,jointSpaceVect)) { if (jointSpaceVect == null) - throw new RuntimeException("The kinematics model must return and array, not null"); + throw new RuntimeException("The kinematics model must return an array, not null"); _setDesiredJointSpaceVector(jointSpaceVect, seconds,false); return jointSpaceVect; } @@ -678,6 +678,7 @@ private double[] _setDesiredJointSpaceVector(double[] jointSpaceVect, double se } catch (Exception ex) { except++; e = ex; + e.printStackTrace(); } } while (except > 0 && except < getRetryNumberBeforeFail()); if (e != null) From fcbb3be774cbfdfee860b401b2156b143ed60990 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 9 May 2022 19:18:44 -0400 Subject: [PATCH 302/482] https://github.com/CommonWealthRobotics/BowlerStudio/issues/271 Fixing the joint errors on loading of the parallel group --- .../sdk/addons/kinematics/DHParameterKinematics.java | 6 ++++++ .../sdk/addons/kinematics/parallel/ParallelGroup.java | 1 + 2 files changed, 7 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 9dd00ae3..f3cbae8e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -806,4 +806,10 @@ public void refreshPose() { public MobileBase getSlaveMobileBase(int index) { return getDhLink(index).getSlaveMobileBase(); } + + public void throwExceptionOnJointLimit(boolean b) { + for(int i=0;i Date: Mon, 9 May 2022 19:26:35 -0400 Subject: [PATCH 303/482] https://github.com/CommonWealthRobotics/BowlerStudio/issues/271 adding comments --- .../sdk/addons/kinematics/DHParameterKinematics.java | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index f3cbae8e..1bf0f1bb 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -806,7 +806,13 @@ public void refreshPose() { public MobileBase getSlaveMobileBase(int index) { return getDhLink(index).getSlaveMobileBase(); } - + /** + * THis disables the exception being thrown on joint limits + * normal mode is to throw an exception when a joint is commanded to a value beyond its limits + * + * when exceptions are disabled, the joint just goes to the limit instead. + * @param b + */ public void throwExceptionOnJointLimit(boolean b) { for(int i=0;i Date: Mon, 9 May 2022 19:35:42 -0400 Subject: [PATCH 304/482] fixing backwards logic --- .../sdk/addons/kinematics/DHParameterKinematics.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 1bf0f1bb..f17e4e87 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -815,7 +815,7 @@ public MobileBase getSlaveMobileBase(int index) { */ public void throwExceptionOnJointLimit(boolean b) { for(int i=0;i Date: Mon, 9 May 2022 20:29:14 -0400 Subject: [PATCH 305/482] add a helper function to access teh referenced offset --- .../addons/kinematics/parallel/ParallelGroup.java | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index 085d0fca..2a06269e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -21,6 +21,19 @@ public class ParallelGroup extends DHParameterKinematics { private String[] toolEngine = new String[] { "https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git", "parallelTool.groovy" }; private String name; + + public TransformNR getTipOffsetFromThisLinkInLimb(DHParameterKinematics control,int index) { + String name = control.getScriptingName(); + for(DHParameterKinematics s:tipOffsetRelativeToName.keySet()) { + String refName = tipOffsetRelativeToName.get(s); + if(refName.contentEquals(name)) { + if(index==tipOffsetRelativeIndex.get(s)) { + return getTipOffset(s); + } + } + } + return null; + } public ParallelGroup(String name) { this.name = name; From af73f14eef129e5f37a3a11559ce090e9bc1cfc1 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 14 Jul 2022 15:10:01 -0400 Subject: [PATCH 306/482] Make the sync for set all setpoint pause and wait correctly --- .../neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index 3c0bd274..9bd47e75 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -272,6 +272,8 @@ private class SyncThread extends Thread{ /** The pause. */ private boolean pause =false; + private boolean isPaused=false; + /* (non-Javadoc) * @see java.lang.Thread#run() */ @@ -280,8 +282,10 @@ public void run() { while(true) { try {Thread.sleep(threadTime);} catch (InterruptedException e) {} while(isPause()){ + isPaused=true; ThreadUtil.wait(10); } + isPaused=false; long time = System.currentTimeMillis(); for(LinearInterpolationEngine dr : driveThreads){ if(dr.update()){ @@ -313,8 +317,11 @@ public boolean isPause() { */ public void setPause(boolean pause) { if(pause) - try {Thread.sleep(threadTime*2);} catch (InterruptedException e) {} + isPaused=false; this.pause = pause; + while(!isPaused) { + try {Thread.sleep(threadTime);} catch (InterruptedException e) {} + } } } From 769817dd2d7e28f651bde6951c99862c5929b8d0 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 14 Jul 2022 15:25:52 -0400 Subject: [PATCH 307/482] adding a warning for linear inter failures --- .../neuronrobotics/sdk/pid/LinearInterpolationEngine.java | 6 +++--- .../com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java | 3 ++- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/pid/LinearInterpolationEngine.java b/src/main/java/com/neuronrobotics/sdk/pid/LinearInterpolationEngine.java index be02c02d..db048247 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/LinearInterpolationEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/LinearInterpolationEngine.java @@ -86,7 +86,7 @@ public int getPosition() { * @param setpoint the setpoint * @param seconds the seconds */ - public synchronized void SetPIDSetPoint(float setpoint,double seconds){ + public synchronized void SetPIDSetPoint(double setpoint,double seconds){ getConfigs().setEnabled(true); velocityRun=false; setPause(true); @@ -130,7 +130,7 @@ public boolean update(){ * * @param value the value */ - public synchronized void ResetEncoder(float value) { + public synchronized void ResetEncoder(double value) { //System.out.println("Resetting channel "+getChan()); velocityRun=false; setPause(true); @@ -174,7 +174,7 @@ private void interpolate() { diffTime = System.currentTimeMillis()-startTime; if((diffTime < dur) && (diffTime>0) ){ double elapsed = 1-((dur-diffTime)/dur); - double tmp=((float)startPoint+(float)(setPoint-startPoint)*elapsed); + double tmp=((double)startPoint+(double)(setPoint-startPoint)*elapsed); if(setPoint>startPoint){ if((tmp>setPoint)||(tmp in_max) + return out_max; + if (x < in_min) + return out_min; + return ((x - in_min) * (out_max - out_min) / (in_max - in_min)) + out_min; + } + + private double getInterpolationUnitIncrement() { + double interpElapsed = (double)(System.currentTimeMillis() - startTime); + if (interpElapsed < duration && duration > 0) + { + unitDuration = interpElapsed / duration; + return unitDuration; + } + return 1; + } /** * Interpolate. */ private void interpolate() { - double back=ticks; - double diffTime; - double dur = duration; - if(dur > 0 ){ - - diffTime = System.currentTimeMillis()-startTime; - if((diffTime < dur) && (diffTime>0) ){ - double elapsed = 1-((dur-diffTime)/dur); - double tmp=((double)startPoint+(double)(setPoint-startPoint)*elapsed); - if(setPoint>startPoint){ - if((tmp>setPoint)||(tmpstartPoint)) - tmp=setPoint; - } - if(new Double(tmp).isNaN()) { - new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); - - }else - back=tmp; - }else{ - // Fixes the overflow case and the timeout case - duration=0; - if(new Double(setPoint).isNaN()) { - new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); - }else - back=setPoint; - } - }else{ - if(new Double(setPoint).isNaN()) { - new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); - }else - back=setPoint; - duration = 0; - } - if(velocityRun){ - double ms = (double) (System.currentTimeMillis()-lastInterpolationTime); - if(new Double(ms).isNaN()) { - new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); - - }else - back=(getTicks()+unitsPerMs*ms); - //System.out.println("Time Diff="+ms+" \n\ttick difference="+unitsPerMs*ms+" \n\tticksPerMs="+unitsPerMs +" \n\tCurrent value="+back ); + unitDuration = getInterpolationUnitIncrement(); + if (unitDuration < 1) { + double setpointDiff = endSetpoint - startSetpoint; + double newSetpoint = startSetpoint + (setpointDiff * unitDuration); + setTicks(newSetpoint); + } else { + // If there is no interpoation to perform, set the setpoint to the end state + setTicks(endSetpoint); } - setTicks(back); - lastInterpolationTime=System.currentTimeMillis(); +// double back=ticks; +// double diffTime; +// double dur = duration; +// if(dur > 0 ){ +// +// diffTime = System.currentTimeMillis()-startTime; +// if((diffTime < dur) && (diffTime>0) ){ +// double elapsed = 1-((dur-diffTime)/dur); +// double tmp=((double)startSetpoint+(double)(endSetpoint-startSetpoint)*elapsed); +// if(endSetpoint>startSetpoint){ +// if((tmp>endSetpoint)||(tmpstartSetpoint)) +// tmp=endSetpoint; +// } +// if(new Double(tmp).isNaN() || !Double.isFinite(tmp)) { +// new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); +// +// }else +// back=tmp; +// }else{ +// // Fixes the overflow case and the timeout case +// duration=0; +// if(new Double(endSetpoint).isNaN()|| !Double.isFinite(endSetpoint)) { +// new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); +// }else +// back=endSetpoint; +// } +// }else{ +// if(new Double(endSetpoint).isNaN()|| !Double.isFinite(endSetpoint)) { +// new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); +// }else +// back=endSetpoint; +// duration = 0; +// } +// if(velocityRun){ +// double ms = (double) (System.currentTimeMillis()-lastInterpolationTime); +// if(new Double(ms).isNaN()|| !Double.isFinite(ms)) { +// new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); +// +// }else +// back=(getTicks()+unitsPerMs*ms); +// //System.out.println("Time Diff="+ms+" \n\ttick difference="+unitsPerMs*ms+" \n\tticksPerMs="+unitsPerMs +" \n\tCurrent value="+back ); +// } +// setTicks(back); +// lastInterpolationTime=System.currentTimeMillis(); } /** diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index c2ce5b83..67c88069 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -298,8 +298,7 @@ public void run() { }catch (Exception ex){ ex.printStackTrace(); } - }else - Log.warning("LinearInterp failed! link = "+dr.getChan()); + } } } } From 9b459c0efdfc49fdf53b84bf4852b9e8afe1a7ee Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 14 Jul 2022 15:53:00 -0400 Subject: [PATCH 310/482] Imporved linear interp, no jumps --- .../sdk/pid/LinearInterpolationEngine.java | 47 ------------------- 1 file changed, 47 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/pid/LinearInterpolationEngine.java b/src/main/java/com/neuronrobotics/sdk/pid/LinearInterpolationEngine.java index 879516dc..b8ffcd71 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/LinearInterpolationEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/LinearInterpolationEngine.java @@ -198,53 +198,6 @@ private void interpolate() { // If there is no interpoation to perform, set the setpoint to the end state setTicks(endSetpoint); } -// double back=ticks; -// double diffTime; -// double dur = duration; -// if(dur > 0 ){ -// -// diffTime = System.currentTimeMillis()-startTime; -// if((diffTime < dur) && (diffTime>0) ){ -// double elapsed = 1-((dur-diffTime)/dur); -// double tmp=((double)startSetpoint+(double)(endSetpoint-startSetpoint)*elapsed); -// if(endSetpoint>startSetpoint){ -// if((tmp>endSetpoint)||(tmpstartSetpoint)) -// tmp=endSetpoint; -// } -// if(new Double(tmp).isNaN() || !Double.isFinite(tmp)) { -// new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); -// -// }else -// back=tmp; -// }else{ -// // Fixes the overflow case and the timeout case -// duration=0; -// if(new Double(endSetpoint).isNaN()|| !Double.isFinite(endSetpoint)) { -// new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); -// }else -// back=endSetpoint; -// } -// }else{ -// if(new Double(endSetpoint).isNaN()|| !Double.isFinite(endSetpoint)) { -// new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); -// }else -// back=endSetpoint; -// duration = 0; -// } -// if(velocityRun){ -// double ms = (double) (System.currentTimeMillis()-lastInterpolationTime); -// if(new Double(ms).isNaN()|| !Double.isFinite(ms)) { -// new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); -// -// }else -// back=(getTicks()+unitsPerMs*ms); -// //System.out.println("Time Diff="+ms+" \n\ttick difference="+unitsPerMs*ms+" \n\tticksPerMs="+unitsPerMs +" \n\tCurrent value="+back ); -// } -// setTicks(back); -// lastInterpolationTime=System.currentTimeMillis(); } /** From feae9ebddd4b3efa6116606a91b80c6be2b1234c Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 18 Jul 2022 14:18:34 -0400 Subject: [PATCH 311/482] add checking for joint velocities in the check method --- .../kinematics/AbstractKinematicsNR.java | 40 +++++++++++++++---- .../sdk/addons/kinematics/AbstractLink.java | 11 +++++ 2 files changed, 44 insertions(+), 7 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 60cad407..357f72a8 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -582,7 +582,7 @@ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, dou setCurrentPoseTarget(taskSpaceTransform); double[] jointSpaceVect = inverseKinematics(inverseOffset(taskSpaceTransform)); - if(checkVector(this,jointSpaceVect)) { + if(checkVector(this,jointSpaceVect,seconds)) { if (jointSpaceVect == null) throw new RuntimeException("The kinematics model must return an array, not null"); _setDesiredJointSpaceVector(jointSpaceVect, seconds,false); @@ -597,16 +597,25 @@ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, dou * @param taskSpaceTransform the task space transform * @return True if pose is reachable, false if it is not */ - public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev, TransformNR taskSpaceTransform) { + public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev, TransformNR taskSpaceTransform, double seconds) { try { double[] jointSpaceVect = dev.inverseKinematics(dev.inverseOffset(taskSpaceTransform)); - return checkVector(dev, jointSpaceVect); + return checkVector(dev, jointSpaceVect,seconds); } catch (Throwable ex) { return false; } } - - private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpaceVect) { + /** + * Checks the desired pose for ability for the IK to calculate a valid pose. + * + * @param taskSpaceTransform the task space transform + * @return True if pose is reachable, false if it is not + */ + public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev, TransformNR taskSpaceTransform) { + return checkTaskSpaceTransform(dev,taskSpaceTransform,0); + } + private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpaceVect, double seconds) { + double[] current = dev.getCurrentJointSpaceVector(); for (int i = 0; i < jointSpaceVect.length; i++) { AbstractLink link = dev.factory.getLink(dev.getLinkConfiguration(i)); double val = link.toLinkUnits(jointSpaceVect[i]); @@ -620,10 +629,28 @@ private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpace if (val < link.getLowerLimit()) { return false; } + if(seconds>0) { + double maxVel = Math.abs(link.getMaxVelocityEngineeringUnits()); + double deltaPosition = Math.abs(current[i] - jointSpaceVect[i]); + double computedVelocity = deltaPosition/seconds; + if(computedVelocity>maxVel) { + Log.error("Link "+i+" can not move at rate of "+computedVelocity+" capped at "+maxVel); + return false; + } + } } return true; } + /** + * Checks the desired pose for ability for the IK to calculate a valid pose. + * + * @param taskSpaceTransform the task space transform + * @return True if pose is reachable, false if it is not + */ + public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform, double seconds) { + return AbstractKinematicsNR.checkTaskSpaceTransform(this, taskSpaceTransform,seconds); + } /** * Checks the desired pose for ability for the IK to calculate a valid pose. * @@ -631,9 +658,8 @@ private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpace * @return True if pose is reachable, false if it is not */ public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform) { - return AbstractKinematicsNR.checkTaskSpaceTransform(this, taskSpaceTransform); + return checkTaskSpaceTransform(this, taskSpaceTransform,0); } - /** * This calculates the target pose . * diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 9b63b3d1..97d2e434 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -343,6 +343,17 @@ public double getMinEngineeringUnits() { return toEngineeringUnits(getUpperLimit()); } + + /** + * Gets the max engineering units. + * + * @return the max engineering units + */ + public double getMaxVelocityEngineeringUnits() { + return Math.abs(toEngineeringUnits(conf.getUpperVelocity())); + } + + /** * Checks if is max engineering units. * From ad8fa2325a8f574b356aff122022a005c748cf32 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 18 Jul 2022 14:31:12 -0400 Subject: [PATCH 312/482] adding the single velocity limit --- .../sdk/addons/kinematics/AbstractLink.java | 10 +++++++- .../addons/kinematics/LinkConfiguration.java | 23 ++++--------------- 2 files changed, 14 insertions(+), 19 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 97d2e434..234aae1a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -352,7 +352,15 @@ public double getMinEngineeringUnits() { public double getMaxVelocityEngineeringUnits() { return Math.abs(toEngineeringUnits(conf.getUpperVelocity())); } - + /** + * Gets the max engineering units. + * + * @return the max engineering units + */ + public void setMaxVelocityEngineeringUnits(double max) { + conf.setUpperVelocity(toLinkUnits(max)); + conf.setLowerVelocity(-toLinkUnits(max)); + } /** * Checks if is max engineering units. diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index cab40f13..921729fc 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -70,10 +70,7 @@ public class LinkConfiguration implements ITransformNRChangeListener { private int homingTicksPerSecond=10000000; /** The upper velocity. */ - private double upperVelocity = 100000000; - - /** The lower velocity. */ - private double lowerVelocity = -100000000; + private double velocityLimit = 100000000; /** The device scripting name. */ private String deviceScriptingName=null; @@ -156,7 +153,6 @@ public LinkConfiguration(Element eElement){ try{ setUpperVelocity(Double.parseDouble(XmlFactory.getTagValue("upperVelocity",eElement))); - setLowerVelocity(Double.parseDouble(XmlFactory.getTagValue("lowerVelocity",eElement))); }catch (Exception e){ } @@ -720,7 +716,7 @@ LinkType getTypeEnum() { * @param upperVelocity the new upper velocity */ public void setUpperVelocity(double upperVelocity) { - this.upperVelocity = upperVelocity; + this.velocityLimit = upperVelocity; fireChangeEvent(); } @@ -730,18 +726,9 @@ public void setUpperVelocity(double upperVelocity) { * @return the upper velocity */ public double getUpperVelocity() { - return upperVelocity; - } - - /** - * Sets the lower velocity. - * - * @param lowerVelocity the new lower velocity - */ - public void setLowerVelocity(double lowerVelocity) { - this.lowerVelocity = lowerVelocity; - fireChangeEvent(); + return velocityLimit; } + /** * Gets the lower velocity. @@ -749,7 +736,7 @@ public void setLowerVelocity(double lowerVelocity) { * @return the lower velocity */ public double getLowerVelocity() { - return lowerVelocity; + return -velocityLimit; } /** From 655dedaf63c6b05ab75cb9728e4d9c2371e419f9 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 18 Jul 2022 14:49:32 -0400 Subject: [PATCH 313/482] fix bug in link configuration --- .../com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 234aae1a..ae82601d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -359,7 +359,6 @@ public double getMaxVelocityEngineeringUnits() { */ public void setMaxVelocityEngineeringUnits(double max) { conf.setUpperVelocity(toLinkUnits(max)); - conf.setLowerVelocity(-toLinkUnits(max)); } /** From de206236d1a0ff201e87ae0529b18695df56c53e Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 18 Jul 2022 15:35:33 -0400 Subject: [PATCH 314/482] more detail to the joint space target check --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 357f72a8..99415f17 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -615,7 +615,7 @@ public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev, Transfor return checkTaskSpaceTransform(dev,taskSpaceTransform,0); } private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpaceVect, double seconds) { - double[] current = dev.getCurrentJointSpaceVector(); + double[] current = dev.getCurrentJointSpaceTarget(); for (int i = 0; i < jointSpaceVect.length; i++) { AbstractLink link = dev.factory.getLink(dev.getLinkConfiguration(i)); double val = link.toLinkUnits(jointSpaceVect[i]); @@ -634,7 +634,7 @@ private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpace double deltaPosition = Math.abs(current[i] - jointSpaceVect[i]); double computedVelocity = deltaPosition/seconds; if(computedVelocity>maxVel) { - Log.error("Link "+i+" can not move at rate of "+computedVelocity+" capped at "+maxVel); + Log.error("Link "+i+" can not move at rate of "+computedVelocity+" capped at "+maxVel+" requested position of "+jointSpaceVect[i]+" from current position of "+current[i]+" in "+seconds+" seconds"); return false; } } From c9e9a469beca4f78ee74c92146a80b3b0533b566 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 18 Jul 2022 17:25:00 -0400 Subject: [PATCH 315/482] check for velocity should be a range --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 99415f17..219e5353 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -633,7 +633,7 @@ private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpace double maxVel = Math.abs(link.getMaxVelocityEngineeringUnits()); double deltaPosition = Math.abs(current[i] - jointSpaceVect[i]); double computedVelocity = deltaPosition/seconds; - if(computedVelocity>maxVel) { + if(Math.abs(computedVelocity-maxVel)>0.0001) { Log.error("Link "+i+" can not move at rate of "+computedVelocity+" capped at "+maxVel+" requested position of "+jointSpaceVect[i]+" from current position of "+current[i]+" in "+seconds+" seconds"); return false; } From 9e8a64ebd66d91218f1205604891833cec74f785 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 18 Jul 2022 17:30:15 -0400 Subject: [PATCH 316/482] corrected for smaller vel case --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 219e5353..63e733ff 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -633,7 +633,7 @@ private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpace double maxVel = Math.abs(link.getMaxVelocityEngineeringUnits()); double deltaPosition = Math.abs(current[i] - jointSpaceVect[i]); double computedVelocity = deltaPosition/seconds; - if(Math.abs(computedVelocity-maxVel)>0.0001) { + if((computedVelocity-maxVel)>0.0001) { Log.error("Link "+i+" can not move at rate of "+computedVelocity+" capped at "+maxVel+" requested position of "+jointSpaceVect[i]+" from current position of "+current[i]+" in "+seconds+" seconds"); return false; } From d878ec5aadde5e11885d2ed012d9c23c84112856 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 27 Jul 2022 16:51:50 -0400 Subject: [PATCH 317/482] update license --- LICENSE | 52 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 52 insertions(+) create mode 100644 LICENSE diff --git a/LICENSE b/LICENSE new file mode 100644 index 00000000..a12447fc --- /dev/null +++ b/LICENSE @@ -0,0 +1,52 @@ +GNU LESSER GENERAL PUBLIC LICENSE +Version 3, 29 June 2007 + +Copyright (C) 2007 Free Software Foundation, Inc. + +Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed. + +This version of the GNU Lesser General Public License incorporates the terms and conditions of version 3 of the GNU General Public License, supplemented by the additional permissions listed below. + + 0. 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If the Library as you received it does not specify a version number of the GNU Lesser General Public License, you may choose any version of the GNU Lesser General Public License ever published by the Free Software Foundation. + + If the Library as you received it specifies that a proxy can decide whether future versions of the GNU Lesser General Public License shall apply, that proxy's public statement of acceptance of any version is permanent authorization for you to choose that version for the Library. From 2f738932cfa7756518cc4d8130bf6ba5a26d1761 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 29 Jul 2022 15:34:24 -0400 Subject: [PATCH 318/482] cleaner rendering path for sub-mobilebases --- .../kinematics/AbstractKinematicsNR.java | 9 ++------ .../sdk/addons/kinematics/DHLink.java | 2 ++ .../kinematics/DHParameterKinematics.java | 22 ++----------------- 3 files changed, 6 insertions(+), 27 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 63e733ff..8a368c5b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -282,12 +282,6 @@ protected ArrayList loadConfig(Element doc) { final MobileBase newMobileBase = new MobileBase((Element) mb); mobileBases.add(newMobileBase); newLink.setMobileBaseXml(newMobileBase); - newLink.addDhLinkPositionListener(new IDhLinkPositionListener() { - @Override - public void onLinkGlobalPositionChange(TransformNR newPose) { - newMobileBase.setGlobalToFiducialTransform(newPose); - } - }); addConnectionEventListener(new IDeviceConnectionEventListener() { @Override @@ -802,7 +796,7 @@ protected void firePoseTransform(TransformNR transform) { /** * Fire pose update. */ - protected void firePoseUpdate() { + public void firePoseUpdate() { // Log.info("Pose update"); firePoseTransform(getCurrentTaskSpaceTransform()); @@ -1575,6 +1569,7 @@ public double[] getCurrentJointSpaceTarget() { } public void runRenderWrangler() { + firePoseUpdate(); if(renderWrangler!=null) try { renderWrangler.run(); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java index 9fb432bd..ebe159de 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java @@ -103,6 +103,8 @@ public DHLink(Element nNode) { * @param newPose the new pose */ public void fireOnLinkGlobalPositionChange(TransformNR newPose){ + if(slaveMobileBase!=null) + slaveMobileBase.setGlobalToFiducialTransform(newPose); for(IDhLinkPositionListener l:dhlisteners){ l.onLinkGlobalPositionChange(newPose); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index f17e4e87..e0287771 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -603,31 +603,13 @@ public void removeLink(int index) { * Update cad locations. */ public ArrayList updateCadLocations() { - //synchronized (DHParameterKinematics.class) { try { ArrayList ll = getChain().getChain(getCurrentJointSpaceVector()); -// for (int i = 0; i < ll.size(); i++) { -// ArrayList linkPos = ll; -// int index = i; -// Object af = getChain().getLinks().get(index).getListener(); -// TransformNR nr = linkPos.get(index); -// Platform.runLater(() -> { -// if (nr == null || af == null) { -// return; -// } -// try { -// TransformFactory.nrToObject(nr, af); -// } catch (Exception ex) { -// // ex.printStackTrace(); -// } -// }); -// } - runRenderWrangler(); return ll; } catch (Exception ex) { // ex.printStackTrace(); } - //} + return null; } @@ -662,7 +644,7 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { getChain().setChain(null);// force an update of teh cached locations because base changed getChain().getChain(getCurrentJointSpaceVector());//calculate new locations } - updateCadLocations(); + runRenderWrangler(); } /* From 9fb26a85abd51d7da56ff0701a37905539c2ec56 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 16 Aug 2022 13:13:29 -0400 Subject: [PATCH 319/482] adding get best time --- .../kinematics/AbstractKinematicsNR.java | 39 +++++++++++++++++++ .../sdk/config/build.properties | 2 +- 2 files changed, 40 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 8a368c5b..2930cc79 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -654,6 +654,45 @@ public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform, double se public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform) { return checkTaskSpaceTransform(this, taskSpaceTransform,0); } + + /** + * get the best possible time for a translation by checking the joint velocities + * + * @param currentTaskSpaceTransform new tip location to check + * @return the time of translation at best possible speed based on checking each link + */ + public double getBestTime(TransformNR currentTaskSpaceTransform) { + double[] jointSpaceVect; + double best = 0; + try { + jointSpaceVect = inverseKinematics(inverseOffset(currentTaskSpaceTransform)); + best = getBestTime(jointSpaceVect); + } catch (Exception e) { + e.printStackTrace(); + } + return best; + } + /** + * get the best possible time for a translation by checking the joint velocities + * + * @param jointSpaceVect new joint pose + * @return the time of translation at best possible speed based on checking each link + */ + public double getBestTime(double[] jointSpaceVect) { + double best=0; + double[] current = getCurrentJointSpaceTarget(); + for (int i = 0; i < current.length; i++) { + AbstractLink link = getAbstractLink(i); + double maxVel = Math.abs(link.getMaxVelocityEngineeringUnits()); + double deltaPosition = Math.abs(current[i] - jointSpaceVect[i]); + double seconds = deltaPosition / maxVel; + if (seconds > best) + best = seconds + Double.MIN_VALUE; + } + return best; + } + + /** * This calculates the target pose . * diff --git a/src/main/resources/com/neuronrobotics/sdk/config/build.properties b/src/main/resources/com/neuronrobotics/sdk/config/build.properties index 8ee58164..b383ef97 100644 --- a/src/main/resources/com/neuronrobotics/sdk/config/build.properties +++ b/src/main/resources/com/neuronrobotics/sdk/config/build.properties @@ -1,4 +1,4 @@ app.name=nrsdk -app.version=3.33.0 +app.version=3.34.0 app.javac.version=1.6 From c505c871316f0dd309ea1500e000e6eee396af68 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 19 Aug 2022 12:47:57 -0400 Subject: [PATCH 320/482] Refactor of the linear interpolation engine to general inerpolation --- .../kinematics/AbstractKinematicsNR.java | 17 +- .../sdk/pid/InterpolationEngine.java | 291 ++++++++++++++++ .../sdk/pid/InterpolationType.java | 5 + .../sdk/pid/LinearInterpolationEngine.java | 260 -------------- .../sdk/pid/VirtualGenericPIDDevice.java | 319 ++++++++++-------- 5 files changed, 494 insertions(+), 398 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java create mode 100644 src/main/java/com/neuronrobotics/sdk/pid/InterpolationType.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/pid/LinearInterpolationEngine.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 2930cc79..15d1d916 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -26,6 +26,7 @@ import com.neuronrobotics.sdk.common.NonBowlerDevice; import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; import com.neuronrobotics.sdk.pid.IPIDEventListener; +import com.neuronrobotics.sdk.pid.InterpolationType; import com.neuronrobotics.sdk.pid.PIDChannel; //import com.neuronrobotics.sdk.pid.PIDCommandException; import com.neuronrobotics.sdk.pid.PIDConfiguration; @@ -1621,7 +1622,17 @@ public void setRenderWrangler(Runnable renderWrangler) { this.renderWrangler = renderWrangler; } -// public void setCurrentJointSpaceTarget(double[] currentJointSpaceTarget) { -// this.currentJointSpaceTarget = currentJointSpaceTarget; -// } + public TransformNR getDeltaToTarget(TransformNR target) { + TransformNR startingPoint = getCurrentPoseTarget(); + // create a transform thats a delta from the current pose to the new pose + return startingPoint.inverse().times(target); + } + + public TransformNR getTipAlongTrajectory(TransformNR startingPoint,TransformNR deltaToTarget,double unitIncrement) { + return startingPoint.times(deltaToTarget.scale(unitIncrement)); + } + + public void blockingInterpolatedMove(TransformNR target, double seconds, InterpolationType type, double ...conf ) { + + } } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java new file mode 100644 index 00000000..afa6f48f --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java @@ -0,0 +1,291 @@ +package com.neuronrobotics.sdk.pid; + +// TODO: Auto-generated Javadoc +/** + * The Class LinearInterpolationEngine. + */ +public class InterpolationEngine { + private InterpolationType type = InterpolationType.LINEAR; + /** The ticks. */ + private double ticks=0; + + /** The last tick. */ + private double lastTick=getTicks(); + + /** The set point. */ + private double endSetpoint=0; + + /** The duration. */ + private double duration; + + /** The start time. */ + private double startTime; + + /** The start point. */ + private double startSetpoint; + + /** The pause. */ + private boolean pause = false; + + private double unitDuration; + private double TRAPEZOIDAL_time=0; + private double BEZIER_P0; + private double BEZIER_P1; + + + /** + * Sets the velocity. + * + * @param unitsPerSecond the units per second + */ + public void SetVelocity(double unitsPerSecond) { + //System.out.println("Setting velocity to "+unitsPerSecond+"ticks/second"); + setPause(true); + + System.currentTimeMillis(); + setPause(false); + } + + /** + * Gets the position. + * + * @return the position + */ + public double getPosition() { + return getTicks(); + } + + + + /** + * Sets the pid set point. + * + * @param setpoint the setpoint + * @param seconds the seconds + */ + public void StartLinearMotion(double setpoint,double seconds){ + setSetpointWithTime(setpoint, seconds, InterpolationType.LINEAR); + } + /** + * Sets the pid set point. + * + * @param setpoint the setpoint + * @param seconds the seconds + */ + public void StartSinusoidalMotion(double setpoint,double seconds){ + setSetpointWithTime(setpoint, seconds, InterpolationType.SINUSOIDAL); + } + + private void setSetpointWithTime(double setpoint,double seconds, InterpolationType mode) { + type = mode; + if(seconds<0.001) + seconds = 0.001;// one ms garunteed + setPause(true); + + duration = (long) (seconds*1000); + startTime=System.currentTimeMillis(); + if(new Double(setpoint).isNaN()) { + new RuntimeException("Setpopint in virtual device can not be set to nan").printStackTrace(); + + }else + endSetpoint=setpoint; + startSetpoint = getTicks(); + + setPause(false); + } + public void StartTrapezoidalMotion(double setpoint,double seconds, double trapazoidalTime) { + + if (trapazoidalTime * 2 > seconds) { + StartSinusoidalMotion(setpoint, seconds); + return; + } + TRAPEZOIDAL_time = trapazoidalTime; + setSetpointWithTime(setpoint, seconds, InterpolationType.TRAPEZOIDAL); + } + /** + * SetSetpoint in degrees with time + * Set the setpoint for the motor in degrees + * @param newTargetInDegrees the new setpoint for the closed loop controller + * @param miliseconds the number of miliseconds to get from current position to the new setpoint + * @param Control_0 On a scale of 0 to 1, where should the first control point in the equation go default= 0.5 + * @param Control_1 On a scale of 0 to 1, where should the second control point in the equation go default= 1.0 + * use Bezier interpolation + */ + void StartBezierMotion(double setpoint,double seconds, double Control_0 , double Control_1) + { + BEZIER_P0 = Control_0; + BEZIER_P1 = Control_1; + setSetpointWithTime(setpoint, seconds, InterpolationType.BEZIER); + } + + /** + * Update. + * + * @return true, if successful + */ + public boolean update(){ + interpolate(); + if((getTicks()!=lastTick) && !isPause()) { + lastTick=getTicks(); + return true; + } + return false; + } + + /** + * Reset encoder. + * + * @param value the value + */ + public synchronized void ResetEncoder(double value) { + setPause(true); + //ThreadUtil.wait((int)(threadTime*2)); + setTicks(value); + lastTick=value; + endSetpoint=value; + duration=0; + startTime=System.currentTimeMillis(); + startSetpoint=value; + setPause(false); + } + + + double myFmapBounded(double x, double in_min, double in_max, double out_min, double out_max) { + + if (x > in_max) + return out_max; + if (x < in_min) + return out_min; + return ((x - in_min) * (out_max - out_min) / (in_max - in_min)) + out_min; + } + + private double getInterpolationUnitIncrement() { + double interpElapsed = (double)(System.currentTimeMillis() - startTime); + if (interpElapsed < duration && duration > 0) + { + + setUnitDuration(interpElapsed / duration); + if(type==InterpolationType.SINUSOIDAL) { + double sinPortion = (Math.cos(-Math.PI * getUnitDuration()) / 2) + 0.5; + setUnitDuration(1 - sinPortion); + } + if (type == InterpolationType.TRAPEZOIDAL) + { + double lengthOfLinearMode = duration - (TRAPEZOIDAL_time * 2); + double unitLienear = lengthOfLinearMode / duration; + double unitRamp = ((double)TRAPEZOIDAL_time) / duration; + double unitStartRampDown = unitLienear + unitRamp; + if (getUnitDuration() < unitRamp) + { + // ramp up + // range from 1 to 0.5 + double increment = 1 - (getUnitDuration()) / (unitRamp * 2); + // range 0 to 1 + double sinPortion = 1 + Math.cos(-Math.PI * increment); + setUnitDuration(sinPortion * unitRamp); + } + else if (getUnitDuration() > unitRamp && getUnitDuration() < unitStartRampDown) + { + // constant speed + } + else if (getUnitDuration() > unitStartRampDown) + { + double increment = (getUnitDuration() - unitStartRampDown) / (unitRamp * 2) + 0.5; + double sinPortion = 0.5 - ((Math.cos(-Math.PI * increment) / 2) + 0.5); + setUnitDuration((sinPortion * 2) * unitRamp + unitStartRampDown); + } + } + if (type == InterpolationType.BEZIER) + { + if (getUnitDuration() > 0 && getUnitDuration() < 1) + { + double t = getUnitDuration(); + double P0 = 0; + double P1 = BEZIER_P0; + double P2 = BEZIER_P1; + double P3 = 1; + setUnitDuration(Math.pow((1 - t), 3) * P0 + 3 * t * Math.pow((1 - t), 2) * P1 + 3 * Math.pow(t, 2) * (1 - t) * P2 + Math.pow(t, 3) * P3); + } + } + return getUnitDuration(); + } + return 1; + } + + + + /** + * Interpolate. + */ + private void interpolate() { + setUnitDuration(getInterpolationUnitIncrement()); + if (getUnitDuration() < 1) { + double setpointDiff = endSetpoint - startSetpoint; + double newSetpoint = startSetpoint + (setpointDiff * getUnitDuration()); + setTicks(newSetpoint); + } else { + // If there is no interpoation to perform, set the setpoint to the end state + setTicks(endSetpoint); + } + } + + /** + * Checks if is pause. + * + * @return true, if is pause + */ + public boolean isPause() { + return pause; + } + + /** + * Sets the pause. + * + * @param pause the new pause + */ + private void setPause(boolean pause) { + this.pause = pause; + } + + /** + * Gets the ticks. + * + * @return the ticks + */ + public double getTicks() { + return ticks; + } + + /** + * Sets the ticks. + * + * @param ticks the new ticks + */ + public void setTicks(double ticks) { + if(new Double(ticks).isNaN()) { + new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); + return; + } + this.ticks = ticks; + } + + public InterpolationType getType() { + return type; + } + + public void setType(InterpolationType type) { + this.type = type; + } + + public double getUnitDuration() { + return unitDuration; + } + + public void setUnitDuration(double unitDuration) { + if(unitDuration>1) + unitDuration=1; + if(unitDuration<0) + unitDuration=0; + this.unitDuration = unitDuration; + } +} diff --git a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationType.java b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationType.java new file mode 100644 index 00000000..bf41e04c --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationType.java @@ -0,0 +1,5 @@ +package com.neuronrobotics.sdk.pid; + +public enum InterpolationType { + LINEAR,SINUSOIDAL,TRAPEZOIDAL,BEZIER +} diff --git a/src/main/java/com/neuronrobotics/sdk/pid/LinearInterpolationEngine.java b/src/main/java/com/neuronrobotics/sdk/pid/LinearInterpolationEngine.java deleted file mode 100644 index b8ffcd71..00000000 --- a/src/main/java/com/neuronrobotics/sdk/pid/LinearInterpolationEngine.java +++ /dev/null @@ -1,260 +0,0 @@ -package com.neuronrobotics.sdk.pid; - -// TODO: Auto-generated Javadoc -/** - * The Class LinearInterpolationEngine. - */ -public class LinearInterpolationEngine { - - /** The ticks. */ - private double ticks=0; - - /** The last tick. */ - private double lastTick=getTicks(); - - /** The last interpolation time. */ - private double lastInterpolationTime; - - /** The set point. */ - private double endSetpoint=0; - - /** The duration. */ - private double duration; - - /** The start time. */ - private double startTime; - - /** The start point. */ - private double startSetpoint; - - /** The pause. */ - private boolean pause = false; - - /** The velocity run. */ - private boolean velocityRun=false; - - /** The units per ms. */ - private double unitsPerMs; - - /** The chan. */ - private int chan; - - /** The configs. */ - private PIDConfiguration configs; - - private double unitDuration; - - /** - * Instantiates a new linear interpolation engine. - * - * @param index the index - * @param configs the configs - */ - public LinearInterpolationEngine(int index,PIDConfiguration configs ){ - setChan(index); - this.setConfigs(configs); - } - - /** - * Sets the velocity. - * - * @param unitsPerSecond the units per second - */ - public void SetVelocity(double unitsPerSecond) { - //System.out.println("Setting velocity to "+unitsPerSecond+"ticks/second"); - setPause(true); - - this.unitsPerMs=unitsPerSecond/1000; - lastInterpolationTime=System.currentTimeMillis(); - velocityRun=true; - - setPause(false); - } - - /** - * Gets the position. - * - * @return the position - */ - public int getPosition() { - return (int) getTicks(); - } - - - - /** - * Sets the pid set point. - * - * @param setpoint the setpoint - * @param seconds the seconds - */ - public synchronized void SetPIDSetPoint(double setpoint,double seconds){ - if(seconds<0.001) - seconds = 0.001;// one ms garunteed - getConfigs().setEnabled(true); - velocityRun=false; - setPause(true); - //ThreadUtil.wait((int)(threadTime*2)); - //double TPS = (double)setpoint/seconds; - //Models motor saturation -// if(TPS > configs.getMaxTicksPerSecond()){ -// seconds = (double)setpoint/ getMaxTicksPerSecond(); -// //throw new RuntimeException("Saturated PID on channel: "+chan+" Attempted Ticks Per Second: "+TPS+", when max is"+getMaxTicksPerSecond()+" set: "+setpoint+" sec: "+seconds); -// } - duration = (long) (seconds*1000); - startTime=System.currentTimeMillis(); - if(new Double(setpoint).isNaN()) { - new RuntimeException("Setpopint in virtual device can not be set to nan").printStackTrace(); - - }else - endSetpoint=setpoint; - startSetpoint = getTicks(); - - setPause(false); - //System.out.println("Setting Setpoint Ticks to: "+setPoint); - } - - /** - * Update. - * - * @return true, if successful - */ - public boolean update(){ - if(getConfigs().isEnabled()) - interpolate(); - if((getTicks()!=lastTick) && !isPause()) { - lastTick=getTicks(); - return true; - } - return false; - } - - /** - * Reset encoder. - * - * @param value the value - */ - public synchronized void ResetEncoder(double value) { - //System.out.println("Resetting channel "+getChan()); - velocityRun=false; - setPause(true); - //ThreadUtil.wait((int)(threadTime*2)); - setTicks(value); - lastTick=value; - endSetpoint=value; - duration=0; - startTime=System.currentTimeMillis(); - startSetpoint=value; - setPause(false); - } - - /** - * Sets the chan. - * - * @param chan the new chan - */ - private void setChan(int chan) { - this.chan = chan; - } - - /** - * Gets the chan. - * - * @return the chan - */ - public int getChan() { - return chan; - } - - double myFmapBounded(double x, double in_min, double in_max, double out_min, double out_max) { - - if (x > in_max) - return out_max; - if (x < in_min) - return out_min; - return ((x - in_min) * (out_max - out_min) / (in_max - in_min)) + out_min; - } - - private double getInterpolationUnitIncrement() { - double interpElapsed = (double)(System.currentTimeMillis() - startTime); - if (interpElapsed < duration && duration > 0) - { - unitDuration = interpElapsed / duration; - return unitDuration; - } - return 1; - } - - /** - * Interpolate. - */ - private void interpolate() { - unitDuration = getInterpolationUnitIncrement(); - if (unitDuration < 1) { - double setpointDiff = endSetpoint - startSetpoint; - double newSetpoint = startSetpoint + (setpointDiff * unitDuration); - setTicks(newSetpoint); - } else { - // If there is no interpoation to perform, set the setpoint to the end state - setTicks(endSetpoint); - } - } - - /** - * Checks if is pause. - * - * @return true, if is pause - */ - public boolean isPause() { - return pause; - } - - /** - * Sets the pause. - * - * @param pause the new pause - */ - private void setPause(boolean pause) { - this.pause = pause; - } - - /** - * Gets the ticks. - * - * @return the ticks - */ - public double getTicks() { - return ticks; - } - - /** - * Sets the ticks. - * - * @param ticks the new ticks - */ - public void setTicks(double ticks) { - if(new Double(ticks).isNaN()) { - new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); - return; - } - this.ticks = ticks; - } - - /** - * Gets the configs. - * - * @return the configs - */ - public PIDConfiguration getConfigs() { - return configs; - } - - /** - * Sets the configs. - * - * @param configs the new configs - */ - public void setConfigs(PIDConfiguration configs) { - this.configs = configs; - } -} diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index 67c88069..f96d7f39 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -1,6 +1,7 @@ package com.neuronrobotics.sdk.pid; import java.util.ArrayList; +import java.util.HashMap; import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerDatagram; @@ -14,109 +15,123 @@ /** * The Class VirtualGenericPIDDevice. */ -public class VirtualGenericPIDDevice extends GenericPIDDevice{ - +public class VirtualGenericPIDDevice extends GenericPIDDevice { + /** The Constant threadTime. */ - private static final long threadTime=10; - + private static final long threadTime = 10; + /** The drive threads. */ - private ArrayList driveThreads = new ArrayList(); - + private HashMap driveThreads = new HashMap<>(); + /** The configs. */ - private ArrayList configs = new ArrayList(); - + private ArrayList configs = new ArrayList(); + /** The P dconfigs. */ - private ArrayList PDconfigs = new ArrayList(); - + private ArrayList PDconfigs = new ArrayList(); + /** The sync. */ - SyncThread sync = new SyncThread (); - + SyncThread sync = new SyncThread(); + /** The max ticks per second. */ private double maxTicksPerSecond; - + /** The num channels. */ private int numChannels = 24; - + /** * Instantiates a new virtual generic pid device. */ - public VirtualGenericPIDDevice( ) { + public VirtualGenericPIDDevice() { this(1000000); } - + /** * Instantiates a new virtual generic pid device. * * @param maxTicksPerSecond the max ticks per second */ - public VirtualGenericPIDDevice( double maxTicksPerSecond) { + public VirtualGenericPIDDevice(double maxTicksPerSecond) { this.setMaxTicksPerSecond(maxTicksPerSecond); getImplementation().setChannelCount(new Integer(numChannels)); GetAllPIDPosition(); - for(int i=0; i getNamespaces(){ + @Override + public ArrayList getNamespaces() { ArrayList s = new ArrayList(); s.add("bcs.pid.*"); return s; } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#killAllPidGroups() */ @Override public boolean killAllPidGroups() { - for(PIDConfiguration c:configs) + for (PIDConfiguration c : configs) c.setEnabled(false); return true; } - /** * since there is no connection, this is an easy to nip off com functionality. @@ -124,126 +139,148 @@ public boolean killAllPidGroups() { * @param command the command * @return the bowler datagram * @throws NoConnectionAvailableException the no connection available exception - * @throws InvalidResponseException the invalid response exception + * @throws InvalidResponseException the invalid response exception */ @Override - public BowlerDatagram send(BowlerAbstractCommand command) throws NoConnectionAvailableException, InvalidResponseException { + public BowlerDatagram send(BowlerAbstractCommand command) + throws NoConnectionAvailableException, InvalidResponseException { RuntimeException r = new RuntimeException("This method is never supposed to be called in the virtual PID"); r.printStackTrace(); throw r; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#ResetPIDChannel(int, int) */ @Override public boolean ResetPIDChannel(int group, float valueToSetCurrentTo) { driveThreads.get(group).ResetEncoder(valueToSetCurrentTo); float val = GetPIDPosition(group); - firePIDResetEvent(group,val); + firePIDResetEvent(group, val); return true; } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#SetPIDSetPoint(int, int, double) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#SetPIDSetPoint(int, int, + * double) */ @Override public boolean SetPIDSetPoint(int group, float setpoint, double seconds) { - //new RuntimeException("Virtual setpoint, group="+group+" setpoint="+setpoint).printStackTrace();; + // new RuntimeException("Virtual setpoint, group="+group+" + // setpoint="+setpoint).printStackTrace();; sync.setPause(true); - driveThreads.get(group).SetPIDSetPoint(setpoint, seconds); + driveThreads.get(group).StartLinearMotion(setpoint, seconds); sync.setPause(false); return true; } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#SetPDVelocity(int, int, double) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#SetPDVelocity(int, int, + * double) */ @Override - public boolean SetPDVelocity(int group, int unitsPerSecond, double seconds)throws PIDCommandException { - if(unitsPerSecond>getMaxTicksPerSecond()) - throw new RuntimeException("Saturated PID on channel: "+group+" Attempted Ticks Per Second: "+unitsPerSecond+", when max is"+getMaxTicksPerSecond()+" set: "+getMaxTicksPerSecond()+" sec: "+seconds); - if(unitsPerSecond<-getMaxTicksPerSecond()) - throw new RuntimeException("Saturated PID on channel: "+group+" Attempted Ticks Per Second: "+unitsPerSecond+", when max is"+getMaxTicksPerSecond()+" set: "+getMaxTicksPerSecond()+" sec: "+seconds); - if(seconds<0.1 && seconds>-0.1){ - //System.out.println("Setting virtual velocity="+unitsPerSecond); + public boolean SetPDVelocity(int group, int unitsPerSecond, double seconds) throws PIDCommandException { + if (unitsPerSecond > getMaxTicksPerSecond()) + throw new RuntimeException("Saturated PID on channel: " + group + " Attempted Ticks Per Second: " + + unitsPerSecond + ", when max is" + getMaxTicksPerSecond() + " set: " + getMaxTicksPerSecond() + + " sec: " + seconds); + if (unitsPerSecond < -getMaxTicksPerSecond()) + throw new RuntimeException("Saturated PID on channel: " + group + " Attempted Ticks Per Second: " + + unitsPerSecond + ", when max is" + getMaxTicksPerSecond() + " set: " + getMaxTicksPerSecond() + + " sec: " + seconds); + if (seconds < 0.1 && seconds > -0.1) { + // System.out.println("Setting virtual velocity="+unitsPerSecond); driveThreads.get(group).SetVelocity(unitsPerSecond); - } - else{ + } else { SetPIDInterpolatedVelocity(group, unitsPerSecond, seconds); } return true; } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#flushPIDChannels + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * flushPIDChannels */ @Override public void flushPIDChannels(double time) { - float [] data = new float[getChannels().size()]; - for(int i=0;i()); - //lastPacketTime = new long[back.length]; - for(int i=0;i()); + // lastPacketTime = new long[back.length]; + for (int i = 0; i < back.length; i++) { + back[i] = 0; + PIDChannel c = new PIDChannel(this, i); c.setCachedTargetValue(back[i]); getChannels().add(c); - PIDConfiguration conf =new PIDConfiguration(); - LinearInterpolationEngine d = new LinearInterpolationEngine(i,conf); - driveThreads.add(d); + PIDConfiguration conf = new PIDConfiguration(); + InterpolationEngine d = new InterpolationEngine(); + driveThreads.put(conf, d); configs.add(conf); } return back; } - - + /** * Sets the max ticks per second. * @@ -252,7 +289,7 @@ public float[] GetAllPIDPosition() { public void setMaxTicksPerSecond(double maxTicksPerSecond) { this.maxTicksPerSecond = maxTicksPerSecond; } - + /** * Gets the max ticks per second. * @@ -262,47 +299,53 @@ public double getMaxTicksPerSecond() { return maxTicksPerSecond; } - - /** - * This class is designed to simulate a wheel driveing with a perfect controller. + * This class is designed to simulate a wheel driveing with a perfect + * controller. * * @author hephaestus */ - private class SyncThread extends Thread{ - + private class SyncThread extends Thread { + /** The pause. */ - private boolean pause =false; - - private boolean isPaused=false; - - /* (non-Javadoc) + private boolean pause = false; + + private boolean isPaused = false; + + /* + * (non-Javadoc) + * * @see java.lang.Thread#run() */ public void run() { setName("Bowler Platform Virtual PID sync thread"); - while(true) { - try {Thread.sleep(threadTime);} catch (InterruptedException e) {} - while(isPause()){ - isPaused=true; + while (true) { + try { + Thread.sleep(threadTime); + } catch (InterruptedException e) { + } + while (isPause()) { + isPaused = true; ThreadUtil.wait(10); } - isPaused=false; + isPaused = false; long time = System.currentTimeMillis(); - for(LinearInterpolationEngine dr : driveThreads){ - if(dr.update()){ - try{ - firePIDEvent(new PIDEvent(dr.getChan(), (float)dr.getTicks(), time,0)); - }catch (NullPointerException ex){ - //initialization issue, let it work itself out - }catch (Exception ex){ - ex.printStackTrace(); + for (PIDConfiguration key : driveThreads.keySet()) { + InterpolationEngine dr = driveThreads.get(key); + if (key.isEnabled()) + if (dr.update()) { + try { + firePIDEvent(new PIDEvent(key.getGroup(), (float) dr.getTicks(), time, 0)); + } catch (NullPointerException ex) { + // initialization issue, let it work itself out + } catch (Exception ex) { + ex.printStackTrace(); + } } - } } } } - + /** * Checks if is pause. * @@ -311,38 +354,44 @@ public void run() { public boolean isPause() { return pause; } - + /** * Sets the pause. * * @param pause the new pause */ public void setPause(boolean pause) { - if(pause) - isPaused=false; + if (pause) + isPaused = false; this.pause = pause; - while(!isPaused) { - try {Thread.sleep(threadTime);} catch (InterruptedException e) {} + while (!isPaused) { + try { + Thread.sleep(threadTime); + } catch (InterruptedException e) { + } } } } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#connect() */ @Override - public boolean connect(){ + public boolean connect() { fireConnectEvent(); return true; } - + /** - * This method tells the connection object to disconnect its pipes and close out the connection. Once this is called, it is safe to remove your device. + * This method tells the connection object to disconnect its pipes and close out + * the connection. Once this is called, it is safe to remove your device. */ @Override - public void disconnect(){ + public void disconnect() { fireDisconnectEvent(); - + } - + } From 731e8cab981b08bceaeabe14a01ea1a6aa6ef462 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 19 Aug 2022 13:08:55 -0400 Subject: [PATCH 321/482] addign task space interpolation to AbstractKinematics --- .../kinematics/AbstractKinematicsNR.java | 66 ++++++++++++++++++- .../kinematics/IOnInterpolationDone.java | 5 ++ .../kinematics/InterpolationMoveState.java | 5 ++ .../sdk/pid/InterpolationEngine.java | 19 ++++-- 4 files changed, 87 insertions(+), 8 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/IOnInterpolationDone.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/InterpolationMoveState.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 15d1d916..a50c8b31 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -26,6 +26,7 @@ import com.neuronrobotics.sdk.common.NonBowlerDevice; import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; import com.neuronrobotics.sdk.pid.IPIDEventListener; +import com.neuronrobotics.sdk.pid.InterpolationEngine; import com.neuronrobotics.sdk.pid.InterpolationType; import com.neuronrobotics.sdk.pid.PIDChannel; //import com.neuronrobotics.sdk.pid.PIDCommandException; @@ -36,6 +37,8 @@ // TODO: Auto-generated Javadoc //import javax.swing.JFrame; //import javax.swing.JOptionPane; +import com.srirobotics.robot.RunState; +import com.srirobotics.ui.Main; /** * The Class AbstractKinematicsNR. @@ -1631,8 +1634,69 @@ public TransformNR getDeltaToTarget(TransformNR target) { public TransformNR getTipAlongTrajectory(TransformNR startingPoint,TransformNR deltaToTarget,double unitIncrement) { return startingPoint.times(deltaToTarget.scale(unitIncrement)); } + public void asyncInterpolatedMove(TransformNR target, double seconds, InterpolationType type,IOnInterpolationDone listener, double ...conf ) { + new Thread(()->{ + try { + InterpolationMoveState s = blockingInterpolatedMove(target, seconds, type, conf); + listener.done(s); + }catch(Throwable t) { + t.printStackTrace(); + listener.done(InterpolationMoveState.FAULT); + } + }).start(); + + } - public void blockingInterpolatedMove(TransformNR target, double seconds, InterpolationType type, double ...conf ) { + public InterpolationMoveState blockingInterpolatedMove(TransformNR target, double seconds, InterpolationType type, double ...conf ) { + InterpolationEngine engine = new InterpolationEngine(); + TransformNR delta =getDeltaToTarget(target); + TransformNR startingPoint = getCurrentPoseTarget(); + if (checkTaskSpaceTransform(target)) { + if (!checkTaskSpaceTransform(target, seconds)) { + // if the robot can not acive that speed, then compute the best possible time + double bestTime = getBestTime(target); + // if speed is capped and no valid, then just cap the speed and print a warning + if (bestTime > seconds) { + seconds = bestTime; + } + } + engine.setSetpointWithTime(1,seconds,type,conf); + double ms = seconds * 1000; + double msPerStep = 10; + double steps = ms / msPerStep; + double unitIncrement = 1.0 / steps; + // iterate over all of the time slices to perfoem a task-space interpolation + for (double i = 0; i < (1 + unitIncrement); i += unitIncrement) { + // compute the next tip location + // the delta of the overall translation above is scaled by the unit vector + // of the translation + // the new tip point here calculated is multiplied by the starting point to get + // a global space tip target + TransformNR nextPoint = getTipAlongTrajectory(startingPoint,delta,engine.getInterpolationUnitIncrement()); + // now the best time for this increment is calculated + double bestTime = getBestTime(nextPoint); + // error check for the best time being below the commanded time + if (bestTime > msPerStep / 1000.0) { + // print an error in the event of speed capped + } + // perform one last tip and speed check of the increment + if (checkTaskSpaceTransform(nextPoint, bestTime)) { + // send the tip update to the simulator + try { + setDesiredTaskSpaceTransform(nextPoint, bestTime); + } catch (Exception e) { + return InterpolationMoveState.FAULT; + } + } else { + // incremental tip failed, fault + return InterpolationMoveState.FAULT; + } + ThreadUtil.wait((int) msPerStep); + } + }else { + return InterpolationMoveState.FAULT; + } + return InterpolationMoveState.READY; } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IOnInterpolationDone.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IOnInterpolationDone.java new file mode 100644 index 00000000..5398be34 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IOnInterpolationDone.java @@ -0,0 +1,5 @@ +package com.neuronrobotics.sdk.addons.kinematics; + +public interface IOnInterpolationDone { + public void done(InterpolationMoveState state); +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/InterpolationMoveState.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/InterpolationMoveState.java new file mode 100644 index 00000000..0ba9db67 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/InterpolationMoveState.java @@ -0,0 +1,5 @@ +package com.neuronrobotics.sdk.addons.kinematics; + +public enum InterpolationMoveState { + READY,BUSY,FAULT +} diff --git a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java index afa6f48f..df60daa6 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java @@ -76,7 +76,14 @@ public void StartSinusoidalMotion(double setpoint,double seconds){ setSetpointWithTime(setpoint, seconds, InterpolationType.SINUSOIDAL); } - private void setSetpointWithTime(double setpoint,double seconds, InterpolationType mode) { + public void setSetpointWithTime(double setpoint,double seconds, InterpolationType mode,double ...conf) { + if(InterpolationType.TRAPEZOIDAL==mode) { + TRAPEZOIDAL_time =conf[0]; + } + if(InterpolationType.BEZIER==mode) { + BEZIER_P0 = conf[0]; + BEZIER_P1 = conf[1]; + } type = mode; if(seconds<0.001) seconds = 0.001;// one ms garunteed @@ -99,8 +106,7 @@ public void StartTrapezoidalMotion(double setpoint,double seconds, double trapaz StartSinusoidalMotion(setpoint, seconds); return; } - TRAPEZOIDAL_time = trapazoidalTime; - setSetpointWithTime(setpoint, seconds, InterpolationType.TRAPEZOIDAL); + setSetpointWithTime(setpoint, seconds, InterpolationType.TRAPEZOIDAL,trapazoidalTime); } /** * SetSetpoint in degrees with time @@ -113,11 +119,10 @@ public void StartTrapezoidalMotion(double setpoint,double seconds, double trapaz */ void StartBezierMotion(double setpoint,double seconds, double Control_0 , double Control_1) { - BEZIER_P0 = Control_0; - BEZIER_P1 = Control_1; - setSetpointWithTime(setpoint, seconds, InterpolationType.BEZIER); + setSetpointWithTime(setpoint, seconds, InterpolationType.BEZIER,Control_0,Control_1); } + /** * Update. * @@ -159,7 +164,7 @@ public synchronized void ResetEncoder(double value) { return ((x - in_min) * (out_max - out_min) / (in_max - in_min)) + out_min; } - private double getInterpolationUnitIncrement() { + public double getInterpolationUnitIncrement() { double interpElapsed = (double)(System.currentTimeMillis() - startTime); if (interpElapsed < duration && duration > 0) { From 64047a8c140bab9983bb429140471487ada9402d Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 20 Aug 2022 13:23:14 -0400 Subject: [PATCH 322/482] remove junk import --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index a50c8b31..ef0b8029 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -37,8 +37,7 @@ // TODO: Auto-generated Javadoc //import javax.swing.JFrame; //import javax.swing.JOptionPane; -import com.srirobotics.robot.RunState; -import com.srirobotics.ui.Main; + /** * The Class AbstractKinematicsNR. From 0189e0031b4495c3c4d9cdc4962484f4b24a3d70 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 23 Aug 2022 10:59:46 -0400 Subject: [PATCH 323/482] fix bug in switch to hashmap --- .../sdk/pid/VirtualGenericPIDDevice.java | 57 ++++++++++++------- 1 file changed, 37 insertions(+), 20 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index f96d7f39..e8ad6b0a 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -38,6 +38,8 @@ public class VirtualGenericPIDDevice extends GenericPIDDevice { /** The num channels. */ private int numChannels = 24; + private float[] backs; + /** * Instantiates a new virtual generic pid device. */ @@ -156,7 +158,7 @@ public BowlerDatagram send(BowlerAbstractCommand command) */ @Override public boolean ResetPIDChannel(int group, float valueToSetCurrentTo) { - driveThreads.get(group).ResetEncoder(valueToSetCurrentTo); + getDriveThread(group).ResetEncoder(valueToSetCurrentTo); float val = GetPIDPosition(group); firePIDResetEvent(group, val); return true; @@ -173,7 +175,7 @@ public boolean SetPIDSetPoint(int group, float setpoint, double seconds) { // new RuntimeException("Virtual setpoint, group="+group+" // setpoint="+setpoint).printStackTrace();; sync.setPause(true); - driveThreads.get(group).StartLinearMotion(setpoint, seconds); + getDriveThread(group).StartLinearMotion(setpoint, seconds); sync.setPause(false); return true; } @@ -196,7 +198,7 @@ public boolean SetPDVelocity(int group, int unitsPerSecond, double seconds) thro + " sec: " + seconds); if (seconds < 0.1 && seconds > -0.1) { // System.out.println("Setting virtual velocity="+unitsPerSecond); - driveThreads.get(group).SetVelocity(unitsPerSecond); + getDriveThread(group).SetVelocity(unitsPerSecond); } else { SetPIDInterpolatedVelocity(group, unitsPerSecond, seconds); } @@ -229,12 +231,25 @@ public void flushPIDChannels(double time) { public boolean SetAllPIDSetPoint(float[] setpoints, double seconds) { sync.setPause(true); for (int i = 0; i < setpoints.length; i++) { - driveThreads.get(i).StartLinearMotion(setpoints[i], seconds); + getDriveThread(i).StartLinearMotion(setpoints[i], seconds); } sync.setPause(false); return true; } + private InterpolationEngine getDriveThread(int i) { + for(PIDConfiguration c:driveThreads.keySet()) { + if (c.getGroup()==i) { + return driveThreads.get(c); + } + } + for(PIDConfiguration c:driveThreads.keySet()) { + System.err.println(c); + } + + throw new RuntimeException("Device is missing, id "+i); + } + /* * (non-Javadoc) * @@ -243,7 +258,7 @@ public boolean SetAllPIDSetPoint(float[] setpoints, double seconds) { @Override public float GetPIDPosition(int group) { // TODO Auto-generated method stub - return (float) driveThreads.get(group).getPosition(); + return (float) getDriveThread(group).getPosition(); } /* @@ -263,22 +278,24 @@ public boolean isAvailable() { */ @Override public float[] GetAllPIDPosition() { - // This is the trigger to populate the number of PID channels - float[] back = new float[numChannels]; - - setChannels(new ArrayList()); - // lastPacketTime = new long[back.length]; - for (int i = 0; i < back.length; i++) { - back[i] = 0; - PIDChannel c = new PIDChannel(this, i); - c.setCachedTargetValue(back[i]); - getChannels().add(c); - PIDConfiguration conf = new PIDConfiguration(); - InterpolationEngine d = new InterpolationEngine(); - driveThreads.put(conf, d); - configs.add(conf); + if(backs==null) { + backs = new float[numChannels]; + + setChannels(new ArrayList()); + // lastPacketTime = new long[back.length]; + for (int i = 0; i < backs.length; i++) { + backs[i] = 0; + PIDChannel c = new PIDChannel(this, i); + c.setCachedTargetValue(backs[i]); + getChannels().add(c); + PIDConfiguration conf = new PIDConfiguration(); + conf.setGroup(i); + InterpolationEngine d = new InterpolationEngine(); + driveThreads.put(conf, d); + configs.add(conf); + } } - return back; + return backs; } /** From 4d11b2f543e8b642ba47f86000eda28887be1086 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 23 Aug 2022 11:35:39 -0400 Subject: [PATCH 324/482] fix the no-movement bug --- .../sdk/pid/VirtualGenericPIDDevice.java | 32 +++++++++++-------- 1 file changed, 19 insertions(+), 13 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index e8ad6b0a..3844a260 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -24,7 +24,7 @@ public class VirtualGenericPIDDevice extends GenericPIDDevice { private HashMap driveThreads = new HashMap<>(); /** The configs. */ - private ArrayList configs = new ArrayList(); + private HashMap configs = new HashMap<>(); /** The P dconfigs. */ private ArrayList PDconfigs = new ArrayList(); @@ -57,7 +57,7 @@ public VirtualGenericPIDDevice(double maxTicksPerSecond) { getImplementation().setChannelCount(new Integer(numChannels)); GetAllPIDPosition(); for (int i = 0; i < numChannels; i++) { - configs.add(new PIDConfiguration()); + configs.put(i, new PIDConfiguration()); PDconfigs.add(new PDVelocityConfiguration()); } @@ -97,7 +97,7 @@ public PDVelocityConfiguration getPDVelocityConfiguration(int group) { * neuronrobotics.sdk.pid.PIDConfiguration) */ public boolean ConfigurePIDController(PIDConfiguration config) { - configs.set(config.getGroup(), config); + configs.put(config.getGroup(), config); return true; } @@ -130,7 +130,7 @@ public ArrayList getNamespaces() { */ @Override public boolean killAllPidGroups() { - for (PIDConfiguration c : configs) + for (PIDConfiguration c : configs.values()) c.setEnabled(false); return true; } @@ -238,16 +238,16 @@ public boolean SetAllPIDSetPoint(float[] setpoints, double seconds) { } private InterpolationEngine getDriveThread(int i) { - for(PIDConfiguration c:driveThreads.keySet()) { - if (c.getGroup()==i) { + for (PIDConfiguration c : driveThreads.keySet()) { + if (c.getGroup() == i) { return driveThreads.get(c); } } - for(PIDConfiguration c:driveThreads.keySet()) { + for (PIDConfiguration c : driveThreads.keySet()) { System.err.println(c); } - - throw new RuntimeException("Device is missing, id "+i); + + throw new RuntimeException("Device is missing, id " + i); } /* @@ -278,9 +278,9 @@ public boolean isAvailable() { */ @Override public float[] GetAllPIDPosition() { - if(backs==null) { + if (backs == null) { backs = new float[numChannels]; - + setChannels(new ArrayList()); // lastPacketTime = new long[back.length]; for (int i = 0; i < backs.length; i++) { @@ -290,11 +290,14 @@ public float[] GetAllPIDPosition() { getChannels().add(c); PIDConfiguration conf = new PIDConfiguration(); conf.setGroup(i); + conf.setEnabled(true); InterpolationEngine d = new InterpolationEngine(); driveThreads.put(conf, d); - configs.add(conf); + configs.put(i, conf); } } + for (int i = 0; i < backs.length; i++) + backs[i] = GetPIDPosition(i); return backs; } @@ -349,7 +352,7 @@ public void run() { long time = System.currentTimeMillis(); for (PIDConfiguration key : driveThreads.keySet()) { InterpolationEngine dr = driveThreads.get(key); - if (key.isEnabled()) + if (key.isEnabled()) { if (dr.update()) { try { firePIDEvent(new PIDEvent(key.getGroup(), (float) dr.getTicks(), time, 0)); @@ -359,6 +362,9 @@ public void run() { ex.printStackTrace(); } } + }else { + System.err.println("Virtual Device "+key.getGroup()+" is disabled"); + } } } } From e4d4464253112086aba0d4ce35594b46fc9c0608 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 26 Aug 2022 13:46:23 -0400 Subject: [PATCH 325/482] adding information to exception path --- .../com/neuronrobotics/sdk/addons/kinematics/DHChain.java | 2 +- .../sdk/addons/kinematics/DHParameterKinematics.java | 6 +++++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index d261ff7a..5476d978 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -185,7 +185,7 @@ private Matrix forwardKinematicsMatrix(double[] jointSpaceVector, ArrayList Date: Mon, 29 Aug 2022 10:04:18 -0400 Subject: [PATCH 326/482] getter for the pit location of a link --- .../sdk/addons/kinematics/DHParameterKinematics.java | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 16001af5..895ff859 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -804,4 +804,8 @@ public void throwExceptionOnJointLimit(boolean b) { getAbstractLink(i).setUseLimits(b); } } + + public TransformNR getLinkTip(int linkIndex) { + return getChain().getCachedChain().get(linkIndex); + } } From 1c3bd001088e33309b81afb960ca1d651fcd57da Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 29 Aug 2022 15:22:28 -0400 Subject: [PATCH 327/482] adding prints to error state --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 10 +++++++--- src/main/java/com/neuronrobotics/sdk/common/Log.java | 10 ++++++++++ 2 files changed, 17 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index ef0b8029..df86cc95 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -599,6 +599,7 @@ public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev, Transfor double[] jointSpaceVect = dev.inverseKinematics(dev.inverseOffset(taskSpaceTransform)); return checkVector(dev, jointSpaceVect,seconds); } catch (Throwable ex) { + Log.error(ex); return false; } } @@ -615,15 +616,18 @@ private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpace double[] current = dev.getCurrentJointSpaceTarget(); for (int i = 0; i < jointSpaceVect.length; i++) { AbstractLink link = dev.factory.getLink(dev.getLinkConfiguration(i)); - double val = link.toLinkUnits(jointSpaceVect[i]); + double val = jointSpaceVect[i]; Double double1 = new Double(val); if(double1.isNaN() ||double1.isInfinite() ) { + Log.error(dev.getScriptingName()+" Link "+i+" Invalid unput "+double1); return false; } - if (val > link.getUpperLimit()) { + if (val > link.getMaxEngineeringUnits()) { + Log.error(dev.getScriptingName()+" Link "+i+" can not reach "+val+" limited to "+link.getMaxEngineeringUnits()); return false; } - if (val < link.getLowerLimit()) { + if (val < link.getMinEngineeringUnits()) { + Log.error(dev.getScriptingName()+" Link "+i+" can not reach "+val+" limited to "+link.getMinEngineeringUnits()); return false; } if(seconds>0) { diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index f47b6803..cae7c181 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -15,6 +15,8 @@ package com.neuronrobotics.sdk.common; import java.io.PrintStream; +import java.io.PrintWriter; +import java.io.StringWriter; import java.text.DateFormat; import java.text.SimpleDateFormat; import java.util.Date; @@ -435,5 +437,13 @@ public static boolean isPrinting() { // TODO Auto-generated method stub return instance().systemprint; } + + public static void error(Throwable ex) { + StringWriter sw = new StringWriter(); + PrintWriter pw = new PrintWriter(sw); + ex.printStackTrace(pw); + String sStackTrace = sw.toString(); // stack trace as a string + Log.error(sStackTrace); + } } From 40681298dfe2b1326b4a2381a0543773e63e0fff Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 31 Aug 2022 12:46:13 -0400 Subject: [PATCH 328/482] making the rendering thread event driven --- .../kinematics/AbstractKinematicsNR.java | 1 + .../kinematics/GenericKinematicsModelNR.java | 2 +- .../kinematics/IOnMobileBaseRenderChange.java | 5 ++ .../sdk/addons/kinematics/LinkFactory.java | 21 +++--- .../sdk/addons/kinematics/MobileBase.java | 48 ++++++++++++- .../com/neuronrobotics/sdk/dyio/DyIO.java | 2 +- .../namespace/bcs/pid/PidDeviceServer.java | 2 +- .../sdk/pid/InterpolationEngine.java | 68 +++++++++++-------- .../com/neuronrobotics/sdk/pid/PIDEvent.java | 19 +++++- .../sdk/pid/VirtualGenericPIDDevice.java | 24 +++++-- .../utilities/ExternalLinkProviderTest.java | 2 +- 11 files changed, 142 insertions(+), 52 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/IOnMobileBaseRenderChange.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index df86cc95..149c5850 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -600,6 +600,7 @@ public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev, Transfor return checkVector(dev, jointSpaceVect,seconds); } catch (Throwable ex) { Log.error(ex); + ex.printStackTrace(); return false; } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GenericKinematicsModelNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GenericKinematicsModelNR.java index 7e67ad71..e3fb043a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GenericKinematicsModelNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GenericKinematicsModelNR.java @@ -39,7 +39,7 @@ public GenericKinematicsModelNR(InputStream configFile,GenericPIDDevice device ) * Instantiates a new generic kinematics model nr. */ public GenericKinematicsModelNR() { - super(XmlFactory.getDefaultConfigurationStream("GenericKinematics.xml"),new LinkFactory( new VirtualGenericPIDDevice(1000000))); + super(XmlFactory.getDefaultConfigurationStream("GenericKinematics.xml"),new LinkFactory( new VirtualGenericPIDDevice(1000000,"GenericKinematicsDevice"))); } /* (non-Javadoc) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IOnMobileBaseRenderChange.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IOnMobileBaseRenderChange.java new file mode 100644 index 00000000..b70d671a --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IOnMobileBaseRenderChange.java @@ -0,0 +1,5 @@ +package com.neuronrobotics.sdk.addons.kinematics; + +public interface IOnMobileBaseRenderChange { + public void event(); +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index b02d6004..f319f938 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -212,11 +212,11 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ case DUMMY: case VIRTUAL: String myVirtualDevName=c.getDeviceScriptingName(); - virtual = (VirtualGenericPIDDevice)DeviceManager.getSpecificDevice(VirtualGenericPIDDevice.class, myVirtualDevName); - if(virtual==null){ - virtual=new VirtualGenericPIDDevice(); - DeviceManager.addConnection(virtual, myVirtualDevName); - } + virtual = (VirtualGenericPIDDevice)DeviceManager + .getSpecificDevice( + myVirtualDevName , + () -> new VirtualGenericPIDDevice(myVirtualDevName) + ); tmp=new PidRotoryLink( virtual.getPIDChannel(c.getHardwareIndex()), c,true); break; @@ -243,11 +243,12 @@ private AbstractLink getLinkLocal(LinkConfiguration c){ if(tmp==null){ String myVirtualDevName=c.getDeviceScriptingName(); - virtual = (VirtualGenericPIDDevice)DeviceManager.getSpecificDevice(VirtualGenericPIDDevice.class, myVirtualDevName); - if(virtual==null){ - virtual=new VirtualGenericPIDDevice(); - DeviceManager.addConnection(virtual, myVirtualDevName); - } + virtual = (VirtualGenericPIDDevice)DeviceManager + .getSpecificDevice( + myVirtualDevName , + () -> new VirtualGenericPIDDevice(myVirtualDevName) + ); + if(!c.isPrismatic()){ tmp=new PidRotoryLink( virtual.getPIDChannel(c.getHardwareIndex()), c,true); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 5cbc4508..6eacc9c1 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -37,7 +37,10 @@ public class MobileBase extends AbstractKinematicsNR { /** The drivable. */ private final ArrayList drivable = new ArrayList(); - + + /** The drivable. */ + private final ArrayList changeListeners = new ArrayList(); + /** The walking drive engine. */ private IDriveEngine walkingDriveEngine = new WalkingDriveEngine(); @@ -914,12 +917,35 @@ public boolean connect(){ super.connect(); for(DHParameterKinematics kin:this.getAllDHChains()) { for(int i=0;i{ + fireIOnMobileBaseRenderChange(); + } ); MobileBase m = kin.getDhLink(i).getSlaveMobileBase(); if(m!=null) { m.connect(); + m.addIOnMobileBaseRenderChange(new IOnMobileBaseRenderChange() { + @Override + public void event() { + fireIOnMobileBaseRenderChange(); + } + }); } + } + kin.addJointSpaceListener(new IJointSpaceUpdateListenerNR() { + @Override + public void onJointSpaceUpdate(AbstractKinematicsNR source, double[] joints) { + fireIOnMobileBaseRenderChange(); + } + + @Override + public void onJointSpaceTargetUpdate(AbstractKinematicsNR source, double[] joints) {} + + @Override + public void onJointSpaceLimit(AbstractKinematicsNR source, int axis, JointLimit event) {} + }); } + return isAvailable(); } @@ -958,11 +984,27 @@ public static void main(String[] args) throws Exception { } - + + private void fireIOnMobileBaseRenderChange() { + for(IOnMobileBaseRenderChange l:changeListeners) + l.event(); + } public void setHomeProvider(ICalcLimbHomeProvider homeProvider) { this.homeProvider = homeProvider; } + public void addIOnMobileBaseRenderChange(IOnMobileBaseRenderChange l) { + if(changeListeners.contains(l)) + return; + changeListeners.add(l); + } + public void removeIOnMobileBaseRenderChange(IOnMobileBaseRenderChange l) { + if(changeListeners.contains(l)) + changeListeners.remove(l); + } + public void clearIOnMobileBaseRenderChange() { - + changeListeners.clear(); + } + } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java index 984cdb90..dd2cf441 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java @@ -1069,7 +1069,7 @@ public boolean connect(){ getPid().setAddress(getAddress()); getPid().connect(); }else{ - pid=new VirtualGenericPIDDevice(); + pid=new VirtualGenericPIDDevice("DyIO VirtualDevice"); } diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java index 5ec9bde9..efdfc1d2 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java @@ -101,7 +101,7 @@ public void onPIDReset(int group, float currentValue) {}//used for object state */ public static void main(String [] args){ Log.enableInfoPrint(); - PidDeviceServer srv = new PidDeviceServer(new MACAddress(), new VirtualGenericPIDDevice(10000) ); + PidDeviceServer srv = new PidDeviceServer(new MACAddress(), new VirtualGenericPIDDevice(10000,"PID SERVER TEST") ); } } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java index df60daa6..b80187b7 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java @@ -31,6 +31,23 @@ public class InterpolationEngine { private double TRAPEZOIDAL_time=0; private double BEZIER_P0; private double BEZIER_P1; + private double interpElapsed; + private double sinPortion; + private double lengthOfLinearMode; + private double unitLienear; + private double unitRamp; + private double unitStartRampDown; + private double increment; + private double sinPortion2; + private double increment2; + private double sinPortion3; + private double t; + private double p0; + private double p1; + private double p2; + private double p3; + private double setpointDiff; + private double newSetpoint; /** @@ -165,29 +182,26 @@ public synchronized void ResetEncoder(double value) { } public double getInterpolationUnitIncrement() { - double interpElapsed = (double)(System.currentTimeMillis() - startTime); + interpElapsed = (double)(System.currentTimeMillis() - startTime); if (interpElapsed < duration && duration > 0) { setUnitDuration(interpElapsed / duration); if(type==InterpolationType.SINUSOIDAL) { - double sinPortion = (Math.cos(-Math.PI * getUnitDuration()) / 2) + 0.5; + sinPortion = (Math.cos(-Math.PI * getUnitDuration()) / 2) + 0.5; setUnitDuration(1 - sinPortion); } if (type == InterpolationType.TRAPEZOIDAL) { - double lengthOfLinearMode = duration - (TRAPEZOIDAL_time * 2); - double unitLienear = lengthOfLinearMode / duration; - double unitRamp = ((double)TRAPEZOIDAL_time) / duration; - double unitStartRampDown = unitLienear + unitRamp; + lengthOfLinearMode = duration - (TRAPEZOIDAL_time * 2); + unitLienear = lengthOfLinearMode / duration; + unitRamp = ((double)TRAPEZOIDAL_time) / duration; + unitStartRampDown = unitLienear + unitRamp; if (getUnitDuration() < unitRamp) { - // ramp up - // range from 1 to 0.5 - double increment = 1 - (getUnitDuration()) / (unitRamp * 2); - // range 0 to 1 - double sinPortion = 1 + Math.cos(-Math.PI * increment); - setUnitDuration(sinPortion * unitRamp); + increment = 1 - (getUnitDuration()) / (unitRamp * 2); + sinPortion2 = 1 + Math.cos(-Math.PI * increment); + setUnitDuration(sinPortion2 * unitRamp); } else if (getUnitDuration() > unitRamp && getUnitDuration() < unitStartRampDown) { @@ -195,21 +209,21 @@ else if (getUnitDuration() > unitRamp && getUnitDuration() < unitStartRampDown) } else if (getUnitDuration() > unitStartRampDown) { - double increment = (getUnitDuration() - unitStartRampDown) / (unitRamp * 2) + 0.5; - double sinPortion = 0.5 - ((Math.cos(-Math.PI * increment) / 2) + 0.5); - setUnitDuration((sinPortion * 2) * unitRamp + unitStartRampDown); + increment2 = (getUnitDuration() - unitStartRampDown) / (unitRamp * 2) + 0.5; + sinPortion3 = 0.5 - ((Math.cos(-Math.PI * increment2) / 2) + 0.5); + setUnitDuration((sinPortion3 * 2) * unitRamp + unitStartRampDown); } } if (type == InterpolationType.BEZIER) { if (getUnitDuration() > 0 && getUnitDuration() < 1) { - double t = getUnitDuration(); - double P0 = 0; - double P1 = BEZIER_P0; - double P2 = BEZIER_P1; - double P3 = 1; - setUnitDuration(Math.pow((1 - t), 3) * P0 + 3 * t * Math.pow((1 - t), 2) * P1 + 3 * Math.pow(t, 2) * (1 - t) * P2 + Math.pow(t, 3) * P3); + t = getUnitDuration(); + p0 = 0; + p1 = BEZIER_P0; + p2 = BEZIER_P1; + p3 = 1; + setUnitDuration(Math.pow((1 - t), 3) * p0 + 3 * t * Math.pow((1 - t), 2) * p1 + 3 * Math.pow(t, 2) * (1 - t) * p2 + Math.pow(t, 3) * p3); } } return getUnitDuration(); @@ -225,8 +239,8 @@ else if (getUnitDuration() > unitStartRampDown) private void interpolate() { setUnitDuration(getInterpolationUnitIncrement()); if (getUnitDuration() < 1) { - double setpointDiff = endSetpoint - startSetpoint; - double newSetpoint = startSetpoint + (setpointDiff * getUnitDuration()); + setpointDiff = endSetpoint - startSetpoint; + newSetpoint = startSetpoint + (setpointDiff * getUnitDuration()); setTicks(newSetpoint); } else { // If there is no interpoation to perform, set the setpoint to the end state @@ -267,10 +281,10 @@ public double getTicks() { * @param ticks the new ticks */ public void setTicks(double ticks) { - if(new Double(ticks).isNaN()) { - new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); - return; - } +// if(new Double(ticks).isNaN()) { +// new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); +// return; +// } this.ticks = ticks; } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDEvent.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDEvent.java index eae6945b..6d8400dd 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDEvent.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDEvent.java @@ -21,6 +21,10 @@ public class PIDEvent { /** The velocity. */ private int velocity; + public PIDEvent(){ + + } + /** * Instantiates a new PID event. * @@ -35,7 +39,20 @@ public PIDEvent(int chan,float tick,long time,int velocity){ setTimeStamp(time); setVelocity(velocity); } - + /** + * Sets new PID event. + * + * @param chan the chan + * @param tick the tick + * @param time the time + * @param velocity the velocity + */ + public void set(int chan,float tick,long time,int velocity){ + setGroup(chan); + setValue(tick); + setTimeStamp(time); + setVelocity(velocity); + } /** * Instantiates a new PID event. * diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index 3844a260..293c8d40 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -40,20 +40,27 @@ public class VirtualGenericPIDDevice extends GenericPIDDevice { private float[] backs; + private String myVirtualDevName; + /** * Instantiates a new virtual generic pid device. + * @param myVirtualDevName */ - public VirtualGenericPIDDevice() { - this(1000000); + public VirtualGenericPIDDevice(String myVirtualDevName) { + this(1000000,myVirtualDevName); } /** * Instantiates a new virtual generic pid device. * * @param maxTicksPerSecond the max ticks per second + * @param myVirtualDevName2 */ - public VirtualGenericPIDDevice(double maxTicksPerSecond) { + public VirtualGenericPIDDevice(double maxTicksPerSecond, String myVirtualDevName) { this.setMaxTicksPerSecond(maxTicksPerSecond); + if(myVirtualDevName == null) + throw new RuntimeException("Name of virtual device can not be null"); + this.myVirtualDevName = myVirtualDevName; getImplementation().setChannelCount(new Integer(numChannels)); GetAllPIDPosition(); for (int i = 0; i < numChannels; i++) { @@ -62,7 +69,7 @@ public VirtualGenericPIDDevice(double maxTicksPerSecond) { } sync.start(); - + //new RuntimeException("Instantiation of VirtualGenericPIDDevice "+myVirtualDevName).printStackTrace(); } /* @@ -339,23 +346,26 @@ private class SyncThread extends Thread { */ public void run() { setName("Bowler Platform Virtual PID sync thread"); + PIDEvent e= new PIDEvent(); + long time; while (true) { try { Thread.sleep(threadTime); - } catch (InterruptedException e) { + } catch (InterruptedException ex) { } while (isPause()) { isPaused = true; ThreadUtil.wait(10); } isPaused = false; - long time = System.currentTimeMillis(); + time = System.currentTimeMillis(); for (PIDConfiguration key : driveThreads.keySet()) { InterpolationEngine dr = driveThreads.get(key); if (key.isEnabled()) { if (dr.update()) { try { - firePIDEvent(new PIDEvent(key.getGroup(), (float) dr.getTicks(), time, 0)); + e.set(key.getGroup(), (float) dr.getTicks(), time, 0); + firePIDEvent(e); } catch (NullPointerException ex) { // initialization issue, let it work itself out } catch (Exception ex) { diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java index 94d536bb..5a205b51 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ExternalLinkProviderTest.java @@ -33,7 +33,7 @@ public class ExternalLinkProviderTest { public void test() throws Exception { //main(null); } - static VirtualGenericPIDDevice virtual=new VirtualGenericPIDDevice(); + static VirtualGenericPIDDevice virtual=new VirtualGenericPIDDevice("TestDevice"); private static class myLinkImplementation extends PidRotoryLink{ public myLinkImplementation( LinkConfiguration conf) { From 478225b49f46dc72a07b6f2971adb1038bbf73fc Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 31 Aug 2022 13:59:01 -0400 Subject: [PATCH 329/482] cleaner log --- .../kinematics/AbstractKinematicsNR.java | 2 +- .../sdk/addons/kinematics/MobileBase.java | 105 +++++++++++------- .../com/neuronrobotics/sdk/common/Log.java | 4 +- 3 files changed, 66 insertions(+), 45 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 149c5850..f6b60881 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -600,7 +600,7 @@ public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev, Transfor return checkVector(dev, jointSpaceVect,seconds); } catch (Throwable ex) { Log.error(ex); - ex.printStackTrace(); + //ex.printStackTrace(); return false; } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 6eacc9c1..cf245cde 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -19,12 +19,13 @@ import com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.DeviceManager; +import com.neuronrobotics.sdk.common.Log; // TODO: Auto-generated Javadoc /** * The Class MobileBase. */ -public class MobileBase extends AbstractKinematicsNR { +public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurationChangeListener,IOnMobileBaseRenderChange, IJointSpaceUpdateListenerNR { /** The legs. */ private final ArrayList legs = new ArrayList(); @@ -444,7 +445,12 @@ public void disconnectDevice() { */ @Override public boolean connectDevice() { - // TODO Auto-generated method stub + for (DHParameterKinematics kin : getAllDHChains()) { + if(!kin.connect()) { + Log.error("Connection failed!"); + return false; + } + } return true; } @@ -808,21 +814,8 @@ public void DriveVelocityArc(double degreesPerSecond, double cmRadius) { * Update positions. */ public void updatePositions() { -// for (DHParameterKinematics kin : getAppendages()) { -// // System.err.println("Updating arm: "+kin.getScriptingName()); -// kin.updateCadLocations(); -// } -// for (DHParameterKinematics kin : getDrivable()) { -// // System.err.println("Updating getDrivable: -// // "+kin.getScriptingName()); -// kin.updateCadLocations(); -// } -// for (DHParameterKinematics kin : getSteerable()) { -// // System.err.println("Updating getSteerable: -// // "+kin.getScriptingName()); -// kin.updateCadLocations(); -// } runRenderWrangler(); + fireIOnMobileBaseRenderChange(); } /** @@ -916,39 +909,32 @@ private HashMap getParallelGroups() { public boolean connect(){ super.connect(); for(DHParameterKinematics kin:this.getAllDHChains()) { + addListeners(kin); for(int i=0;i{ - fireIOnMobileBaseRenderChange(); - } ); - MobileBase m = kin.getDhLink(i).getSlaveMobileBase(); - if(m!=null) { - m.connect(); - m.addIOnMobileBaseRenderChange(new IOnMobileBaseRenderChange() { - @Override - public void event() { - fireIOnMobileBaseRenderChange(); - } - }); - } - - } - kin.addJointSpaceListener(new IJointSpaceUpdateListenerNR() { - @Override - public void onJointSpaceUpdate(AbstractKinematicsNR source, double[] joints) { - fireIOnMobileBaseRenderChange(); + MobileBase m = kin.getDhLink(i).getSlaveMobileBase(); + if(m!=null) { + m.connect(); } - - @Override - public void onJointSpaceTargetUpdate(AbstractKinematicsNR source, double[] joints) {} - - @Override - public void onJointSpaceLimit(AbstractKinematicsNR source, int axis, JointLimit event) {} - }); + } } return isAvailable(); } + + private void addListeners(DHParameterKinematics kin) { + for(int i=0;i= minprintlevel) { + if(isPrinting() && importance >= minprintlevel && systemprint) { errStream.println(m); if(errStream != System.err) System.err.println(m); } - if(debugprint) { + if(debugprint&& systemprint) { outStream.println("# " + message); if(outStream != System.out) System.out.println(m); From 88c054e9f9733d67e2f654a815e70bd6d66fc09d Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 1 Sep 2022 10:50:49 -0400 Subject: [PATCH 330/482] cleanup the paralell group pathing --- .../kinematics/AbstractKinematicsNR.java | 1 - .../kinematics/parallel/ParallelGroup.java | 105 +++++------------- 2 files changed, 30 insertions(+), 76 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index f6b60881..5a0818a2 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -711,7 +711,6 @@ public double getBestTime(double[] jointSpaceVect) { * @throws Exception If there is a workspace error */ public double[] setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds) throws Exception { - return _setDesiredJointSpaceVector(jointSpaceVect,seconds,true); } /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index 2a06269e..c2d79d42 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -106,8 +106,9 @@ public void onTargetTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pos for (DHParameterKinematics d : getConstituantLimbs()) { if (getTipOffset(d) != null) { try { + //System.out.println("Setting Kinematics for follower "+d.getScriptingName()); double[] jointSpaceVect = compute(d, IKvalues, pose); - System.out.println(fk.getScriptingName()+" is Setting sublimb target "+d.getScriptingName()); + //System.out.println(fk.getScriptingName()+" is Setting sublimb target "+d.getScriptingName()); d.throwExceptionOnJointLimit(false); d.setDesiredJointSpaceVector(jointSpaceVect, 0); } catch (Exception e) { @@ -116,6 +117,7 @@ public void onTargetTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pos } } } + IKvalues.clear(); } }); } @@ -145,33 +147,31 @@ public boolean connectDevice() { return true; } - private double[] compute(DHParameterKinematics l, HashMap IKvalues, + private double[] compute(DHParameterKinematics ldh, HashMap IKvalues, TransformNR taskSpaceTransform) throws Exception { - String scriptingName = l.getScriptingName(); - if (IKvalues.get(scriptingName) != null) { - // existes already - return IKvalues.get(scriptingName); - } - if (getTipOffset().get(l) == null) { - // no offset, compute as normal - double[] jointSpaceVect = l.inverseKinematics(l.inverseOffset(taskSpaceTransform)); - IKvalues.put(scriptingName, jointSpaceVect); - } else { - TransformNR offset = getTipOffset().get(l); - String refLimbName = tipOffsetRelativeToName.get(l); - int index = tipOffsetRelativeIndex.get(l); - DHParameterKinematics referencedLimb = findReferencedLimb(refLimbName); - if (referencedLimb == null) - throw new RuntimeException("Referenced limb missing, IK for " + l.getScriptingName() - + " Failed looking for " + refLimbName); - double[] jointSpaceVectReferenced = compute(referencedLimb, IKvalues, taskSpaceTransform); - - TransformNR transformTOLinksTip = referencedLimb.getChain().getChain(jointSpaceVectReferenced).get(index) - .times(offset.inverse()); - double[] jointSpaceVect = l.inverseKinematics(l.inverseOffset(transformTOLinksTip)); - IKvalues.put(scriptingName, jointSpaceVect); + String scriptingName = ldh.getScriptingName(); + if (IKvalues.get(scriptingName) == null) { + //System.out.println("Perform IK "+ldh.getScriptingName()); + if (getTipOffset().get(ldh) == null) { + // no offset, compute as normal + double[] jointSpaceVect = ldh.inverseKinematics(ldh.inverseOffset(taskSpaceTransform)); + IKvalues.put(scriptingName, jointSpaceVect); + } else { + TransformNR offset = getTipOffset().get(ldh); + String refLimbName = tipOffsetRelativeToName.get(ldh); + int index = tipOffsetRelativeIndex.get(ldh); + DHParameterKinematics referencedLimb = findReferencedLimb(refLimbName); + if (referencedLimb == null) + throw new RuntimeException("Referenced limb missing, IK for " + ldh.getScriptingName() + + " Failed looking for " + refLimbName); + double[] jointSpaceVectReferenced = compute(referencedLimb, IKvalues, taskSpaceTransform); + + TransformNR transformTOLinksTip = referencedLimb.getChain().getChain(jointSpaceVectReferenced).get(index) + .times(offset.inverse()); + double[] jointSpaceVect = ldh.inverseKinematics(ldh.inverseOffset(transformTOLinksTip)); + IKvalues.put(scriptingName, jointSpaceVect); + } } - return IKvalues.get(scriptingName); } @@ -227,57 +227,12 @@ public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Excepti @Override public TransformNR forwardKinematics(double[] jointSpaceVector) { - HashMap tips = new HashMap(); - for (DHParameterKinematics l : getConstituantLimbs()) { - TransformNR fwd = l.getCurrentTaskSpaceTransform(); - if (fwd == null) - throw new RuntimeException("Implementations of the kinematics need to return a transform not null"); - // Log.info("Getting robot task space "+fwd); - tips.put(l, fwd); - - // tips.get(l).times(tipOffset.get(l)));//apply tip offset - // TODO check to see if the TIps are alligned as you add them and - // throw an exception if a tip is misalligned - } -// if (getConstituantLimbs().size() > 3) { -// // we are assuming any passive links are encoded -// double dx = 0; -// double dy = 0; -// double dz = 0; -// -// for (int i = 0; i < 3; i++) { -// TransformNR l = tips.get(getConstituantLimbs().get(i)); -// Vec3d p1 = new Vec3d(l.getX(), l.getY(), l.getZ()); -// dx += p1.x; -// dy += p1.y; -// dz += p1.z; -// } -// double x = dx /= 3; -// double y = dy /= 3; -// double z = dz /= 3; -// -// double rotx = Math.atan2(y, z); -// double roty; -// if (z >= 0) { -// roty = -Math.atan2(x * Math.cos(rotx), z); -// } else { -// roty = Math.atan2(x * Math.cos(rotx), -z); -// } -// double rotz = Math.atan2(Math.cos(rotx), Math.sin(rotx) * Math.sin(roty)); -// -// return new TransformNR(x, y, x, new RotationNR(rotx, roty, rotz)); -// } else if (getConstituantLimbs().size() == 2) { - try { - return tips.get(getFKLimb());// assume the first link is - }catch(Exception e) { - e.printStackTrace(); - return new TransformNR(); + if(l==getFKLimb()) + return l.getCurrentTaskSpaceTransform(); + } -// // in control or -// // orentation -// } else -// throw new RuntimeException("There needs to be at least 2 limbs for paralell"); + throw new RuntimeException( "FK limb is missing!"); } /** From b22395ea138582bbf54347599641466a5270bdb1 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 1 Sep 2022 11:16:16 -0400 Subject: [PATCH 331/482] Adding a fast delta IK model --- .../sdk/addons/kinematics/DHChain.java | 4 +- .../addons/kinematics/ik/DeltaIKModel.java | 227 ++++++++++++++++++ 2 files changed, 229 insertions(+), 2 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 5476d978..82ea7b3f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -43,7 +43,7 @@ public class DHChain { private DhInverseSolver is; /** The kin. */ - private AbstractKinematicsNR kin; + public AbstractKinematicsNR kin; /** The factory. */ private LinkFactory factory; @@ -181,7 +181,7 @@ public TransformNR forwardKinematics(double[] jointSpaceVector, boolean store) { public Matrix forwardKinematicsMatrix(double[] jointSpaceVector, boolean store) { return forwardKinematicsMatrix(jointSpaceVector,store?getCachedChain():null); } - private Matrix forwardKinematicsMatrix(double[] jointSpaceVector, ArrayList chainToLoad) { + public Matrix forwardKinematicsMatrix(double[] jointSpaceVector, ArrayList chainToLoad) { if(getLinks() == null) return new TransformNR().getMatrixTransform(); if (jointSpaceVector.length!=getLinks().size()) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java new file mode 100644 index 00000000..823a6f3e --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java @@ -0,0 +1,227 @@ +package com.neuronrobotics.sdk.addons.kinematics.ik; + +import java.util.ArrayList; + +import com.neuronrobotics.sdk.addons.kinematics.DHChain; +import com.neuronrobotics.sdk.addons.kinematics.DHLink; +import com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver; +import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; +import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; + +public class DeltaIKModel implements DhInverseSolver { + + boolean debug = false; + + int limbIndex =0; + + @Override + public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector, DHChain chain) { + return inverseKinematics6dof(target,jointSpaceVector,chain); + } + TransformNR linkOffset(DHLink link) { + return new TransformNR(link.DhStep(0)); + } + double length(TransformNR tr) { + return Math.sqrt( + Math.pow(tr.getX(), 2)+ + Math.pow(tr.getY(), 2)+ + Math.pow(tr.getZ(), 2) + ); + } + + + public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVector, DHChain chain) { + + ArrayList links = chain.getLinks(); + int linkNum = jointSpaceVector.length; + TransformNR l0Offset = linkOffset(links.get(0)); + TransformNR l1Offset = linkOffset(links.get(1)); + TransformNR l2Offset = linkOffset(links.get(2)); + TransformNR l3Offset = linkOffset(links.get(3)); + // Vector decompose the tip target + double z = target.getZ(); + double y = target.getY(); + double x = target.getX(); + TransformNR targetNoRot =new TransformNR(x,y,z,new RotationNR()); + + RotationNR q = target.getRotation(); + TransformNR newCenter =target.copy(); + // Start by finding the IK to the wrist center + if(linkNum>=6) { + //offset for tool + //if(debug)System.out.println( "Offestting for tool" + TransformNR tool = new TransformNR(); + if(linkNum==7) + tool=linkOffset(links.get(6)); + // compute the transform from tip to wrist center + TransformNR wristCenterOffsetTransform = linkOffset(links.get(5)).times(tool); + //System.out.println( wristCenterOffsetTransform + // take off the tool from the target to get the center of the wrist + newCenter = target.times(wristCenterOffsetTransform.inverse()); + } + + // recompute the X,y,z with the new center + z = newCenter.getZ(); + y = newCenter.getY(); + x = newCenter.getX(); + //xyz now are at the wrist center + // Compute the xy plane projection of the tip + // this is the angle of the tipto the base link + if(x==0&&y==0) { + System.out.println( "Singularity! try something else"); + return inverseKinematics6dof(target.copy().translateX(0.01),jointSpaceVector,chain); + } + if(debug)System.out.println( "Wrist center for IK "+x+","+y+","+z); + double baseVectorAngle = Math.toDegrees(Math.atan2(y , x)); + double elbowLink1CompositeLength = length(l1Offset); + double elbowLink2CompositeLength=length(l3Offset); + double wristVect = length(newCenter); + if(debug)System.out.println( "elbowLink1CompositeLength "+elbowLink1CompositeLength); + if(debug)System.out.println( "elbowLink2CompositeLength "+elbowLink2CompositeLength); + if(debug)System.out.println( "Elbo Hypotinuse "+wristVect); + double elbowTiltAngle =-( Math.toDegrees( + Math.acos( + ( + Math.pow(elbowLink2CompositeLength,2)+ + Math.pow(elbowLink1CompositeLength,2) + -Math.pow(wristVect,2) + ) + / + (2*elbowLink2CompositeLength*elbowLink1CompositeLength) + ) + )); + if(debug)System.out.println( "Elbow angle "+elbowTiltAngle); + jointSpaceVector[2]=elbowTiltAngle - Math.toDegrees(links.get(2).getTheta()); + + TransformNR local = new TransformNR(0,0,0,new RotationNR(0, -baseVectorAngle, 0)); + TransformNR tipOnXVect = local.times(newCenter); + double elZ = tipOnXVect.getZ(); + double elX = tipOnXVect.getX(); + double L1 = length(l1Offset); + double L2 = length(l3Offset); + + if(debug)System.out.println( "L1 "+L1+" l2 "+L2+" z "+elZ+" x "+elX); + /** + * System of equasions + * Theta2 = asin(z/wristVect) + * l3 = wristVect * cos( theta2) + * theta1 = acos(l1^2+x^2-l3^2/2*l1*x) + * + */ + double asinVal = elZ/L2; + if(asinVal>1 || asinVal<-1) + throw new RuntimeException("Target outside workspace, passive links too short to reach "+L2); + double theta2 = Math.asin(asinVal); + + double L3 = L2*Math.cos(theta2); + double theta1 = Math.acos( + ( + Math.pow(L1, 2) + + Math.pow(elX, 2)- + Math.pow(L3, 2) + )/ + (2 * L1 *elX) + ); + jointSpaceVector[0]=-(90-(Math.toDegrees(theta1)+baseVectorAngle)); + TransformNR reorent; + try { + reorent =new TransformNR(0,0,0,new RotationNR(0, -jointSpaceVector[0], 0)); + }catch (Throwable t){ + //t.printStackTrace() + throw new RuntimeException( "error calculating base angle: \nL1 "+L1+ + " \nl2 "+L2+ + " \nz "+elZ+ + " \nx "+elX+ + " \nl3 "+L3+ + " \ntheta2 "+Math.toDegrees(theta2)+ + " \nasinVal "+asinVal + + ); + } + TransformNR sphericalElbowTartget = reorent.times(newCenter); + //System.out.println( newCenter + //System.out.println( sphericalElbowTartget + sphericalElbowTartget = new TransformNR(0.0,-sphericalElbowTartget.getY(),0.0, new RotationNR()).times(sphericalElbowTartget); + //System.out.println( sphericalElbowTartget + double theta3 = Math.atan2(sphericalElbowTartget.getZ(), sphericalElbowTartget.getX()); + jointSpaceVector[1]=-Math.toDegrees(theta3) ; + + //return jointSpaceVector + + /** + // compute the top of the wrist now that the first 3 links are calculated + * + */ + double[] wristLinks=new double[jointSpaceVector.length]; + for(int i=0;i<3;i++) { + wristLinks[i]=jointSpaceVector[i]; + } + for(int i=3;i chainToLoad =new ArrayList<>(); + chain.forwardKinematicsMatrix(wristLinks,chainToLoad); + TransformNR startOfWristSet=chain.kin.inverseOffset(chainToLoad.get(2)); + TransformNR virtualcenter = newCenter.times(new TransformNR(0,0,10, + new RotationNR(Math.toDegrees(links.get(5).getAlpha()),0,0))); + TransformNR wristMOvedToCenter0 =startOfWristSet + .inverse()// move back from base ot wrist to world home + .times(virtualcenter);// move forward to target, leaving the angle between the tip and the start of the rotation + //if(debug)System.out.println( wristMOvedToCenter0 + RotationNR qWrist=wristMOvedToCenter0.getRotation(); + if(wristMOvedToCenter0.getX()==0&&wristMOvedToCenter0.getY()==0) { + System.out.println( "Singularity! try something else"); + return inverseKinematics6dof(target.copy().translateX(0.01),jointSpaceVector,chain); + } + double closest= (Math.toDegrees(Math.atan2(wristMOvedToCenter0.getY(), wristMOvedToCenter0.getX()))-Math.toDegrees(links.get(3).getTheta())); + + jointSpaceVector[3]=closest; + wristLinks[3]=jointSpaceVector[3]; + if(jointSpaceVector.length==4) + return jointSpaceVector; + + chainToLoad =new ArrayList<>(); + /** + // Calculte the second angle + * + */ + chainToLoad.clear(); + chain.forwardKinematicsMatrix(wristLinks,chainToLoad); + TransformNR startOfWristSet2=chain.kin.inverseOffset(chainToLoad.get(3)); + + TransformNR wristMOvedToCenter1 =startOfWristSet2 + .inverse()// move back from base ot wrist to world home + .times(virtualcenter);// move forward to target, leaving the angle between the tip and the start of the rotation + //if(debug)System.out.println( " Middle link =" +wristMOvedToCenter1 + RotationNR qWrist2=wristMOvedToCenter1.getRotation(); + if(wristMOvedToCenter1.getX()==0&&wristMOvedToCenter1.getY()==0) { + System.out.println( "Singularity! try something else"); + return inverseKinematics6dof(target.copy().translateX(0.01),jointSpaceVector,chain); + } + jointSpaceVector[4]=(Math.toDegrees(Math.atan2(wristMOvedToCenter1.getY(), wristMOvedToCenter1.getX()))- + Math.toDegrees(links.get(4).getTheta())- + 90); + wristLinks[4]=jointSpaceVector[4]; + if(jointSpaceVector.length==5) + return jointSpaceVector; + chainToLoad =new ArrayList<>(); + /** + // Calculte the last angle + * + */ + chain.forwardKinematicsMatrix(wristLinks,chainToLoad); + TransformNR startOfWristSet3=chain.kin.inverseOffset(chainToLoad.get(4)); + TransformNR tool = new TransformNR(); + if(linkNum==7) + tool=linkOffset(links.get(6)); + TransformNR wristMOvedToCenter2 =startOfWristSet3 + .inverse()// move back from base ot wrist to world home + .times(target.times(tool.inverse()));// move forward to target, leaving the angle between the tip and the start of the rotation + //if(debug)System.out.println( "\n\nLastLink " +wristMOvedToCenter2 + RotationNR qWrist3=wristMOvedToCenter2.getRotation(); + jointSpaceVector[5]=(Math.toDegrees(qWrist3.getRotationAzimuth())-Math.toDegrees(links.get(5).getTheta())); + + return jointSpaceVector; + } + +} From 415f84e0403670d2046b570cd12a2f1fd2fbbe7f Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 1 Sep 2022 14:24:27 -0400 Subject: [PATCH 332/482] adding ticktoc instriment harness --- .../kinematics/AbstractKinematicsNR.java | 29 ++++++-- .../sdk/addons/kinematics/AbstractLink.java | 12 +++- .../sdk/addons/kinematics/LinkFactory.java | 12 +++- .../neuronrobotics/sdk/common/TickToc.java | 69 +++++++++++++++++++ .../sdk/pid/VirtualGenericPIDDevice.java | 12 ++-- 5 files changed, 120 insertions(+), 14 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/common/TickToc.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 5a0818a2..80ceb716 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -24,6 +24,7 @@ //import com.neuronrobotics.sdk.addons.kinematics.PidRotoryLink; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.common.NonBowlerDevice; +import com.neuronrobotics.sdk.common.TickToc; import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; import com.neuronrobotics.sdk.pid.IPIDEventListener; import com.neuronrobotics.sdk.pid.InterpolationEngine; @@ -575,17 +576,28 @@ public double getCurrentLinkEngineeringUnits(int linkIndex) { * @throws Exception If there is a workspace error */ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, double seconds) throws Exception { + TickToc.tic("setDesiredTaskSpaceTransform start"); Log.info("Setting target pose: " + taskSpaceTransform); setCurrentPoseTarget(taskSpaceTransform); - - double[] jointSpaceVect = inverseKinematics(inverseOffset(taskSpaceTransform)); + TickToc.tic("setCurrentPoseTarget"); + TransformNR inverseOffset = inverseOffset(taskSpaceTransform); + TickToc.tic("inverseOffset"); + double[] jointSpaceVect = inverseKinematics(inverseOffset); + TickToc.tic("inverseKinematics"); if(checkVector(this,jointSpaceVect,seconds)) { + TickToc.tic("checkVector success"); if (jointSpaceVect == null) throw new RuntimeException("The kinematics model must return an array, not null"); + _setDesiredJointSpaceVector(jointSpaceVect, seconds,false); + TickToc.tic("_setDesiredJointSpaceVector complete"); return jointSpaceVect; - } - return getCurrentJointSpaceTarget(); + }else + TickToc.tic("checkVector fail"); + + double[] currentJointSpaceTarget2 = getCurrentJointSpaceTarget(); + TickToc.tic("getCurrentJointSpaceTarget"); + return currentJointSpaceTarget2; } /** @@ -731,12 +743,15 @@ private double[] _setDesiredJointSpaceVector(double[] jointSpaceVect, double se //synchronized(AbstractKinematicsNR.class) { int except = 0; Exception e = null; + TickToc.tic("Set hardware values start"); do { try { factory.setCachedTargets(jointSpaceVect); + TickToc.tic("Cached targets "); if (!isNoFlush()) { // factory.flush(seconds); + TickToc.tic("_setDesiredJointSpaceVector flush "+seconds); // } except = 0; @@ -749,13 +764,19 @@ private double[] _setDesiredJointSpaceVector(double[] jointSpaceVect, double se } while (except > 0 && except < getRetryNumberBeforeFail()); if (e != null) throw new RuntimeException("Limit On "+getScriptingName()+" "+e.getMessage()); + TickToc.tic("Set hardware values done"); for(int i=0;i flushed=new HashMap(); for(LinkConfiguration c:getLinkConfigurations()){ String name = c.getDeviceScriptingName(); + //TickToc.tic("Checking "+name+" for flush "); // if a device is disconnected it is removed from the device manager. the factory should check all devices - if(DeviceManager.getSpecificDevice(IFlushable.class,name)==null){ + Object specificDevice = DeviceManager.getSpecificDevice(IFlushable.class,name); + if(specificDevice==null){ getLink(c).flush(seconds);//links flushed directly because there is no flushable device }else{ if(flushed.get(name)==null){ flushed.put(name,true); - IFlushable flushDevice = (IFlushable)DeviceManager.getSpecificDevice(IFlushable.class,name); + IFlushable flushDevice = (IFlushable)specificDevice; + flushDevice.flush(seconds); + //TickToc.tic("Flushed "+name); } } - + //TickToc.tic("Done Checking "+name+" for flush "); } //System.out.println("Flush Took "+(System.currentTimeMillis()-time)+"ms"); @@ -376,6 +381,7 @@ public void setCachedTargets(double[] jointSpaceVect) { throw new IndexOutOfBoundsException("Expected "+links.size()+" links, got "+jointSpaceVect.length); int i=0; for(AbstractLink lin:links){ + try{ lin.setTargetEngineeringUnits(jointSpaceVect[i]); }catch (Exception ee){ diff --git a/src/main/java/com/neuronrobotics/sdk/common/TickToc.java b/src/main/java/com/neuronrobotics/sdk/common/TickToc.java new file mode 100644 index 00000000..35eb9a6e --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/common/TickToc.java @@ -0,0 +1,69 @@ +package com.neuronrobotics.sdk.common; + +import java.text.DecimalFormat; +import java.util.ArrayList; + +public class TickToc { + private static final DecimalFormat df = new DecimalFormat(".000"); + private static boolean enabled=false; + + public static class Pair { + public long integer; + + public String message; + public Pair(long timestamp,String message) { + integer=timestamp; + this.message=message; + } + public void print(Pair start,Pair previous) { + double tookms = integer-start.integer; + String m=" took "+df.format(tookms/1000.0)+" seconds "; + if(previous!=null) { + double diffms = integer-previous.integer; + m=m+" from last event "+df.format(diffms/1000.0)+" seconds "; + } + m=m+" "+message; + System.out.println(m); + } + } + + private static ArrayList events = new ArrayList<>(); + + public static void tic(String message) { + if(!isEnabled()) + return; + events.add(new Pair(System.currentTimeMillis(), message)); + } + + + public static void clear() { + events.clear(); + } + public static void toc() { + if(!isEnabled()) + return; + events.add(new Pair(System.currentTimeMillis(), "Toc end event")); + Pair start = events.remove(0); + Pair previous=null; + System.out.println("\n\n"); + for(Pair p:events) { + p.print(start,previous); + previous=p; + } + clear(); + } + + + public static boolean isEnabled() { + return enabled; + } + + + public static void setEnabled(boolean enabled) { + TickToc.enabled = enabled; + if(!enabled) + clear(); + else + tic("Tick Tock start"); + } +} diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index 293c8d40..05c00df4 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -397,12 +397,12 @@ public void setPause(boolean pause) { if (pause) isPaused = false; this.pause = pause; - while (!isPaused) { - try { - Thread.sleep(threadTime); - } catch (InterruptedException e) { - } - } +// while (!isPaused) { +// try { +// Thread.sleep(threadTime); +// } catch (InterruptedException e) { +// } +// } } } From c214d68094bc0fc5d21f9a0dccc82a394784981b Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 1 Sep 2022 15:43:27 -0400 Subject: [PATCH 333/482] removing the pausing --- .../neuronrobotics/sdk/common/TickToc.java | 4 +- .../sdk/pid/InterpolationEngine.java | 49 ++++++++-------- .../sdk/pid/VirtualGenericPIDDevice.java | 56 +++++++++---------- 3 files changed, 55 insertions(+), 54 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/TickToc.java b/src/main/java/com/neuronrobotics/sdk/common/TickToc.java index 35eb9a6e..081e1fb4 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/TickToc.java +++ b/src/main/java/com/neuronrobotics/sdk/common/TickToc.java @@ -63,7 +63,9 @@ public static void setEnabled(boolean enabled) { TickToc.enabled = enabled; if(!enabled) clear(); - else + else { + System.out.println("Start TickToc"); tic("Tick Tock start"); + } } } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java index b80187b7..7ca03cf2 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java @@ -57,10 +57,9 @@ public class InterpolationEngine { */ public void SetVelocity(double unitsPerSecond) { //System.out.println("Setting velocity to "+unitsPerSecond+"ticks/second"); - setPause(true); + //setPause(true); - System.currentTimeMillis(); - setPause(false); + //setPause(false); } /** @@ -104,7 +103,7 @@ public void setSetpointWithTime(double setpoint,double seconds, InterpolationTyp type = mode; if(seconds<0.001) seconds = 0.001;// one ms garunteed - setPause(true); + //setPause(true); duration = (long) (seconds*1000); startTime=System.currentTimeMillis(); @@ -115,7 +114,7 @@ public void setSetpointWithTime(double setpoint,double seconds, InterpolationTyp endSetpoint=setpoint; startSetpoint = getTicks(); - setPause(false); + //setPause(false); } public void StartTrapezoidalMotion(double setpoint,double seconds, double trapazoidalTime) { @@ -147,7 +146,7 @@ void StartBezierMotion(double setpoint,double seconds, double Control_0 , double */ public boolean update(){ interpolate(); - if((getTicks()!=lastTick) && !isPause()) { + if((getTicks()!=lastTick)) { lastTick=getTicks(); return true; } @@ -160,7 +159,7 @@ public boolean update(){ * @param value the value */ public synchronized void ResetEncoder(double value) { - setPause(true); + //setPause(true); //ThreadUtil.wait((int)(threadTime*2)); setTicks(value); lastTick=value; @@ -168,7 +167,7 @@ public synchronized void ResetEncoder(double value) { duration=0; startTime=System.currentTimeMillis(); startSetpoint=value; - setPause(false); + //setPause(false); } @@ -248,23 +247,23 @@ private void interpolate() { } } - /** - * Checks if is pause. - * - * @return true, if is pause - */ - public boolean isPause() { - return pause; - } - - /** - * Sets the pause. - * - * @param pause the new pause - */ - private void setPause(boolean pause) { - this.pause = pause; - } +// /** +// * Checks if is pause. +// * +// * @return true, if is pause +// */ +// public boolean isPause() { +// return pause; +// } +// +// /** +// * Sets the pause. +// * +// * @param pause the new pause +// */ +// private void setPause(boolean pause) { +// this.pause = pause; +// } /** * Gets the ticks. diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index 05c00df4..2692a1d2 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -181,9 +181,9 @@ public boolean ResetPIDChannel(int group, float valueToSetCurrentTo) { public boolean SetPIDSetPoint(int group, float setpoint, double seconds) { // new RuntimeException("Virtual setpoint, group="+group+" // setpoint="+setpoint).printStackTrace();; - sync.setPause(true); + //sync.setPause(true); getDriveThread(group).StartLinearMotion(setpoint, seconds); - sync.setPause(false); + //sync.setPause(false); return true; } @@ -236,11 +236,11 @@ public void flushPIDChannels(double time) { */ @Override public boolean SetAllPIDSetPoint(float[] setpoints, double seconds) { - sync.setPause(true); + //sync.setPause(true); for (int i = 0; i < setpoints.length; i++) { getDriveThread(i).StartLinearMotion(setpoints[i], seconds); } - sync.setPause(false); + //sync.setPause(false); return true; } @@ -353,11 +353,11 @@ public void run() { Thread.sleep(threadTime); } catch (InterruptedException ex) { } - while (isPause()) { - isPaused = true; - ThreadUtil.wait(10); - } - isPaused = false; +// while (isPause()) { +// isPaused = true; +// ThreadUtil.wait(1); +// } +// isPaused = false; time = System.currentTimeMillis(); for (PIDConfiguration key : driveThreads.keySet()) { InterpolationEngine dr = driveThreads.get(key); @@ -379,31 +379,31 @@ public void run() { } } - /** - * Checks if is pause. - * - * @return true, if is pause - */ - public boolean isPause() { - return pause; - } +// /** +// * Checks if is pause. +// * +// * @return true, if is pause +// */ +// public boolean isPause() { +// return pause; +// } /** * Sets the pause. * * @param pause the new pause */ - public void setPause(boolean pause) { - if (pause) - isPaused = false; - this.pause = pause; -// while (!isPaused) { -// try { -// Thread.sleep(threadTime); -// } catch (InterruptedException e) { -// } -// } - } +// public void setPause(boolean pause) { +// if (pause) +// isPaused = false; +// this.pause = pause; +//// while (!isPaused) { +//// try { +//// Thread.sleep(threadTime); +//// } catch (InterruptedException e) { +//// } +//// } +// } } /* From 893368cd18ca11924a939740286552f1053edb62 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 1 Sep 2022 16:05:02 -0400 Subject: [PATCH 334/482] thread-safe the ticktoc --- src/main/java/com/neuronrobotics/sdk/common/TickToc.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/TickToc.java b/src/main/java/com/neuronrobotics/sdk/common/TickToc.java index 081e1fb4..9ce2198d 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/TickToc.java +++ b/src/main/java/com/neuronrobotics/sdk/common/TickToc.java @@ -46,7 +46,8 @@ public static void toc() { Pair start = events.remove(0); Pair previous=null; System.out.println("\n\n"); - for(Pair p:events) { + for (int i = 0; i < events.size(); i++) { + Pair p = events.get(i); p.print(start,previous); previous=p; } From 15c6e2b9670f520ca7ef3ea9934b2dff6cc55135 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 2 Sep 2022 11:00:33 -0400 Subject: [PATCH 335/482] adding a hardware sync pulse path --- .../IHardwareSyncPulseProvider.java | 24 ++ .../kinematics/IHardwareSyncPulseReciver.java | 5 + .../sdk/addons/kinematics/LinkFactory.java | 330 +++++++++--------- .../sdk/addons/kinematics/MobileBase.java | 12 +- .../sdk/pid/VirtualGenericPIDDevice.java | 28 +- 5 files changed, 225 insertions(+), 174 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/IHardwareSyncPulseProvider.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/IHardwareSyncPulseReciver.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IHardwareSyncPulseProvider.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IHardwareSyncPulseProvider.java new file mode 100644 index 00000000..728a3619 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IHardwareSyncPulseProvider.java @@ -0,0 +1,24 @@ +package com.neuronrobotics.sdk.addons.kinematics; + +import java.util.ArrayList; + +public interface IHardwareSyncPulseProvider { + ArrayList syncPulse = new ArrayList<>(); + + default public void addIHardwareSyncPulseReciver(IHardwareSyncPulseReciver r) { + if (syncPulse.contains(r)) + return; + syncPulse.add(r); + } + + default public void removeIHardwareSyncPulseReciver(IHardwareSyncPulseReciver r) { + if (syncPulse.contains(r)) + syncPulse.remove(r); + } + + default public void doSync() { + for (IHardwareSyncPulseReciver r : syncPulse) { + r.sync(); + } + } +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IHardwareSyncPulseReciver.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IHardwareSyncPulseReciver.java new file mode 100644 index 00000000..f7d059c5 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IHardwareSyncPulseReciver.java @@ -0,0 +1,5 @@ +package com.neuronrobotics.sdk.addons.kinematics; + +public interface IHardwareSyncPulseReciver { + public void sync(); +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index e86e1ad1..65736dc1 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -1,4 +1,5 @@ package com.neuronrobotics.sdk.addons.kinematics; + import java.util.ArrayList; import java.util.HashMap; @@ -23,75 +24,77 @@ /** * A factory for creating Link objects. */ -public class LinkFactory { - private static HashMap userLinkProviders = new HashMap(); - /** The virtual. */ - private VirtualGenericPIDDevice virtual=null; - +public class LinkFactory implements IHardwareSyncPulseReciver,IHardwareSyncPulseProvider { + private static HashMap userLinkProviders = new HashMap(); + + /** The links. */ private ArrayList links = new ArrayList(); - + /** The link configurations. */ - private ArrayList linkConfigurations=null ; + private ArrayList linkConfigurations = null; + /** * Add a new link provider * - * @param typeTag a string to link it to the string in the XML that determines type + * @param typeTag a string to link it to the string in the XML that determines + * type * @param provider the provider module */ - public static void addLinkProvider(String typeTag, INewLinkProvider provider){ + public static void addLinkProvider(String typeTag, INewLinkProvider provider) { userLinkProviders.put(typeTag, provider); LinkType.addType(typeTag); } + /** * Check to see if link provider is already defined + * * @param typeTag * @return */ - public static boolean linkProviderExists(String typeTag){ - return userLinkProviders.get(typeTag)!=null; + public static boolean linkProviderExists(String typeTag) { + return userLinkProviders.get(typeTag) != null; } - + /** * Instantiates a new link factory. */ - public LinkFactory(){ + public LinkFactory() { this(null); } - + /** * Instantiates a new link factory. * * @param bad the bad */ - public LinkFactory(BowlerAbstractDevice bad){ - if(bad!=null) + public LinkFactory(BowlerAbstractDevice bad) { + if (bad != null) DeviceManager.addConnection(bad, bad.getScriptingName()); } - + /** * Instantiates a new link factory. * * @param connection the connection - * @param d the d + * @param d the d */ - public LinkFactory(ILinkFactoryProvider connection,IExtendedPIDControl d) { + public LinkFactory(ILinkFactoryProvider connection, IExtendedPIDControl d) { this(null); - //Log.enableInfoPrint(); - //TODO fill in the auto link configuration + // Log.enableInfoPrint(); + // TODO fill in the auto link configuration LinkConfiguration first = connection.requestLinkConfiguration(0); - first.setPidConfiguration( d); + first.setPidConfiguration(d); getLink(first); - - for (int i=1;i flushed = new HashMap(); + for (LinkConfiguration c : getLinkConfigurations()) { + String name = c.getDeviceScriptingName(); + // TickToc.tic("Checking "+name+" for flush "); + // if a device is disconnected it is removed from the device manager. the + // factory should check all devices + Object specificDevice = DeviceManager.getSpecificDevice(IFlushable.class, name); + if (specificDevice == null) { + getLink(c).flush(seconds);// links flushed directly because there is no flushable device + } else { + if (flushed.get(name) == null) { + flushed.put(name, true); + IFlushable flushDevice = (IFlushable) specificDevice; + flushDevice.flush(seconds); - //TickToc.tic("Flushed "+name); + // TickToc.tic("Flushed "+name); } } - //TickToc.tic("Done Checking "+name+" for flush "); - + // TickToc.tic("Done Checking "+name+" for flush "); + } - //System.out.println("Flush Took "+(System.currentTimeMillis()-time)+"ms"); + // System.out.println("Flush Took "+(System.currentTimeMillis()-time)+"ms"); } - + /** * Gets the pid from the database.. * @@ -345,47 +335,48 @@ public void flush(final double seconds){ */ public IPidControlNamespace getPid(LinkConfiguration c) { - return (IPidControlNamespace) DeviceManager.getSpecificDevice(IPidControlNamespace.class, c.getDeviceScriptingName()); + return (IPidControlNamespace) DeviceManager.getSpecificDevice(IPidControlNamespace.class, + c.getDeviceScriptingName()); } - + /** * Gets the dyio. * * @return the dyio from the database. */ - public DyIO getDyio(LinkConfiguration c){ - - return (DyIO) DeviceManager.getSpecificDevice(DyIO.class, c.getDeviceScriptingName()); + public DyIO getDyio(LinkConfiguration c) { + + return (DyIO) DeviceManager.getSpecificDevice(DyIO.class, c.getDeviceScriptingName()); } - + /** * Gets the Gcode device from the database. * * @return the GCODE device */ - public GcodeDevice getGCODE(LinkConfiguration c){ - - return (GcodeDevice) DeviceManager.getSpecificDevice(GcodeDevice.class, c.getDeviceScriptingName()); + public GcodeDevice getGCODE(LinkConfiguration c) { + + return (GcodeDevice) DeviceManager.getSpecificDevice(GcodeDevice.class, c.getDeviceScriptingName()); } - + /** * Sets the cached targets. * * @param jointSpaceVect the new cached targets */ public void setCachedTargets(double[] jointSpaceVect) { - if(jointSpaceVect.length!=links.size()) - throw new IndexOutOfBoundsException("Expected "+links.size()+" links, got "+jointSpaceVect.length); - int i=0; - for(AbstractLink lin:links){ - - try{ + if (jointSpaceVect.length != links.size()) + throw new IndexOutOfBoundsException("Expected " + links.size() + " links, got " + jointSpaceVect.length); + int i = 0; + for (AbstractLink lin : links) { + + try { lin.setTargetEngineeringUnits(jointSpaceVect[i]); - }catch (Exception ee){ - throw new RuntimeException("Joint "+i+" failed\n"+ee.getMessage()); + } catch (Exception ee) { + throw new RuntimeException("Joint " + i + " failed\n" + ee.getMessage()); } i++; } @@ -397,9 +388,10 @@ public void setCachedTargets(double[] jointSpaceVect) { * @return true, if is connected */ public boolean isConnected() { - for(LinkConfiguration c:getLinkConfigurations()){ - // if a device is disconnected it is removed from the device manager. the factory should check all devices - if(DeviceManager.getSpecificDevice(null, c.getDeviceScriptingName())==null){ + for (LinkConfiguration c : getLinkConfigurations()) { + // if a device is disconnected it is removed from the device manager. the + // factory should check all devices + if (DeviceManager.getSpecificDevice(null, c.getDeviceScriptingName()) == null) { return false; } } @@ -412,8 +404,8 @@ public boolean isConnected() { * @return the link configurations */ public ArrayList getLinkConfigurations() { - if(linkConfigurations== null){ - linkConfigurations=new ArrayList(); + if (linkConfigurations == null) { + linkConfigurations = new ArrayList(); } return linkConfigurations; } @@ -425,7 +417,7 @@ public ArrayList getLinkConfigurations() { */ public void removeLinkListener(AbstractKinematicsNR l) { // TODO Auto-generated method stub - for(AbstractLink lin:links){ + for (AbstractLink lin : links) { lin.removeLinkListener(l); } } @@ -439,4 +431,22 @@ public void deleteLink(int i) { links.remove(i); getLinkConfigurations().remove(i); } + + + + @Override + public void sync() { + doSync(); + } + + public VirtualGenericPIDDevice getVirtual(String myVirtualDevName) { + return (VirtualGenericPIDDevice) DeviceManager.getSpecificDevice(myVirtualDevName, + () -> { + VirtualGenericPIDDevice virtualGenericPIDDevice = new VirtualGenericPIDDevice(myVirtualDevName); + virtualGenericPIDDevice.addIHardwareSyncPulseReciver(this); + return virtualGenericPIDDevice; + }); + } + + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index cf245cde..875ae018 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -25,7 +25,7 @@ /** * The Class MobileBase. */ -public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurationChangeListener,IOnMobileBaseRenderChange, IJointSpaceUpdateListenerNR { +public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurationChangeListener,IOnMobileBaseRenderChange, IJointSpaceUpdateListenerNR,IHardwareSyncPulseReciver,IHardwareSyncPulseProvider { /** The legs. */ private final ArrayList legs = new ArrayList(); @@ -929,10 +929,12 @@ private void addListeners(DHParameterKinematics kin) { if(m!=null) { m.connect(); m.addIOnMobileBaseRenderChange(this); + m.getFactory().addIHardwareSyncPulseReciver(this); } - + } kin.addJointSpaceListener(this); + kin.getFactory().addIHardwareSyncPulseReciver(this); } public static void main(String[] args) throws Exception { @@ -1027,5 +1029,11 @@ public void onJointSpaceLimit(AbstractKinematicsNR source, int axis, JointLimit // TODO Auto-generated method stub } + + + @Override + public void sync() { + doSync(); + } } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index 2692a1d2..02735434 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -3,6 +3,8 @@ import java.util.ArrayList; import java.util.HashMap; +import com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseProvider; +import com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseReciver; import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerDatagram; import com.neuronrobotics.sdk.common.InvalidConnectionException; @@ -15,20 +17,20 @@ /** * The Class VirtualGenericPIDDevice. */ -public class VirtualGenericPIDDevice extends GenericPIDDevice { +public class VirtualGenericPIDDevice extends GenericPIDDevice implements IHardwareSyncPulseProvider{ /** The Constant threadTime. */ private static final long threadTime = 10; /** The drive threads. */ - private HashMap driveThreads = new HashMap<>(); + private HashMap interpolationEngines = new HashMap<>(); /** The configs. */ private HashMap configs = new HashMap<>(); /** The P dconfigs. */ private ArrayList PDconfigs = new ArrayList(); - + /** The sync. */ SyncThread sync = new SyncThread(); @@ -245,12 +247,12 @@ public boolean SetAllPIDSetPoint(float[] setpoints, double seconds) { } private InterpolationEngine getDriveThread(int i) { - for (PIDConfiguration c : driveThreads.keySet()) { + for (PIDConfiguration c : interpolationEngines.keySet()) { if (c.getGroup() == i) { - return driveThreads.get(c); + return interpolationEngines.get(c); } } - for (PIDConfiguration c : driveThreads.keySet()) { + for (PIDConfiguration c : interpolationEngines.keySet()) { System.err.println(c); } @@ -299,7 +301,7 @@ public float[] GetAllPIDPosition() { conf.setGroup(i); conf.setEnabled(true); InterpolationEngine d = new InterpolationEngine(); - driveThreads.put(conf, d); + interpolationEngines.put(conf, d); configs.put(i, conf); } } @@ -335,9 +337,7 @@ public double getMaxTicksPerSecond() { private class SyncThread extends Thread { /** The pause. */ - private boolean pause = false; - - private boolean isPaused = false; + private boolean sync = false; /* * (non-Javadoc) @@ -358,14 +358,16 @@ public void run() { // ThreadUtil.wait(1); // } // isPaused = false; + sync=false; time = System.currentTimeMillis(); - for (PIDConfiguration key : driveThreads.keySet()) { - InterpolationEngine dr = driveThreads.get(key); + for (PIDConfiguration key : interpolationEngines.keySet()) { + InterpolationEngine dr = interpolationEngines.get(key); if (key.isEnabled()) { if (dr.update()) { try { e.set(key.getGroup(), (float) dr.getTicks(), time, 0); firePIDEvent(e); + sync=true; } catch (NullPointerException ex) { // initialization issue, let it work itself out } catch (Exception ex) { @@ -376,6 +378,8 @@ public void run() { System.err.println("Virtual Device "+key.getGroup()+" is disabled"); } } + if(sync) + doSync(); } } From d2172a32b7026e69a38dfe4f2826c2aa51963c0a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 2 Sep 2022 14:46:55 -0400 Subject: [PATCH 336/482] adding a dirty pause detect --- .../IHardwareSyncPulseProvider.java | 23 ++++-- .../sdk/addons/kinematics/MobileBase.java | 1 - .../sdk/pid/VirtualGenericPIDDevice.java | 70 +++++++++---------- 3 files changed, 48 insertions(+), 46 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IHardwareSyncPulseProvider.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IHardwareSyncPulseProvider.java index 728a3619..d7c7861a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IHardwareSyncPulseProvider.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IHardwareSyncPulseProvider.java @@ -1,24 +1,33 @@ package com.neuronrobotics.sdk.addons.kinematics; import java.util.ArrayList; +import java.util.HashMap; public interface IHardwareSyncPulseProvider { - ArrayList syncPulse = new ArrayList<>(); + HashMap>syncPulse=new HashMap<>(); + default public void addIHardwareSyncPulseReciver(IHardwareSyncPulseReciver r) { - if (syncPulse.contains(r)) + if (getListeners().contains(r) || r==this) return; - syncPulse.add(r); + getListeners().add(r); } default public void removeIHardwareSyncPulseReciver(IHardwareSyncPulseReciver r) { - if (syncPulse.contains(r)) - syncPulse.remove(r); + if (getListeners().contains(r)) + getListeners().remove(r); } default public void doSync() { - for (IHardwareSyncPulseReciver r : syncPulse) { - r.sync(); + for (IHardwareSyncPulseReciver r : getListeners()) { + if(r!=this) + r.sync(); } } + + default public ArrayList getListeners(){ + if(syncPulse.get(this)==null) + syncPulse.put(this, new ArrayList<>()); + return syncPulse.get(this); + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 875ae018..dcb4072e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -929,7 +929,6 @@ private void addListeners(DHParameterKinematics kin) { if(m!=null) { m.connect(); m.addIOnMobileBaseRenderChange(this); - m.getFactory().addIHardwareSyncPulseReciver(this); } } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index 02735434..beca2af0 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -38,7 +38,7 @@ public class VirtualGenericPIDDevice extends GenericPIDDevice implements IHardw private double maxTicksPerSecond; /** The num channels. */ - private int numChannels = 24; + private int numChannels = 40; private float[] backs; @@ -63,6 +63,7 @@ public VirtualGenericPIDDevice(double maxTicksPerSecond, String myVirtualDevName if(myVirtualDevName == null) throw new RuntimeException("Name of virtual device can not be null"); this.myVirtualDevName = myVirtualDevName; + setScriptingName(myVirtualDevName); getImplementation().setChannelCount(new Integer(numChannels)); GetAllPIDPosition(); for (int i = 0; i < numChannels; i++) { @@ -167,9 +168,11 @@ public BowlerDatagram send(BowlerAbstractCommand command) */ @Override public boolean ResetPIDChannel(int group, float valueToSetCurrentTo) { + sync.setPause(true); getDriveThread(group).ResetEncoder(valueToSetCurrentTo); float val = GetPIDPosition(group); firePIDResetEvent(group, val); + sync.setPause(false); return true; } @@ -183,9 +186,9 @@ public boolean ResetPIDChannel(int group, float valueToSetCurrentTo) { public boolean SetPIDSetPoint(int group, float setpoint, double seconds) { // new RuntimeException("Virtual setpoint, group="+group+" // setpoint="+setpoint).printStackTrace();; - //sync.setPause(true); + sync.setPause(true); getDriveThread(group).StartLinearMotion(setpoint, seconds); - //sync.setPause(false); + sync.setPause(false); return true; } @@ -238,11 +241,11 @@ public void flushPIDChannels(double time) { */ @Override public boolean SetAllPIDSetPoint(float[] setpoints, double seconds) { - //sync.setPause(true); + sync.setPause(true); for (int i = 0; i < setpoints.length; i++) { getDriveThread(i).StartLinearMotion(setpoints[i], seconds); } - //sync.setPause(false); + sync.setPause(false); return true; } @@ -338,7 +341,9 @@ private class SyncThread extends Thread { /** The pause. */ private boolean sync = false; - + private boolean pause = false; + private boolean updating = false; + private boolean dirty =false; /* * (non-Javadoc) * @@ -353,13 +358,10 @@ public void run() { Thread.sleep(threadTime); } catch (InterruptedException ex) { } -// while (isPause()) { -// isPaused = true; -// ThreadUtil.wait(1); -// } -// isPaused = false; + sync=false; time = System.currentTimeMillis(); + updating=true; for (PIDConfiguration key : interpolationEngines.keySet()) { InterpolationEngine dr = interpolationEngines.get(key); if (key.isEnabled()) { @@ -378,36 +380,28 @@ public void run() { System.err.println("Virtual Device "+key.getGroup()+" is disabled"); } } - if(sync) + updating=false; + while(isPause()) + try { + Thread.sleep(1); + } catch (InterruptedException e1) { + // TODO Auto-generated catch block + e1.printStackTrace(); + } + if(dirty) { + dirty=false; + }else if(sync) doSync(); } } - -// /** -// * Checks if is pause. -// * -// * @return true, if is pause -// */ -// public boolean isPause() { -// return pause; -// } - - /** - * Sets the pause. - * - * @param pause the new pause - */ -// public void setPause(boolean pause) { -// if (pause) -// isPaused = false; -// this.pause = pause; -//// while (!isPaused) { -//// try { -//// Thread.sleep(threadTime); -//// } catch (InterruptedException e) { -//// } -//// } -// } + public boolean isPause() { + return pause; + } + public void setPause(boolean pause) { + this.pause = pause; + if(updating && pause) + dirty=true; + } } /* From 8048b6030fd05bbf2794282c295608c645204df9 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 6 Sep 2022 12:01:22 -0400 Subject: [PATCH 337/482] wrist normalizer --- .../addons/kinematics/WristNormalizer.java | 50 +++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java new file mode 100644 index 00000000..1be6dc6e --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java @@ -0,0 +1,50 @@ +package com.neuronrobotics.sdk.addons.kinematics; + +import java.util.HashMap; + +public class WristNormalizer { + double[] normalize(double[] calculated,double[] current, DHChain chain) { + AbstractKinematicsNR kin = chain.kin; + //DecimalFormat df = new DecimalFormat("000.00"); + double[] alt1 = new double[] {calculated[0]-180,-calculated[1],calculated[2]-180}; + + HashMap scores= new HashMap<>(); + score(calculated,current,scores,kin); + score(alt1,current,scores,kin); + + score(new double[] {calculated[0]-360,calculated[1],calculated[2]},current,scores,kin); + score(new double[] {calculated[0]+360,calculated[1],calculated[2]},current,scores,kin); + + score(new double[] {alt1[0]-360,alt1[1],alt1[2]},current,scores,kin); + score(new double[] {alt1[0]+360,alt1[1],alt1[2]},current,scores,kin); + + double score=scores.get(calculated); + double[] ret=calculated; + for(double[] tmp:scores.keySet()) { + double delt =scores.get(tmp) +; if(delt scores,AbstractKinematicsNR kin ) { + double delt=0; + for(int i=0;i<3;i++) { + int i3 = i+3; + if(calculated[i] >kin.getMaxEngineeringUnits(i3)) { + calculated[i]-=360; + } + if(calculated[i] Math.abs(delt)) { + delt=measure; + } + } + scores.put(calculated, Math.abs(delt)); + } +} From fb7f0ee0150c88681a1d19b76c1a0aed7b773fc0 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 6 Sep 2022 12:36:15 -0400 Subject: [PATCH 338/482] normalizer --- .../sdk/addons/kinematics/WristNormalizer.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java index 1be6dc6e..e28da6c3 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java @@ -3,7 +3,7 @@ import java.util.HashMap; public class WristNormalizer { - double[] normalize(double[] calculated,double[] current, DHChain chain) { + public static double[] normalize(double[] calculated,double[] current, DHChain chain) { AbstractKinematicsNR kin = chain.kin; //DecimalFormat df = new DecimalFormat("000.00"); double[] alt1 = new double[] {calculated[0]-180,-calculated[1],calculated[2]-180}; @@ -27,10 +27,11 @@ public class WristNormalizer { ret=tmp; } } + scores.clear(); return ret; } - void score(double[] calculated,double[] current,HashMap scores,AbstractKinematicsNR kin ) { + private static void score(double[] calculated,double[] current,HashMap scores,AbstractKinematicsNR kin ) { double delt=0; for(int i=0;i<3;i++) { int i3 = i+3; From 01e2c07d74406b5eab45da4c777ce4c6428162aa Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 6 Sep 2022 15:47:21 -0400 Subject: [PATCH 339/482] cleaning up the eventing path --- .../kinematics/AbstractKinematicsNR.java | 24 ++++++++++++------- .../sdk/addons/kinematics/MobileBase.java | 4 +++- .../bcs/pid/AbstractPidNamespaceImp.java | 10 ++++---- 3 files changed, 24 insertions(+), 14 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 80ceb716..f97dc6e7 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -962,7 +962,7 @@ public TransformNR getRobotToFiducialTransform() { * * @param frameToBase the new global to fiducial transform */ - public void setGlobalToFiducialTransform(TransformNR frameToBase) { + public void setGlobalToFiducialTransform(TransformNR frameToBase, boolean fireUpdate) { if (frameToBase == null) { Log.error("Fiducial can not be null " + frameToBase); new Exception("Fiducial can not be null ").printStackTrace(System.out); @@ -970,15 +970,23 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { } Log.info("Setting Global To Fiducial Transform " + frameToBase); this.fiducial2RAS = frameToBase; - //synchronized (AbstractKinematicsNR.class) { - for (IRegistrationListenerNR r : regListeners) { - r.onFiducialToGlobalUpdate(this, frameToBase); - } + if(!fireUpdate) + return; + for (IRegistrationListenerNR r : regListeners) { + r.onFiducialToGlobalUpdate(this, frameToBase); + } - runRenderWrangler(); - //} + runRenderWrangler(); + + } + /** + * Sets the global to fiducial transform. + * + * @param frameToBase the new global to fiducial transform + */ + public void setGlobalToFiducialTransform(TransformNR frameToBase) { + setGlobalToFiducialTransform(frameToBase, true); } - /** * Inverse offset. * diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index dcb4072e..2477f661 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -973,8 +973,10 @@ public static void main(String[] args) throws Exception { } private void fireIOnMobileBaseRenderChange() { - for(IOnMobileBaseRenderChange l:changeListeners) + for (int i = 0; i < changeListeners.size(); i++) { + IOnMobileBaseRenderChange l = changeListeners.get(i); l.event(); + } } public void setHomeProvider(ICalcLimbHomeProvider homeProvider) { this.homeProvider = homeProvider; diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/AbstractPidNamespaceImp.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/AbstractPidNamespaceImp.java index 0c2e20c4..f779f598 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/AbstractPidNamespaceImp.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/AbstractPidNamespaceImp.java @@ -155,12 +155,12 @@ public void firePIDEvent(PIDEvent e){ } } - synchronized(PIDEventListeners){ - SetCachedPosition(e.getGroup(), e.getValue()); - for(IPIDEventListener l: PIDEventListeners) - l.onPIDEvent(e); + + SetCachedPosition(e.getGroup(), e.getValue()); + for (int i = 0; i < PIDEventListeners.size(); i++) { + IPIDEventListener l = PIDEventListeners.get(i); + l.onPIDEvent(e); } - //channels.get(e.getGroup()).firePIDEvent(e); } /** From d0b0cfc8816c60dae7b4b9d944c3f81ed7f55fea Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 8 Sep 2022 10:04:11 -0400 Subject: [PATCH 340/482] whitespace --- .../sdk/addons/kinematics/parallel/ParallelGroup.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index c2d79d42..e87d6096 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -121,8 +121,6 @@ public void onTargetTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pos } }); } - - } public void clearReferencedLimb(DHParameterKinematics limb) { From e8455f21bd127c9c363bef7d4aadf0002d221973 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 8 Sep 2022 15:22:38 -0400 Subject: [PATCH 341/482] attempt to tighten synchronization --- .../kinematics/AbstractKinematicsNR.java | 5 +- .../sdk/addons/kinematics/DHChain.java | 4 +- .../kinematics/parallel/ParallelGroup.java | 59 ++++++----- .../sdk/pid/InterpolationEngine.java | 22 ++--- .../sdk/pid/VirtualGenericPIDDevice.java | 98 ++++++++++--------- 5 files changed, 97 insertions(+), 91 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index f97dc6e7..2347edbd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -1681,7 +1681,7 @@ public void asyncInterpolatedMove(TransformNR target, double seconds, Interpolat public InterpolationMoveState blockingInterpolatedMove(TransformNR target, double seconds, InterpolationType type, double ...conf ) { InterpolationEngine engine = new InterpolationEngine(); - + long currentTimeMillis = System.currentTimeMillis(); TransformNR delta =getDeltaToTarget(target); TransformNR startingPoint = getCurrentPoseTarget(); if (checkTaskSpaceTransform(target)) { @@ -1693,7 +1693,8 @@ public InterpolationMoveState blockingInterpolatedMove(TransformNR target, doubl seconds = bestTime; } } - engine.setSetpointWithTime(1,seconds,type,conf); + + engine.setSetpointWithTime(currentTimeMillis,1,seconds,type,conf); double ms = seconds * 1000; double msPerStep = 10; double steps = ms / msPerStep; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 82ea7b3f..77ceecba 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -197,10 +197,8 @@ public Matrix forwardKinematicsMatrix(double[] jointSpaceVector, ArrayList IKvalues = new HashMap<>(); - for (DHParameterKinematics d : getConstituantLimbs()) { - if (getTipOffset(d) != null) { - try { - //System.out.println("Setting Kinematics for follower "+d.getScriptingName()); - double[] jointSpaceVect = compute(d, IKvalues, pose); - //System.out.println(fk.getScriptingName()+" is Setting sublimb target "+d.getScriptingName()); - d.throwExceptionOnJointLimit(false); - d.setDesiredJointSpaceVector(jointSpaceVect, 0); - } catch (Exception e) { - // TODO Auto-generated catch block - e.printStackTrace(); - } - } - } - IKvalues.clear(); - } - }); +// fk.addPoseUpdateListener(new ITaskSpaceUpdateListenerNR() { +// @Override +// public void onTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) { +// +// } +// +// @Override +// public void onTargetTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) { +// HashMap IKvalues = new HashMap<>(); +// for (DHParameterKinematics d : getConstituantLimbs()) { +// if (getTipOffset(d) != null) { +// try { +// //System.out.println("Setting Kinematics for follower "+d.getScriptingName()); +// double[] jointSpaceVect = compute(d, IKvalues, pose); +// //System.out.println(fk.getScriptingName()+" is Setting sublimb target "+d.getScriptingName()); +// d.throwExceptionOnJointLimit(false); +// d.setDesiredJointSpaceVector(jointSpaceVect, 0); +// } catch (Exception e) { +// // TODO Auto-generated catch block +// e.printStackTrace(); +// } +// } +// } +// IKvalues.clear(); +// } +// }); } } @@ -198,7 +198,10 @@ public void setCurrentPoseTarget(TransformNR currentPoseTarget) { //System.out.println("Paralell set to " + currentPoseTarget); } } - + public double[] getCurrentJointSpaceVector(DHParameterKinematics k) { + // TODO Auto-generated method stub + return null; + } @Override public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Exception { @@ -310,4 +313,6 @@ public void close() { } + + } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java index 7ca03cf2..ae89363f 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java @@ -79,8 +79,8 @@ public double getPosition() { * @param setpoint the setpoint * @param seconds the seconds */ - public void StartLinearMotion(double setpoint,double seconds){ - setSetpointWithTime(setpoint, seconds, InterpolationType.LINEAR); + public void StartLinearMotion(double setpoint,double seconds,long startTimeMs){ + setSetpointWithTime(startTimeMs,setpoint, seconds, InterpolationType.LINEAR); } /** * Sets the pid set point. @@ -88,11 +88,11 @@ public void StartLinearMotion(double setpoint,double seconds){ * @param setpoint the setpoint * @param seconds the seconds */ - public void StartSinusoidalMotion(double setpoint,double seconds){ - setSetpointWithTime(setpoint, seconds, InterpolationType.SINUSOIDAL); + public void StartSinusoidalMotion(double setpoint,double seconds,long startTimeMs){ + setSetpointWithTime(startTimeMs,setpoint, seconds, InterpolationType.SINUSOIDAL); } - public void setSetpointWithTime(double setpoint,double seconds, InterpolationType mode,double ...conf) { + public void setSetpointWithTime(long startTimeMs ,double setpoint,double seconds, InterpolationType mode,double ...conf) { if(InterpolationType.TRAPEZOIDAL==mode) { TRAPEZOIDAL_time =conf[0]; } @@ -106,7 +106,7 @@ public void setSetpointWithTime(double setpoint,double seconds, InterpolationTyp //setPause(true); duration = (long) (seconds*1000); - startTime=System.currentTimeMillis(); + startTime=startTimeMs; if(new Double(setpoint).isNaN()) { new RuntimeException("Setpopint in virtual device can not be set to nan").printStackTrace(); @@ -116,13 +116,13 @@ public void setSetpointWithTime(double setpoint,double seconds, InterpolationTyp //setPause(false); } - public void StartTrapezoidalMotion(double setpoint,double seconds, double trapazoidalTime) { + public void StartTrapezoidalMotion(double setpoint,double seconds, double trapazoidalTime,long startTimeMs) { if (trapazoidalTime * 2 > seconds) { - StartSinusoidalMotion(setpoint, seconds); + StartSinusoidalMotion(setpoint, seconds,startTimeMs); return; } - setSetpointWithTime(setpoint, seconds, InterpolationType.TRAPEZOIDAL,trapazoidalTime); + setSetpointWithTime(startTimeMs,setpoint, seconds, InterpolationType.TRAPEZOIDAL,trapazoidalTime); } /** * SetSetpoint in degrees with time @@ -133,9 +133,9 @@ public void StartTrapezoidalMotion(double setpoint,double seconds, double trapaz * @param Control_1 On a scale of 0 to 1, where should the second control point in the equation go default= 1.0 * use Bezier interpolation */ - void StartBezierMotion(double setpoint,double seconds, double Control_0 , double Control_1) + void StartBezierMotion(double setpoint,double seconds, double Control_0 , double Control_1,long startTimeMs) { - setSetpointWithTime(setpoint, seconds, InterpolationType.BEZIER,Control_0,Control_1); + setSetpointWithTime(startTimeMs,setpoint, seconds, InterpolationType.BEZIER,Control_0,Control_1); } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index beca2af0..d3bf3a4a 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -17,7 +17,7 @@ /** * The Class VirtualGenericPIDDevice. */ -public class VirtualGenericPIDDevice extends GenericPIDDevice implements IHardwareSyncPulseProvider{ +public class VirtualGenericPIDDevice extends GenericPIDDevice implements IHardwareSyncPulseProvider { /** The Constant threadTime. */ private static final long threadTime = 10; @@ -30,7 +30,7 @@ public class VirtualGenericPIDDevice extends GenericPIDDevice implements IHardw /** The P dconfigs. */ private ArrayList PDconfigs = new ArrayList(); - + /** The sync. */ SyncThread sync = new SyncThread(); @@ -46,21 +46,22 @@ public class VirtualGenericPIDDevice extends GenericPIDDevice implements IHardw /** * Instantiates a new virtual generic pid device. - * @param myVirtualDevName + * + * @param myVirtualDevName */ public VirtualGenericPIDDevice(String myVirtualDevName) { - this(1000000,myVirtualDevName); + this(1000000, myVirtualDevName); } /** * Instantiates a new virtual generic pid device. * * @param maxTicksPerSecond the max ticks per second - * @param myVirtualDevName2 + * @param myVirtualDevName2 */ public VirtualGenericPIDDevice(double maxTicksPerSecond, String myVirtualDevName) { this.setMaxTicksPerSecond(maxTicksPerSecond); - if(myVirtualDevName == null) + if (myVirtualDevName == null) throw new RuntimeException("Name of virtual device can not be null"); this.myVirtualDevName = myVirtualDevName; setScriptingName(myVirtualDevName); @@ -72,7 +73,8 @@ public VirtualGenericPIDDevice(double maxTicksPerSecond, String myVirtualDevName } sync.start(); - //new RuntimeException("Instantiation of VirtualGenericPIDDevice "+myVirtualDevName).printStackTrace(); + // new RuntimeException("Instantiation of VirtualGenericPIDDevice + // "+myVirtualDevName).printStackTrace(); } /* @@ -184,10 +186,9 @@ public boolean ResetPIDChannel(int group, float valueToSetCurrentTo) { */ @Override public boolean SetPIDSetPoint(int group, float setpoint, double seconds) { - // new RuntimeException("Virtual setpoint, group="+group+" - // setpoint="+setpoint).printStackTrace();; + long currentTimeMillis = System.currentTimeMillis(); sync.setPause(true); - getDriveThread(group).StartLinearMotion(setpoint, seconds); + getDriveThread(group).StartLinearMotion(setpoint, seconds,currentTimeMillis); sync.setPause(false); return true; } @@ -241,9 +242,10 @@ public void flushPIDChannels(double time) { */ @Override public boolean SetAllPIDSetPoint(float[] setpoints, double seconds) { + long start = System.currentTimeMillis(); sync.setPause(true); for (int i = 0; i < setpoints.length; i++) { - getDriveThread(i).StartLinearMotion(setpoints[i], seconds); + getDriveThread(i).StartLinearMotion(setpoints[i], seconds,start); } sync.setPause(false); return true; @@ -341,9 +343,8 @@ private class SyncThread extends Thread { /** The pause. */ private boolean sync = false; - private boolean pause = false; - private boolean updating = false; - private boolean dirty =false; + private Boolean pause = false; + /* * (non-Javadoc) * @@ -351,56 +352,57 @@ private class SyncThread extends Thread { */ public void run() { setName("Bowler Platform Virtual PID sync thread"); - PIDEvent e= new PIDEvent(); + PIDEvent e = new PIDEvent(); long time; while (true) { try { Thread.sleep(threadTime); } catch (InterruptedException ex) { } - - sync=false; - time = System.currentTimeMillis(); - updating=true; - for (PIDConfiguration key : interpolationEngines.keySet()) { - InterpolationEngine dr = interpolationEngines.get(key); - if (key.isEnabled()) { - if (dr.update()) { - try { - e.set(key.getGroup(), (float) dr.getTicks(), time, 0); - firePIDEvent(e); - sync=true; - } catch (NullPointerException ex) { - // initialization issue, let it work itself out - } catch (Exception ex) { - ex.printStackTrace(); + if(!pause) { + sync = false; + time = System.currentTimeMillis(); + synchronized (pause) { + for (PIDConfiguration key : interpolationEngines.keySet()) { + InterpolationEngine dr = interpolationEngines.get(key); + if (key.isEnabled()) { + if (dr.update()) { + try { + e.set(key.getGroup(), (float) dr.getTicks(), time, 0); + firePIDEvent(e); + sync = true; + } catch (NullPointerException ex) { + // initialization issue, let it work itself out + } catch (Exception ex) { + ex.printStackTrace(); + } + } + } else { + System.err.println("Virtual Device " + key.getGroup() + " is disabled"); } } - }else { - System.err.println("Virtual Device "+key.getGroup()+" is disabled"); - } - } - updating=false; - while(isPause()) - try { - Thread.sleep(1); - } catch (InterruptedException e1) { - // TODO Auto-generated catch block - e1.printStackTrace(); } - if(dirty) { - dirty=false; - }else if(sync) + }else + while (isPause()) + try { + Thread.sleep(1); + } catch (InterruptedException e1) { + // TODO Auto-generated catch block + e1.printStackTrace(); + } + if (sync) doSync(); } } + public boolean isPause() { return pause; } + public void setPause(boolean pause) { - this.pause = pause; - if(updating && pause) - dirty=true; + synchronized (this.pause) { + this.pause = pause; + } } } From f842d2c6538b895be051efb203c53a20b6a35a42 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 9 Sep 2022 09:47:01 -0400 Subject: [PATCH 342/482] passing a synchronized timestamp for the interpolation makes for coordinated simulations --- .../kinematics/AbstractKinematicsNR.java | 2 +- .../sdk/pid/InterpolationEngine.java | 18 ++++++++---------- .../sdk/pid/VirtualGenericPIDDevice.java | 2 +- 3 files changed, 10 insertions(+), 12 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 2347edbd..c83305c5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -1706,7 +1706,7 @@ public InterpolationMoveState blockingInterpolatedMove(TransformNR target, doubl // of the translation // the new tip point here calculated is multiplied by the starting point to get // a global space tip target - TransformNR nextPoint = getTipAlongTrajectory(startingPoint,delta,engine.getInterpolationUnitIncrement()); + TransformNR nextPoint = getTipAlongTrajectory(startingPoint,delta,engine.getInterpolationUnitIncrement(System.currentTimeMillis())); // now the best time for this increment is calculated double bestTime = getBestTime(nextPoint); // error check for the best time being below the commanded time diff --git a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java index ae89363f..08854216 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java @@ -56,10 +56,7 @@ public class InterpolationEngine { * @param unitsPerSecond the units per second */ public void SetVelocity(double unitsPerSecond) { - //System.out.println("Setting velocity to "+unitsPerSecond+"ticks/second"); - //setPause(true); - - //setPause(false); + } /** @@ -144,8 +141,8 @@ void StartBezierMotion(double setpoint,double seconds, double Control_0 , double * * @return true, if successful */ - public boolean update(){ - interpolate(); + public boolean update(long time){ + interpolate( time); if((getTicks()!=lastTick)) { lastTick=getTicks(); return true; @@ -180,8 +177,8 @@ public synchronized void ResetEncoder(double value) { return ((x - in_min) * (out_max - out_min) / (in_max - in_min)) + out_min; } - public double getInterpolationUnitIncrement() { - interpElapsed = (double)(System.currentTimeMillis() - startTime); + public double getInterpolationUnitIncrement(long time) { + interpElapsed = (double)(time - startTime); if (interpElapsed < duration && duration > 0) { @@ -234,9 +231,10 @@ else if (getUnitDuration() > unitStartRampDown) /** * Interpolate. + * @param time */ - private void interpolate() { - setUnitDuration(getInterpolationUnitIncrement()); + private void interpolate(long time) { + setUnitDuration(getInterpolationUnitIncrement(time)); if (getUnitDuration() < 1) { setpointDiff = endSetpoint - startSetpoint; newSetpoint = startSetpoint + (setpointDiff * getUnitDuration()); diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index d3bf3a4a..34e2d593 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -366,7 +366,7 @@ public void run() { for (PIDConfiguration key : interpolationEngines.keySet()) { InterpolationEngine dr = interpolationEngines.get(key); if (key.isEnabled()) { - if (dr.update()) { + if (dr.update(time)) { try { e.set(key.getGroup(), (float) dr.getTicks(), time, 0); firePIDEvent(e); From 396093da92eaeb2e3922aff0f2857fbd9e5acc66 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 9 Sep 2022 12:55:22 -0400 Subject: [PATCH 343/482] use static memory for the event buffer --- .../sdk/pid/VirtualGenericPIDDevice.java | 28 ++++++++++++------- 1 file changed, 18 insertions(+), 10 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index 34e2d593..79a5dc66 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -353,6 +353,8 @@ private class SyncThread extends Thread { public void run() { setName("Bowler Platform Virtual PID sync thread"); PIDEvent e = new PIDEvent(); + PIDConfiguration[] toUpdate = new PIDConfiguration[numChannels] ; + int updateIndex=0; long time; while (true) { try { @@ -367,20 +369,26 @@ public void run() { InterpolationEngine dr = interpolationEngines.get(key); if (key.isEnabled()) { if (dr.update(time)) { - try { - e.set(key.getGroup(), (float) dr.getTicks(), time, 0); - firePIDEvent(e); - sync = true; - } catch (NullPointerException ex) { - // initialization issue, let it work itself out - } catch (Exception ex) { - ex.printStackTrace(); - } + toUpdate[updateIndex++]=key; } } else { - System.err.println("Virtual Device " + key.getGroup() + " is disabled"); + //System.err.println("Virtual Device " + key.getGroup() + " is disabled"); } } + for(int i=0;i Date: Fri, 9 Sep 2022 13:47:49 -0400 Subject: [PATCH 344/482] add the move of the base to the sync pulse --- .../kinematics/AbstractKinematicsNR.java | 3 +- .../kinematics/IOnMobileBaseRenderChange.java | 2 +- .../sdk/addons/kinematics/MobileBase.java | 398 +++++++++--------- 3 files changed, 199 insertions(+), 204 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index c83305c5..3d45be83 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -926,6 +926,7 @@ public void setBaseToZframeTransform(TransformNR baseToFiducial) { for (IRegistrationListenerNR r : regListeners) { r.onBaseToFiducialUpdate(this, baseToFiducial); } + // Platform.runLater(new Runnable() { // // @Override @@ -975,7 +976,7 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase, boolean fireUp for (IRegistrationListenerNR r : regListeners) { r.onFiducialToGlobalUpdate(this, frameToBase); } - + runRenderWrangler(); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IOnMobileBaseRenderChange.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IOnMobileBaseRenderChange.java index b70d671a..3ebb9690 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IOnMobileBaseRenderChange.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IOnMobileBaseRenderChange.java @@ -1,5 +1,5 @@ package com.neuronrobotics.sdk.addons.kinematics; public interface IOnMobileBaseRenderChange { - public void event(); + public void onIOnMobileBaseRenderChange(); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 2477f661..502e0a05 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -25,7 +25,8 @@ /** * The Class MobileBase. */ -public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurationChangeListener,IOnMobileBaseRenderChange, IJointSpaceUpdateListenerNR,IHardwareSyncPulseReciver,IHardwareSyncPulseProvider { +public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurationChangeListener, + IOnMobileBaseRenderChange, IJointSpaceUpdateListenerNR, IHardwareSyncPulseReciver, IHardwareSyncPulseProvider { /** The legs. */ private final ArrayList legs = new ArrayList(); @@ -38,10 +39,10 @@ public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurati /** The drivable. */ private final ArrayList drivable = new ArrayList(); - + /** The drivable. */ private final ArrayList changeListeners = new ArrayList(); - + /** The walking drive engine. */ private IDriveEngine walkingDriveEngine = new WalkingDriveEngine(); @@ -49,9 +50,9 @@ public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurati private String[] walkingEngine = new String[] { "https://github.com/madhephaestus/carl-the-hexapod.git", "WalkingDriveEngine.groovy" }; - private HashMap vitamins= new HashMap(); - private HashMap vitaminVariant= new HashMap(); - + private HashMap vitamins = new HashMap(); + private HashMap vitaminVariant = new HashMap(); + /** The self source. */ private String[] selfSource = new String[2]; @@ -61,14 +62,14 @@ public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurati private TransformNR IMUFromCentroid = new TransformNR(); private HashMap parallelGroups = new HashMap(); - private ICalcLimbHomeProvider homeProvider=null; + private ICalcLimbHomeProvider homeProvider = null; + /** * Instantiates a new mobile base. */ public MobileBase() { }// used for building new bases live - /** * Calc home. * @@ -77,10 +78,11 @@ public MobileBase() { public TransformNR calcHome(DHParameterKinematics limb) { try { return homeProvider.calcHome(limb); - }catch(Throwable t) {} + } catch (Throwable t) { + } return limb.calcHome(); } - + public HashMap getTipLocations() { HashMap tipList = new HashMap(); @@ -91,21 +93,24 @@ public HashMap getTipLocations() { } return tipList; } + public boolean pose(TransformNR newAbsolutePose) throws Exception { HashMap tipLocations = getTipLocations(); - - return pose(newAbsolutePose,getIMUFromCentroid(),tipLocations); + + return pose(newAbsolutePose, getIMUFromCentroid(), tipLocations); } - public boolean poseAroundPoint(TransformNR newAbsolutePose,TransformNR around) throws Exception { + + public boolean poseAroundPoint(TransformNR newAbsolutePose, TransformNR around) throws Exception { HashMap tipLocations = getTipLocations(); - - return pose(newAbsolutePose,around,tipLocations); + + return pose(newAbsolutePose, around, tipLocations); } - public boolean pose(TransformNR newAbsolutePose,TransformNR around, HashMap tipList) - throws Exception { + + public boolean pose(TransformNR newAbsolutePose, TransformNR around, + HashMap tipList) throws Exception { TransformNR newPoseTransformedToIMUCenter = newAbsolutePose.times(around.inverse()); TransformNR newPoseAdjustedBacktoRobotCenterFrame = around.times(newPoseTransformedToIMUCenter); - TransformNR previous =getFiducialToGlobalTransform(); + TransformNR previous = getFiducialToGlobalTransform(); // Perform a pose opperation setGlobalToFiducialTransform(newPoseAdjustedBacktoRobotCenterFrame); @@ -124,12 +129,11 @@ public boolean pose(TransformNR newAbsolutePose,TransformNR around, HashMap list) { NodeList nodListofLinks = doc.getChildNodes(); @@ -389,7 +367,7 @@ private void loadLimb(Element doc, String tag, ArrayList if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tag)) { Element e = (Element) linkNode; final String name = getname(e); - //System.out.println("Loading arm "+name); + // System.out.println("Loading arm "+name); DHParameterKinematics kin = (DHParameterKinematics) DeviceManager .getSpecificDevice(DHParameterKinematics.class, name); if (kin == null) { @@ -398,28 +376,28 @@ private void loadLimb(Element doc, String tag, ArrayList } kin.setScriptingName(name); String parallel = getParallelGroup(e); - //System.out.println("paralell "+parallel); + // System.out.println("paralell "+parallel); if (parallel != null) { - System.out.println("Loading Paralell group "+parallel+" limb "+name); + System.out.println("Loading Paralell group " + parallel + " limb " + name); TransformNR paraOffset = loadTransform("parallelGroupTipOffset", e); - String relativeName = getTag( e, "relativeTo"); - int index =0; + String relativeName = getTag(e, "relativeTo"); + int index = 0; try { - index = Integer.parseInt(getTag( e, "relativeToLink")); - }catch(Exception ex) { - paraOffset=null; - relativeName=null; + index = Integer.parseInt(getTag(e, "relativeToLink")); + } catch (Exception ex) { + paraOffset = null; + relativeName = null; } ParallelGroup parallelGroup = getParallelGroup(parallel); parallelGroup.setScriptingName(parallel); - parallelGroup.setupReferencedLimbStartup(kin, paraOffset,relativeName,index); + parallelGroup.setupReferencedLimbStartup(kin, paraOffset, relativeName, index); // if(!list.contains(parallelGroup)) { // list.add(parallelGroup); // } } - //else { - list.add(kin); - //} + // else { + list.add(kin); + // } } } } @@ -446,7 +424,7 @@ public void disconnectDevice() { @Override public boolean connectDevice() { for (DHParameterKinematics kin : getAllDHChains()) { - if(!kin.connect()) { + if (!kin.connect()) { Log.error("Connection failed!"); return false; } @@ -458,8 +436,7 @@ public boolean connectDevice() { * (non-Javadoc) * * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# - * inverseKinematics(com.neuronrobotics.sdk.addons.kinematics.math. - * TransformNR) + * inverseKinematics(com.neuronrobotics.sdk.addons.kinematics.math. TransformNR) */ @Override public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Exception { @@ -519,33 +496,32 @@ public ArrayList getAllDHChains() { } return copy; } + /** * Load limb. * - * @param doc - * the doc - * @param tag - * the tag - * @param list - * the list + * @param doc the doc + * @param tag the tag + * @param list the list */ private void loadVitamins(Element doc) { NodeList nodListofLinks = doc.getChildNodes(); for (int i = 0; i < nodListofLinks.getLength(); i++) { Node linkNode = nodListofLinks.item(i); - try{ - if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamins")) { - getVitamins((Element)linkNode) ; - } - }catch (Exception e){ - - } + try { + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamins")) { + getVitamins((Element) linkNode); + } + } catch (Exception e) { + + } } } - - public HashMap getVitamins() { + + public HashMap getVitamins() { return vitamins; } + /** * Gets the vitamins. * @@ -559,14 +535,12 @@ private void getVitamins(Element doc) { Node linkNode = nodListofLinks.item(i); if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamin")) { Element e = (Element) linkNode; - setVitamin(XmlFactory.getTagValue("name",e), - XmlFactory.getTagValue("type",e), - XmlFactory.getTagValue("id",e) - ); - try{ - setVitaminVariant(XmlFactory.getTagValue("name",e), - XmlFactory.getTagValue("variant",e)); - }catch(Exception ex){} + setVitamin(XmlFactory.getTagValue("name", e), XmlFactory.getTagValue("type", e), + XmlFactory.getTagValue("id", e)); + try { + setVitaminVariant(XmlFactory.getTagValue("name", e), XmlFactory.getTagValue("variant", e)); + } catch (Exception ex) { + } } } return; @@ -575,31 +549,36 @@ private void getVitamins(Element doc) { } return; } - + /** * Add a vitamin to this link - * @param name the name of this vitamin, - if the name already exists, the data will be overwritten. + * + * @param name the name of this vitamin, if the name already exists, the data + * will be overwritten. * @param type the vitamin type, this maps the the json filename - * @param id the part ID, theis maps to the key in the json for the vitamin + * @param id the part ID, theis maps to the key in the json for the vitamin */ - public void setVitamin(String name, String type, String id){ - if(getVitamins().get(name)==null){ + public void setVitamin(String name, String type, String id) { + if (getVitamins().get(name) == null) { getVitamins().put(name, new String[2]); } - getVitamins().get(name)[0]=type; - getVitamins().get(name)[1]=id; + getVitamins().get(name)[0] = type; + getVitamins().get(name)[1] = id; } + /** * Set a purchasing code for a vitamin - * @param name name of vitamin + * + * @param name name of vitamin * @param tagValue2 Purchaning code */ public void setVitaminVariant(String name, String tagValue2) { vitaminVariant.put(name, tagValue2); } + /** * Get a purchaing code for a vitamin + * * @param name name of vitamin * @return */ @@ -610,8 +589,7 @@ public String getVitaminVariant(String name) { /* * (non-Javadoc) * - * @see - * com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#getXml() + * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#getXml() */ /* * @@ -636,18 +614,17 @@ public String getXml() { public String getEmbedableXml() { TransformNR location = getFiducialToGlobalTransform(); setGlobalToFiducialTransform(new TransformNR()); - - String allVitamins=""; - for(String key: getVitamins().keySet()){ + + String allVitamins = ""; + for (String key : getVitamins().keySet()) { String v = "\t\t\n"; - v+= "\t\t\t"+key+"\n"+ - "\t\t\t"+getVitamins().get(key)[0]+"\n"+ - "\t\t\t"+getVitamins().get(key)[1]+"\n"; - if (getVitaminVariant(key)!=null){ - v+= "\t\t\t"+getVitamins().get(key)[1]+"\n"; + v += "\t\t\t" + key + "\n" + "\t\t\t" + getVitamins().get(key)[0] + "\n" + + "\t\t\t" + getVitamins().get(key)[1] + "\n"; + if (getVitaminVariant(key) != null) { + v += "\t\t\t" + getVitamins().get(key)[1] + "\n"; } - v+="\t\t\n"; - allVitamins+=v; + v += "\t\t\n"; + allVitamins += v; } String xml = "\n"; @@ -706,7 +683,7 @@ public String getEmbedableXml() { xml += "\n\n" + "\t" + getMassKg() + "\n" + "\t" + getCenterOfMassFromCentroid().getXml() + "\n" + "\t" + getIMUFromCentroid().getXml() + "\n"; - xml += "\n\n"+allVitamins+"\n\n"; + xml += "\n\n" + allVitamins + "\n\n"; xml += "\n\n"; setGlobalToFiducialTransform(location); return xml; @@ -717,15 +694,14 @@ private String makeLimbTag(String xml, DHParameterKinematics l) { for (String key : getParallelGroups().keySet()) { ParallelGroup parallelGroup = getParallelGroups().get(key); for (DHParameterKinematics pL : parallelGroup.getConstituantLimbs()) - + if (pL == l) { xml += "\n" + key + "\n"; - if(parallelGroup.getTipOffset(l)!=null) { - xml += "\n\n" - + parallelGroup.getTipOffset(l).getXml() + if (parallelGroup.getTipOffset(l) != null) { + xml += "\n\n" + parallelGroup.getTipOffset(l).getXml() + "\n\t" + parallelGroup.getTipOffsetRelativeName(l) + "\n" - + "\n\t" + parallelGroup.getTipOffsetRelativeIndex(l) + "\n" - + "\n\n"; + + "\n\t" + parallelGroup.getTipOffsetRelativeIndex(l) + + "\n" + "\n\n"; } } } @@ -764,8 +740,7 @@ private IDriveEngine getWalkingDriveEngine() { /** * Sets the walking drive engine. * - * @param walkingDriveEngine - * the new walking drive engine + * @param walkingDriveEngine the new walking drive engine */ public void setWalkingDriveEngine(IDriveEngine walkingDriveEngine) { this.walkingDriveEngine = walkingDriveEngine; @@ -774,10 +749,8 @@ public void setWalkingDriveEngine(IDriveEngine walkingDriveEngine) { /** * Drive arc. * - * @param newPose - * the new pose - * @param seconds - * the seconds + * @param newPose the new pose + * @param seconds the seconds */ public void DriveArc(TransformNR newPose, double seconds) { getWalkingDriveEngine().DriveArc(this, newPose, seconds); @@ -787,8 +760,7 @@ public void DriveArc(TransformNR newPose, double seconds) { /** * Drive velocity straight. * - * @param cmPerSecond - * the cm per second + * @param cmPerSecond the cm per second */ public void DriveVelocityStraight(double cmPerSecond) { getWalkingDriveEngine().DriveVelocityStraight(this, cmPerSecond); @@ -799,10 +771,8 @@ public void DriveVelocityStraight(double cmPerSecond) { /** * Drive velocity arc. * - * @param degreesPerSecond - * the degrees per second - * @param cmRadius - * the cm radius + * @param degreesPerSecond the degrees per second + * @param cmRadius the cm radius */ public void DriveVelocityArc(double degreesPerSecond, double cmRadius) { getWalkingDriveEngine().DriveVelocityArc(this, degreesPerSecond, cmRadius); @@ -830,8 +800,7 @@ public String[] getGitWalkingEngine() { /** * Sets the walking engine. * - * @param walkingEngine - * the new walking engine + * @param walkingEngine the new walking engine */ public void setGitWalkingEngine(String[] walkingEngine) { if (walkingEngine != null && walkingEngine[0] != null && walkingEngine[1] != null) @@ -850,8 +819,7 @@ public String[] getGitSelfSource() { /** * Sets the self source. * - * @param selfSource - * the new self source + * @param selfSource the new self source */ public void setGitSelfSource(String[] selfSource) { this.selfSource = selfSource; @@ -862,7 +830,7 @@ public double getMassKg() { } public void setMassKg(double mass) { - System.out.println("Mass of device "+getScriptingName()+" is "+mass); + System.out.println("Mass of device " + getScriptingName() + " is " + mass); this.mass = mass; } @@ -881,9 +849,11 @@ public TransformNR getIMUFromCentroid() { public void setIMUFromCentroid(TransformNR centerOfMassFromCentroid) { this.IMUFromCentroid = centerOfMassFromCentroid; } + public void setFiducialToGlobalTransform(TransformNR globe) { setGlobalToFiducialTransform(globe); } + /** * Sets the global to fiducial transform. * @@ -892,10 +862,11 @@ public void setFiducialToGlobalTransform(TransformNR globe) { @Override public void setGlobalToFiducialTransform(TransformNR frameToBase) { super.setGlobalToFiducialTransform(frameToBase); - for(DHParameterKinematics l:getAllDHChains()) { + for (DHParameterKinematics l : getAllDHChains()) { l.setGlobalToFiducialTransform(frameToBase); } } + public void shutDownParallel(ParallelGroup group) { group.close(); parallelGroups.remove(group.getNameOfParallelGroup()); @@ -906,34 +877,62 @@ private HashMap getParallelGroups() { } @Override - public boolean connect(){ + public boolean connect() { super.connect(); - for(DHParameterKinematics kin:this.getAllDHChains()) { - addListeners(kin); - for(int i=0;i Date: Fri, 9 Sep 2022 16:25:46 -0400 Subject: [PATCH 345/482] reduced the overhead of a double buffer in AbstractKinematics --- .../kinematics/AbstractKinematicsNR.java | 76 ++++++------- .../kinematics/DHParameterKinematics.java | 8 -- .../addons/kinematics/LinkConfiguration.java | 4 - .../sdk/addons/kinematics/LinkFactory.java | 25 ----- .../sdk/addons/kinematics/LinkType.java | 19 +--- .../sdk/addons/kinematics/MobileBase.java | 16 +-- .../addons/kinematics/PidPrismaticLink.java | 3 +- .../sdk/addons/kinematics/PidRotoryLink.java | 4 +- .../addons/kinematics/ServoPrismaticLink.java | 101 ------------------ .../addons/kinematics/ServoRotoryLink.java | 101 ------------------ .../kinematics/StepperPrismaticLink.java | 91 ---------------- .../addons/kinematics/StepperRotoryLink.java | 92 ---------------- .../neuronrobotics/sdk/pid/PIDChannel.java | 1 + .../sdk/pid/VirtualGenericPIDDevice.java | 64 ++++++----- 14 files changed, 81 insertions(+), 524 deletions(-) delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/ServoPrismaticLink.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/ServoRotoryLink.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperPrismaticLink.java delete mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/StepperRotoryLink.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 3d45be83..b9156bde 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -73,10 +73,10 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP /** The current joint space positions. */ /* This is in RAW joint level ticks */ - protected double[] currentJointSpacePositions = null; + //protected double[] currentJointSpacePositions = null; /** The current joint space target. */ - public double[] currentJointSpaceTarget; +// public double[] currentJointSpaceTarget; /** The current pose target. */ private TransformNR currentPoseTarget = new TransformNR(); @@ -522,7 +522,12 @@ public TransformNR getCurrentTaskSpaceTransform() { // Log.info("Getting global task space "+taskSpaceTransform); return taskSpaceTransform; } - + public double readLinkValue(int index) { + return getFactory().getLink(getLinkConfiguration(index)).getCurrentEngineeringUnits(); + } + public double readLinkTarget(int index) { + return getFactory().getLink(getLinkConfiguration(index)).getTargetEngineeringUnits(); + } /** * This takes a reading of the robots position and converts it to a joint pace * vector This vector is converted to Joint space and returned . @@ -530,30 +535,13 @@ public TransformNR getCurrentTaskSpaceTransform() { * @return JointSpaceVector in mm,radians */ public double[] getCurrentJointSpaceVector() { - if (currentJointSpacePositions == null||currentJointSpacePositions.length!= getNumberOfLinks()) { - // Happens once and only once on the first initialization - currentJointSpacePositions = new double[getNumberOfLinks()]; - - for (int i = 0; i < getNumberOfLinks(); i++) { - // double pos = - // currentLinkSpacePositions[getLinkConfigurations().get(i).getHardwareIndex()]; - // Here the RAW values are converted to engineering units - try { - currentJointSpacePositions[i] = getFactory().getLink(getLinkConfiguration(i)) - .getCurrentEngineeringUnits(); - } catch (Exception ex) { - currentJointSpacePositions[i] = 0; - } - } - firePoseUpdate(); - } double[] jointSpaceVect = new double[getNumberOfLinks()]; for (int i = 0; i < getNumberOfLinks(); i++) { // double pos = // currentLinkSpacePositions[getLinkConfigurations().get(i).getHardwareIndex()]; // Here the RAW values are converted to engineering units try { - jointSpaceVect[i] = currentJointSpacePositions[i]; + jointSpaceVect[i] = readLinkValue(i); }catch(Exception e) { jointSpaceVect[i]=0; } @@ -561,7 +549,15 @@ public double[] getCurrentJointSpaceVector() { return jointSpaceVect; } + + public double[] getCurrentJointSpaceTarget() { + double[] currentJointSpaceTarget=new double[getNumberOfLinks()]; + for(int i=0;i 0 && except < getRetryNumberBeforeFail()); if (e != null) throw new RuntimeException("Limit On "+getScriptingName()+" "+e.getMessage()); - TickToc.tic("Set hardware values done"); - for(int i=0;i linkConfigurations = getLinkConfigurations(); - if(linkConfigurations!=null) { - int indexOf = linkConfigurations.indexOf(c); - if(currentJointSpacePositions!=null) - if(indexOf>=0 && indexOf linkConfigurations = getLinkConfigurations(); +// if(linkConfigurations!=null) { +// int indexOf = linkConfigurations.indexOf(c); +// if(currentJointSpacePositions!=null) +// if(indexOf>=0 && indexOf Date: Sun, 11 Sep 2022 15:41:09 -0400 Subject: [PATCH 346/482] updated the wrist normalizer method --- .../addons/kinematics/WristNormalizer.java | 27 ++++++++++++++----- 1 file changed, 20 insertions(+), 7 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java index e28da6c3..ddfa6b0c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java @@ -11,12 +11,24 @@ public static double[] normalize(double[] calculated,double[] current, DHChain c HashMap scores= new HashMap<>(); score(calculated,current,scores,kin); score(alt1,current,scores,kin); + + double[] calculated2 = new double[] {calculated[0]+360,calculated[1]+360,calculated[2]+360}; + score(calculated2,current,scores,kin); + double[] calculated3 = new double[] {calculated[0]-360,calculated[1]-360,calculated[2]-360}; + score(calculated3,current,scores,kin); + double[] calculated4 = new double[] {alt1[0]+360,alt1[1]+360,alt1[2]+360}; + score(calculated4,current,scores,kin); + double[] calculated5 = new double[] {alt1[0]-360,alt1[1]-360,alt1[2]-360}; + score(calculated5,current,scores,kin); + double[] calculated6 = new double[] {calculated[0]-360,calculated[1],calculated[2]}; + score(calculated6,current,scores,kin); + double[] calculated7 = new double[] {calculated[0]+360,calculated[1],calculated[2]}; + score(calculated7,current,scores,kin); - score(new double[] {calculated[0]-360,calculated[1],calculated[2]},current,scores,kin); - score(new double[] {calculated[0]+360,calculated[1],calculated[2]},current,scores,kin); - - score(new double[] {alt1[0]-360,alt1[1],alt1[2]},current,scores,kin); - score(new double[] {alt1[0]+360,alt1[1],alt1[2]},current,scores,kin); + double[] calculated8 = new double[] {alt1[0]-360,alt1[1],alt1[2]}; + score(calculated8,current,scores,kin); + double[] calculated9 = new double[] {alt1[0]+360,alt1[1],alt1[2]}; + score(calculated9,current,scores,kin); double score=scores.get(calculated); double[] ret=calculated; @@ -35,11 +47,12 @@ private static void score(double[] calculated,double[] current,HashMapkin.getMaxEngineeringUnits(i3)) { - calculated[i]-=360; + return; } if(calculated[i] Math.abs(delt)) { From 04416f46d57d9a000d45c1dd6fc5ab8b9009b039 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 11 Sep 2022 16:34:37 -0400 Subject: [PATCH 347/482] upgrading normalizer with strict mode --- .../addons/kinematics/WristNormalizer.java | 112 +++++++++++------- 1 file changed, 66 insertions(+), 46 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java index ddfa6b0c..2a0669a6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java @@ -3,62 +3,82 @@ import java.util.HashMap; public class WristNormalizer { - public static double[] normalize(double[] calculated,double[] current, DHChain chain) { + private static boolean strictMode = false; + + public static double[] normalize(double[] calculated, double[] current, DHChain chain) { AbstractKinematicsNR kin = chain.kin; - //DecimalFormat df = new DecimalFormat("000.00"); - double[] alt1 = new double[] {calculated[0]-180,-calculated[1],calculated[2]-180}; - - HashMap scores= new HashMap<>(); - score(calculated,current,scores,kin); - score(alt1,current,scores,kin); + // DecimalFormat df = new DecimalFormat("000.00"); + double[] alt1 = new double[] { calculated[0] - 180, -calculated[1], calculated[2] - 180 }; + double[] calculated2 = new double[] { calculated[0] + 360, calculated[1] + 360, calculated[2] + 360 }; + double[] calculated3 = new double[] { calculated[0] - 360, calculated[1] - 360, calculated[2] - 360 }; + double[] alt2 = new double[] { alt1[0] + 360, alt1[1] + 360, alt1[2] + 360 }; + double[] alt3 = new double[] { alt1[0] - 360, alt1[1] - 360, alt1[2] - 360 }; + double[] calculated6 = new double[] { calculated[0] - 360, calculated[1], calculated[2] }; + double[] calculated7 = new double[] { calculated[0] + 360, calculated[1], calculated[2] }; + double[] als4 = new double[] { alt1[0] - 360, alt1[1], alt1[2] }; + double[] alt5 = new double[] { alt1[0] + 360, alt1[1], alt1[2] }; - double[] calculated2 = new double[] {calculated[0]+360,calculated[1]+360,calculated[2]+360}; - score(calculated2,current,scores,kin); - double[] calculated3 = new double[] {calculated[0]-360,calculated[1]-360,calculated[2]-360}; - score(calculated3,current,scores,kin); - double[] calculated4 = new double[] {alt1[0]+360,alt1[1]+360,alt1[2]+360}; - score(calculated4,current,scores,kin); - double[] calculated5 = new double[] {alt1[0]-360,alt1[1]-360,alt1[2]-360}; - score(calculated5,current,scores,kin); - double[] calculated6 = new double[] {calculated[0]-360,calculated[1],calculated[2]}; - score(calculated6,current,scores,kin); - double[] calculated7 = new double[] {calculated[0]+360,calculated[1],calculated[2]}; - score(calculated7,current,scores,kin); - - double[] calculated8 = new double[] {alt1[0]-360,alt1[1],alt1[2]}; - score(calculated8,current,scores,kin); - double[] calculated9 = new double[] {alt1[0]+360,alt1[1],alt1[2]}; - score(calculated9,current,scores,kin); - double score=scores.get(calculated); - double[] ret=calculated; - for(double[] tmp:scores.keySet()) { - double delt =scores.get(tmp) -; if(delt scores = new HashMap<>(); + score(calculated, current, scores, kin); + score(alt1, current, scores, kin); + score(calculated2, current, scores, kin); + score(calculated3, current, scores, kin); + score(alt2, current, scores, kin); + score(alt3, current, scores, kin); + score(calculated6, current, scores, kin); + score(calculated7, current, scores, kin); + score(als4, current, scores, kin); + score(alt5, current, scores, kin); + if (scores.size() > 0) { + double score = scores.get(calculated); + double[] ret = calculated; + for (double[] tmp : scores.keySet()) { + double delt = scores.get(tmp); + if (delt < score) { + score = delt; + ret = tmp; + } } + scores.clear(); + + return ret; } - scores.clear(); - return ret; + if(!strictMode) + return current; + throw new RuntimeException("No Wrist Solution! "); } - - private static void score(double[] calculated,double[] current,HashMap scores,AbstractKinematicsNR kin ) { - double delt=0; - for(int i=0;i<3;i++) { - int i3 = i+3; - calculated[i]=calculated[i] % 360; - if(calculated[i] >kin.getMaxEngineeringUnits(i3)) { - return; + + private static void score(double[] calculated, double[] current, HashMap scores, + AbstractKinematicsNR kin) { + double delt = 0; + for (int i = 0; i < 3; i++) { + int i3 = i + 3; + calculated[i] = calculated[i] % 360; + + if (calculated[i] > kin.getMaxEngineeringUnits(i3)) { + if(strictMode)return; + calculated[i]=kin.getMaxEngineeringUnits(i3); } - if(calculated[i] Math.abs(delt)) { - delt=measure; + double measure = current[i] - calculated[i]; + if (Math.abs(measure) > Math.abs(delt)) { + delt = measure; } } scores.put(calculated, Math.abs(delt)); } + + public static boolean isStrictMode() { + return strictMode; + } + public static void setBoundLinkValueMode() { + WristNormalizer.strictMode = false; + } + public static void setStrictMode() { + WristNormalizer.strictMode = true; + } } From 4b4a186167872c19cf5fe9c514374a0171ca2d35 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 11 Sep 2022 17:32:33 -0400 Subject: [PATCH 348/482] more wrist normalization options --- .../addons/kinematics/WristNormalizer.java | 37 +++++++++++-------- 1 file changed, 22 insertions(+), 15 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java index 2a0669a6..0fd9d15b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java @@ -3,20 +3,21 @@ import java.util.HashMap; public class WristNormalizer { - private static boolean strictMode = false; + private static boolean strictMode = true; public static double[] normalize(double[] calculated, double[] current, DHChain chain) { AbstractKinematicsNR kin = chain.kin; // DecimalFormat df = new DecimalFormat("000.00"); - double[] alt1 = new double[] { calculated[0] - 180, -calculated[1], calculated[2] - 180 }; - double[] calculated2 = new double[] { calculated[0] + 360, calculated[1] + 360, calculated[2] + 360 }; - double[] calculated3 = new double[] { calculated[0] - 360, calculated[1] - 360, calculated[2] - 360 }; - double[] alt2 = new double[] { alt1[0] + 360, alt1[1] + 360, alt1[2] + 360 }; - double[] alt3 = new double[] { alt1[0] - 360, alt1[1] - 360, alt1[2] - 360 }; - double[] calculated6 = new double[] { calculated[0] - 360, calculated[1], calculated[2] }; - double[] calculated7 = new double[] { calculated[0] + 360, calculated[1], calculated[2] }; - double[] als4 = new double[] { alt1[0] - 360, alt1[1], alt1[2] }; - double[] alt5 = new double[] { alt1[0] + 360, alt1[1], alt1[2] }; + double[] alt1 =option( calculated[0] - 180, -calculated[1], calculated[2] - 180 ); + double[] calculated2 =option( calculated[0] + 360, calculated[1] + 360, calculated[2] + 360 ); + double[] calculated3 =option( calculated[0] - 360, calculated[1] - 360, calculated[2] - 360 ); + double[] alt2 =option( alt1[0] + 360, alt1[1] + 360, alt1[2] + 360 ); + double[] alt3 =option( alt1[0] - 360, alt1[1] - 360, alt1[2] - 360 ); + double[] calculated6 =option( calculated[0] - 360, calculated[1], calculated[2] ); + double[] calculated7 =option( calculated[0] + 360, calculated[1], calculated[2] ); + double[] als4 =option( alt1[0] - 360, alt1[1], alt1[2] ); + double[] alt5 =option( alt1[0] + 360, alt1[1], alt1[2] ); + HashMap scores = new HashMap<>(); @@ -30,6 +31,11 @@ public static double[] normalize(double[] calculated, double[] current, DHChain score(calculated7, current, scores, kin); score(als4, current, scores, kin); score(alt5, current, scores, kin); + score(option( calculated[0] -180, -calculated[1], calculated[2]+180 ), current, scores, kin); + score(option( alt1[0] -180, alt1[1], -alt1[2]+180 ), current, scores, kin); + score(option( calculated[0] +180, -calculated[1], calculated[2]-180 ), current, scores, kin); + score(option( alt1[0] +180, -alt1[1], alt1[2]-180 ), current, scores, kin); + if (scores.size() > 0) { double score = scores.get(calculated); double[] ret = calculated; @@ -48,7 +54,10 @@ public static double[] normalize(double[] calculated, double[] current, DHChain return current; throw new RuntimeException("No Wrist Solution! "); } - + private static double[] option(double w1,double w2,double w3) { + return new double[] {w1,w2,w3}; + } + private static void score(double[] calculated, double[] current, HashMap scores, AbstractKinematicsNR kin) { double delt = 0; @@ -57,12 +66,10 @@ private static void score(double[] calculated, double[] current, HashMap kin.getMaxEngineeringUnits(i3)) { - if(strictMode)return; - calculated[i]=kin.getMaxEngineeringUnits(i3); + return; } if (calculated[i] < kin.getMinEngineeringUnits(i3)) { - if(strictMode)return; - calculated[i]=kin.getMinEngineeringUnits(i3); + return; } double measure = current[i] - calculated[i]; if (Math.abs(measure) > Math.abs(delt)) { From f185d14feccb6338551e6d153b2bd77c1fb319d6 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 11 Sep 2022 17:48:21 -0400 Subject: [PATCH 349/482] null checker --- .../sdk/addons/kinematics/WristNormalizer.java | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java index 0fd9d15b..ab115471 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java @@ -37,7 +37,11 @@ public static double[] normalize(double[] calculated, double[] current, DHChain score(option( alt1[0] +180, -alt1[1], alt1[2]-180 ), current, scores, kin); if (scores.size() > 0) { - double score = scores.get(calculated); + double[] start =calculated ; + if(scores.get(start)==null) { + start = (double[]) scores.keySet().toArray()[0]; + } + double score=scores.get(start); double[] ret = calculated; for (double[] tmp : scores.keySet()) { double delt = scores.get(tmp); From d693a4facd8158bd475d61ddb0d411d1c5a750a4 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 11 Sep 2022 19:57:14 -0400 Subject: [PATCH 350/482] remove the exception print on check --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index b9156bde..52b5ad16 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -607,7 +607,7 @@ public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev, Transfor double[] jointSpaceVect = dev.inverseKinematics(dev.inverseOffset(taskSpaceTransform)); return checkVector(dev, jointSpaceVect,seconds); } catch (Throwable ex) { - Log.error(ex); + //Log.error(ex); //ex.printStackTrace(); return false; } From ce608e1665d189d7eb11478d513513fd7b3af1ce Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 14 Sep 2022 15:54:13 -0400 Subject: [PATCH 351/482] no printsd --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 1 - 1 file changed, 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 52b5ad16..817ab6fe 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -961,7 +961,6 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase, boolean fireUp new Exception("Fiducial can not be null ").printStackTrace(System.out); return; } - Log.info("Setting Global To Fiducial Transform " + frameToBase); this.fiducial2RAS = frameToBase; if(!fireUpdate) return; From e6ce4501970e49f65b173db9033e30365f57d45c Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 14 Sep 2022 16:19:30 -0400 Subject: [PATCH 352/482] bugfix --- .../neuronrobotics/sdk/addons/kinematics/WristNormalizer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java index ab115471..a1faad7e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java @@ -42,7 +42,7 @@ public static double[] normalize(double[] calculated, double[] current, DHChain start = (double[]) scores.keySet().toArray()[0]; } double score=scores.get(start); - double[] ret = calculated; + double[] ret = start; for (double[] tmp : scores.keySet()) { double delt = scores.get(tmp); if (delt < score) { From cbfc101fd49ea59397c545429a19d5f929a609c1 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 16 Sep 2022 10:02:47 -0400 Subject: [PATCH 353/482] stable normalizer --- .../sdk/addons/kinematics/WristNormalizer.java | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java index a1faad7e..1f9cdc30 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WristNormalizer.java @@ -3,7 +3,7 @@ import java.util.HashMap; public class WristNormalizer { - private static boolean strictMode = true; + private static boolean strictMode = false; public static double[] normalize(double[] calculated, double[] current, DHChain chain) { AbstractKinematicsNR kin = chain.kin; @@ -68,12 +68,13 @@ private static void score(double[] calculated, double[] current, HashMap kin.getMaxEngineeringUnits(i3)) { - return; - } - if (calculated[i] < kin.getMinEngineeringUnits(i3)) { - return; + if(strictMode) { + if (calculated[i] > kin.getMaxEngineeringUnits(i3)) { + return; + } + if (calculated[i] < kin.getMinEngineeringUnits(i3)) { + return; + } } double measure = current[i] - calculated[i]; if (Math.abs(measure) > Math.abs(delt)) { From 2136c0a50ea26870def581081790b846877d8c1a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 16 Sep 2022 12:46:16 -0400 Subject: [PATCH 354/482] updating how MobileBase is managed --- .../sdk/addons/kinematics/MobileBase.java | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 69db08fc..048b6f65 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -862,6 +862,22 @@ public void setFiducialToGlobalTransform(TransformNR globe) { @Override public void setGlobalToFiducialTransform(TransformNR frameToBase) { super.setGlobalToFiducialTransform(frameToBase); + fireBaseUpdates(); + } + + /** + * Sets the global to fiducial transform. + * + * @param frameToBase the new global to fiducial transform + */ + @Override + public void setBaseToZframeTransform(TransformNR baseToFiducial) { + super.setBaseToZframeTransform( baseToFiducial); + fireBaseUpdates(); + } + + private void fireBaseUpdates() { + TransformNR frameToBase = forwardOffset(new TransformNR()); for (DHParameterKinematics l : getAllDHChains()) { l.setGlobalToFiducialTransform(frameToBase); } From 7ec7d1ac11469ceff6f007178d737aeaa9694927 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 16 Sep 2022 13:06:12 -0400 Subject: [PATCH 355/482] depricate version that should not be used --- .../kinematics/AbstractKinematicsNR.java | 24 ++++--------------- .../sdk/addons/kinematics/MobileBase.java | 2 +- 2 files changed, 6 insertions(+), 20 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 817ab6fe..f0ba6a50 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -907,7 +907,11 @@ public TransformNR getFiducialToGlobalTransform() { * * @param baseToFiducial the new base to zframe transform */ + @Deprecated public void setBaseToZframeTransform(TransformNR baseToFiducial) { + setRobotToFiducialTransform(baseToFiducial); + } + public void setRobotToFiducialTransform(TransformNR baseToFiducial) { if (baseToFiducial == null) { Log.error("Fiducial can not be null " + baseToFiducial); new Exception().printStackTrace(System.out); @@ -919,24 +923,14 @@ public void setBaseToZframeTransform(TransformNR baseToFiducial) { r.onBaseToFiducialUpdate(this, baseToFiducial); } -// Platform.runLater(new Runnable() { -// -// @Override -// public void run() { -// -// TransformNR forwardOffset = forwardOffset(new TransformNR()); -// if(forwardOffset!=null && getRootListener()!=null) -// TransformFactory.nrToObject(forwardOffset, getRootListener()); -// } -// }); runRenderWrangler(); } - /** * Sets the zframe to global transform. * * @param fiducialToRAS the new zframe to global transform */ + @Deprecated private void setZframeToGlobalTransform(TransformNR fiducialToRAS) { setGlobalToFiducialTransform(fiducialToRAS); } @@ -1390,14 +1384,6 @@ public void onLinkLimit(AbstractLink arg0, PIDLimitEvent arg1) { } } - /** - * Sets the robot to fiducial transform. - * - * @param newTrans the new robot to fiducial transform - */ - public void setRobotToFiducialTransform(TransformNR newTrans) { - setBaseToZframeTransform(newTrans); - } /** * Gets the dh parameters chain. diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 048b6f65..53e93541 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -252,7 +252,7 @@ private void loadConfigs(Element doc) { TransformNR IMUcenter = loadTransform("imuFromCentroid", doc); if (IMUcenter != null) setIMUFromCentroid(IMUcenter); - + fireBaseUpdates(); } public void initializeParalellGroups() { From b14f79c5ed6cdaec0cead0e79ffd7b678b13f450 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 16 Sep 2022 13:48:54 -0400 Subject: [PATCH 356/482] addign a disconnect pass through for sub mobile bases --- build.gradle | 2 +- .../kinematics/AbstractKinematicsNR.java | 44 +++++++++---------- .../kinematics/DHParameterKinematics.java | 19 +++++++- .../sdk/addons/kinematics/MobileBase.java | 13 ++---- 4 files changed, 45 insertions(+), 33 deletions(-) diff --git a/build.gradle b/build.gradle index 28fe018f..0dcf8565 100644 --- a/build.gradle +++ b/build.gradle @@ -44,7 +44,7 @@ repositories { dependencies { //TODO change as many of these as possible to Maven repositories compile fileTree (dir: 'libs', includes: ['*.jar']) - testCompile 'junit:junit:4.10' + testCompile 'junit:junit:4.12' compile 'gov.nist.math:jama:1.0.2' compile 'com.miglayout:miglayout-swing:4.1' compile 'org.igniterealtime.smack:smack:3.2.1' diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index f0ba6a50..f2b187b9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -319,7 +319,7 @@ public void onConnect(BowlerAbstractDevice source) { && linkNode.getNodeName().contentEquals("ZframeToRAS")) { Element eElement = (Element) linkNode; try { - setZframeToGlobalTransform(new TransformNR( + setGlobalToFiducialTransform(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x", eElement)), Double.parseDouble(XmlFactory.getTagValue("y", eElement)), Double.parseDouble(XmlFactory.getTagValue("z", eElement)), @@ -329,13 +329,13 @@ public void onConnect(BowlerAbstractDevice source) { Double.parseDouble(XmlFactory.getTagValue("rotz", eElement)) }))); } catch (Exception ex) { ex.printStackTrace(); - setZframeToGlobalTransform(new TransformNR()); + setGlobalToFiducialTransform(new TransformNR()); } } else if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("baseToZframe")) { Element eElement = (Element) linkNode; try { - setBaseToZframeTransform(new TransformNR(Double.parseDouble(XmlFactory.getTagValue("x", eElement)), + setRobotToFiducialTransform(new TransformNR(Double.parseDouble(XmlFactory.getTagValue("x", eElement)), Double.parseDouble(XmlFactory.getTagValue("y", eElement)), Double.parseDouble(XmlFactory.getTagValue("z", eElement)), new RotationNR(new double[] { Double.parseDouble(XmlFactory.getTagValue("rotw", eElement)), @@ -344,7 +344,7 @@ public void onConnect(BowlerAbstractDevice source) { Double.parseDouble(XmlFactory.getTagValue("rotz", eElement)) }))); } catch (Exception ex) { ex.printStackTrace(); - setBaseToZframeTransform(new TransformNR()); + setRobotToFiducialTransform(new TransformNR()); } } else { // System.err.println(linkNode.getNodeName()); @@ -902,15 +902,15 @@ public TransformNR getFiducialToGlobalTransform() { return fiducial2RAS; } - /** - * Sets the base to zframe transform. - * - * @param baseToFiducial the new base to zframe transform - */ - @Deprecated - public void setBaseToZframeTransform(TransformNR baseToFiducial) { - setRobotToFiducialTransform(baseToFiducial); - } +// /** +// * Sets the base to zframe transform. +// * +// * @param baseToFiducial the new base to zframe transform +// */ +// @Deprecated +// public void setBaseToZframeTransform(TransformNR baseToFiducial) { +// setRobotToFiducialTransform(baseToFiducial); +// } public void setRobotToFiducialTransform(TransformNR baseToFiducial) { if (baseToFiducial == null) { Log.error("Fiducial can not be null " + baseToFiducial); @@ -925,15 +925,15 @@ public void setRobotToFiducialTransform(TransformNR baseToFiducial) { runRenderWrangler(); } - /** - * Sets the zframe to global transform. - * - * @param fiducialToRAS the new zframe to global transform - */ - @Deprecated - private void setZframeToGlobalTransform(TransformNR fiducialToRAS) { - setGlobalToFiducialTransform(fiducialToRAS); - } +// /** +// * Sets the zframe to global transform. +// * +// * @param fiducialToRAS the new zframe to global transform +// */ +// @Deprecated +// private void setZframeToGlobalTransform(TransformNR fiducialToRAS) { +// setGlobalToFiducialTransform(fiducialToRAS); +// } /** * Gets the robot to fiducial transform. diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 039b5fce..ef7d641e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -68,6 +68,23 @@ public DHParameterKinematics(BowlerAbstractDevice bad, Element linkStream) { getFactory().getDyio(lf).addConnectionEventListener(l); return; } + addConnectionEventListener(new IDeviceConnectionEventListener() { + + @Override + public void onDisconnect(BowlerAbstractDevice source) { + for(int i=0;i Date: Fri, 16 Sep 2022 13:52:35 -0400 Subject: [PATCH 357/482] no change in the prints for transforms --- .../sdk/addons/kinematics/math/TransformNR.java | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 7ce32d09..2b41e081 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -218,9 +218,7 @@ public String toString() { * @return the matrix string */ public static String getMatrixString(Matrix matrix) { - if (!Log.isPrinting()) { - return "no print transform, enable Log.enableSystemPrint(true)"; - } + String s = "{\n"; double[][] m = matrix.getArray(); From 9bd28a0e69ede0d5813da3ddd237fc6cdfbab570 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 16 Sep 2022 13:53:34 -0400 Subject: [PATCH 358/482] formatting --- .../sdk/addons/kinematics/math/TransformNR.java | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 2b41e081..b65be370 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -222,16 +222,17 @@ public static String getMatrixString(Matrix matrix) { String s = "{\n"; double[][] m = matrix.getArray(); + DecimalFormat decimalFormat = new DecimalFormat("000.00"); int across = m.length; int down = m[0].length; for (int i = 0; i < across; i++) { s += "{ "; for (int j = 0; j < down; j++) { - if (m[i][j] < 0) - s += new DecimalFormat("000.00").format(m[i][j]); - else - s += new DecimalFormat("0000.00").format(m[i][j]); + if (m[i][j] < 0) { + s += decimalFormat.format(m[i][j]); + } else + s += decimalFormat.format(m[i][j]); if (j < down - 1) s += ","; s += "\t"; From e99434baf0f44ecd2c0603e6411b8ad9ecba79a8 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 16 Sep 2022 16:29:36 -0400 Subject: [PATCH 359/482] pass the event of base relative motion up --- build.gradle | 17 +++++++------- .../sdk/addons/kinematics/MobileBase.java | 22 +------------------ 2 files changed, 10 insertions(+), 29 deletions(-) diff --git a/build.gradle b/build.gradle index 0dcf8565..0825cbf0 100644 --- a/build.gradle +++ b/build.gradle @@ -9,14 +9,15 @@ File buildDir = file("."); Properties props = new Properties() props.load(new FileInputStream(buildDir.getAbsolutePath()+"/src/main/resources/com/neuronrobotics/sdk/config/build.properties")) -sourceSets { - - test { - java { - srcDirs = ["test/java/src","examples/java/src" ] // Note @Peter's comment below - } - } -} +//sourceSets { +// +// test { +// java { +// srcDirs = ["test/java/src" ] // Note @Peter's comment below +// } +// } +//} + manifest { attributes( "Manifest-Version": "1.0", diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 18d4ea97..2d580754 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -853,27 +853,7 @@ public void setFiducialToGlobalTransform(TransformNR globe) { setGlobalToFiducialTransform(globe); } - /** - * Sets the global to fiducial transform. - * - * @param frameToBase the new global to fiducial transform - */ - @Override - public void setGlobalToFiducialTransform(TransformNR frameToBase) { - super.setGlobalToFiducialTransform(frameToBase); - fireBaseUpdates(); - } - - /** - * Sets the global to fiducial transform. - * - * @param frameToBase the new global to fiducial transform - */ - @Override - public void setRobotToFiducialTransform(TransformNR baseToFiducial) { - super.setRobotToFiducialTransform( baseToFiducial); - fireBaseUpdates(); - } + private void fireBaseUpdates() { TransformNR frameToBase = forwardOffset(new TransformNR()); From af5019e576557535447c8daed63e3362f8d7d591 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 17 Sep 2022 14:32:25 -0400 Subject: [PATCH 360/482] load baseToZframe as RobotToFiducialTransform --- .../com/neuronrobotics/sdk/addons/kinematics/MobileBase.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 2d580754..a476b4ce 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -252,6 +252,9 @@ private void loadConfigs(Element doc) { TransformNR IMUcenter = loadTransform("imuFromCentroid", doc); if (IMUcenter != null) setIMUFromCentroid(IMUcenter); + TransformNR baseToZframe = loadTransform("baseToZframe", doc); + setRobotToFiducialTransform(baseToZframe); + fireBaseUpdates(); } From 8e1b4f490af12a50facfda89fa72b90316d11c9d Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 26 Sep 2022 13:59:02 -0400 Subject: [PATCH 361/482] changing of the DH settings shold triger a configurations change evnt --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 2 +- .../neuronrobotics/sdk/addons/kinematics/DHLink.java | 10 +++++++++- .../sdk/addons/kinematics/LinkConfiguration.java | 2 +- 3 files changed, 11 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index f2b187b9..609e3827 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -277,7 +277,7 @@ protected ArrayList loadConfig(Element doc) { Node nNode = dHParameters.item(x); if (nNode.getNodeType() == Node.ELEMENT_NODE && nNode.getNodeName().contentEquals("DHParameters")) { Element dhNode = (Element) nNode; - DHLink newLink = new DHLink(dhNode); + DHLink newLink = new DHLink(dhNode,newLinkConf); getDhParametersChain().addLink(newLink);// 0->1 NodeList mobileBasesNodeList = dhNode.getChildNodes(); for (int j = 0; j < mobileBasesNodeList.getLength(); j++) { diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java index ebe159de..aa79a280 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java @@ -66,6 +66,8 @@ public class DHLink { /** The embedable xml. */ private MobileBase slaveMobileBase=null; + + private LinkConfiguration newLinkConf; /** @@ -88,8 +90,10 @@ public DHLink(double d, double theta,double r, double alpha) { * Instantiates a new DH link. * * @param nNode the n node + * @param newLinkConf */ - public DHLink(Element nNode) { + public DHLink(Element nNode, LinkConfiguration newLinkConf) { + this.newLinkConf = newLinkConf; setDelta(XmlFactory.getTagValueDouble("Delta", nNode)); setTheta(Math.toRadians(XmlFactory.getTagValueDouble("Theta", nNode))); setRadius(XmlFactory.getTagValueDouble("Radius", nNode)); @@ -548,6 +552,7 @@ public double getDelta() { */ public void setDelta(double d) { this.d = d; + newLinkConf.fireChangeEvent(); } /** @@ -568,6 +573,7 @@ public void setRadius(double radius) { this.radius = radius; transX_J=null; transX=null; + newLinkConf.fireChangeEvent(); } /** @@ -577,6 +583,7 @@ public void setRadius(double radius) { */ public void setTheta(double theta) { this.theta = theta; + newLinkConf.fireChangeEvent(); } /** @@ -588,6 +595,7 @@ public void setAlpha(double alpha) { this.alpha = alpha; rotX=null; rotX_J=null; + newLinkConf.fireChangeEvent(); } /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 50903d11..0695779d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -1068,7 +1068,7 @@ public ArrayList getListeners() { return listeners; } - private void fireChangeEvent() { + void fireChangeEvent() { if(listeners!=null) { for(int i=0;i Date: Tue, 27 Sep 2022 14:42:04 -0400 Subject: [PATCH 362/482] adding an eror print to the paralell group --- .../kinematics/parallel/ParallelGroup.java | 43 +++++++++++++++++-- 1 file changed, 40 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index 6241e3a7..2db1dda4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -2,15 +2,15 @@ import java.util.ArrayList; import java.util.HashMap; +import java.util.function.Consumer; -import com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR; +import com.neuronrobotics.sdk.addons.kinematics.AbstractLink; import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; -import com.neuronrobotics.sdk.addons.kinematics.ITaskSpaceUpdateListenerNR; import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; import com.neuronrobotics.sdk.addons.kinematics.LinkFactory; -import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; + public class ParallelGroup extends DHParameterKinematics { private ArrayList constituantLimbs = new ArrayList(); @@ -225,6 +225,43 @@ public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Excepti IKvalues.clear(); return linkValues; } + public void printError(TransformNR taskSpaceTransform) throws Exception { + printError(taskSpaceTransform,t -> { + System.out.println(t); + }); + } + public void printError(TransformNR taskSpaceTransform, Consumer printer) throws Exception { + int numBerOfLinks = 0; + for (DHParameterKinematics l : getConstituantLimbs()) { + numBerOfLinks += l.getNumberOfLinks(); + } + double[] linkValues = new double[numBerOfLinks]; + int limbOffset = 0; + HashMap IKvalues = new HashMap<>(); + + for (DHParameterKinematics l : getConstituantLimbs()) { + // Use the built in IK model for the limb + double[] jointSpaceVect = compute(l, IKvalues, taskSpaceTransform); + // Load the link vector into the total vector + for (int i = 0; i < jointSpaceVect.length; i++) { + linkValues[limbOffset + i] = jointSpaceVect[i]; + AbstractLink link = l.getFactory().getLink(l.getLinkConfiguration(i)); + double val = link.toLinkUnits(jointSpaceVect[i]); + Double double1 = new Double(val); + if (double1.isNaN() || double1.isInfinite()) { + printer.accept("Fault on link " + i + " attempted to set " + double1); + } + if (val > link.getUpperLimit()) { + printer.accept("Fault on link " + i + " attempted to set " + jointSpaceVect[i]); + } + if (val < link.getLowerLimit()) { + printer.accept("Fault on link " + i + " attempted to set " + jointSpaceVect[i]); + } + } + limbOffset += jointSpaceVect.length; + } + IKvalues.clear(); + } @Override public TransformNR forwardKinematics(double[] jointSpaceVector) { From c2aedca8e378d76af4c7212b5759041a6a8c3753 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 16 Oct 2022 15:07:09 -0400 Subject: [PATCH 363/482] close https://github.com/CommonWealthRobotics/BowlerStudio/issues/289 --- .../com/neuronrobotics/sdk/addons/kinematics/DHLink.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java index aa79a280..fa67c7fc 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java @@ -552,7 +552,7 @@ public double getDelta() { */ public void setDelta(double d) { this.d = d; - newLinkConf.fireChangeEvent(); + if(newLinkConf!=null)newLinkConf.fireChangeEvent(); } /** @@ -573,7 +573,7 @@ public void setRadius(double radius) { this.radius = radius; transX_J=null; transX=null; - newLinkConf.fireChangeEvent(); + if(newLinkConf!=null)newLinkConf.fireChangeEvent(); } /** @@ -583,7 +583,7 @@ public void setRadius(double radius) { */ public void setTheta(double theta) { this.theta = theta; - newLinkConf.fireChangeEvent(); + if(newLinkConf!=null)newLinkConf.fireChangeEvent(); } /** @@ -595,7 +595,7 @@ public void setAlpha(double alpha) { this.alpha = alpha; rotX=null; rotX_J=null; - newLinkConf.fireChangeEvent(); + if(newLinkConf!=null)newLinkConf.fireChangeEvent(); } /** From 3d23ee3a6353ff81ee5d9199165ae68f1fafaa12 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 2 Nov 2022 13:50:53 -0400 Subject: [PATCH 364/482] adding pausable time --- .../sdk/pid/IPauseTimeListener.java | 6 ++ .../neuronrobotics/sdk/pid/PausableTime.java | 62 +++++++++++++++++++ 2 files changed, 68 insertions(+) create mode 100644 src/main/java/com/neuronrobotics/sdk/pid/IPauseTimeListener.java create mode 100644 src/main/java/com/neuronrobotics/sdk/pid/PausableTime.java diff --git a/src/main/java/com/neuronrobotics/sdk/pid/IPauseTimeListener.java b/src/main/java/com/neuronrobotics/sdk/pid/IPauseTimeListener.java new file mode 100644 index 00000000..4d62dd19 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/pid/IPauseTimeListener.java @@ -0,0 +1,6 @@ +package com.neuronrobotics.sdk.pid; + +public interface IPauseTimeListener { + + public void pause(boolean val); +} diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PausableTime.java b/src/main/java/com/neuronrobotics/sdk/pid/PausableTime.java new file mode 100644 index 00000000..364106ac --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/pid/PausableTime.java @@ -0,0 +1,62 @@ +package com.neuronrobotics.sdk.pid; + +import java.util.ArrayList; + +public class PausableTime { + private static long timePaused = 0; + private static long durationPaused = 0; + private static boolean paused =false; + private static ArrayList listeners = new ArrayList(); + + public static long currentTimeMillis() { + if(!paused) + return System.currentTimeMillis()-durationPaused; + return timePaused; + } + + public static void pause(boolean val) { + if(val) + timePaused=System.currentTimeMillis(); + else + durationPaused+=(System.currentTimeMillis()-timePaused); + + paused=val; + for(int i=0;i{ + boolean start = paused; + pause(false); + sleep(ms); + pause(start); + }).start(); + } + + public static void sleep(long durationMS) { + try { + Thread.sleep(durationMS); + } catch (InterruptedException e) { + throw new RuntimeException(e); + } + while(paused) { + try { + Thread.sleep(1); + } catch (InterruptedException e) { + throw new RuntimeException(e); + } + } + } + + public static void addIPauseTimeListener(IPauseTimeListener l) { + if(listeners.contains(l)) + return; + listeners.add(l); + } + public static void removeIPauseTimeListener(IPauseTimeListener l) { + if(listeners.contains(l)) + listeners.remove(l); + } +} From 46842f06e4c257931747e4dc89aeb34648d1711e Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 24 Jan 2023 21:22:04 -0500 Subject: [PATCH 365/482] comments --- .../com/neuronrobotics/sdk/addons/kinematics/MobileBase.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index a476b4ce..405978c9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -820,6 +820,8 @@ public String[] getGitSelfSource() { /** * Sets the self source. + * index 0 is GIT url + * index 1 is filename * * @param selfSource the new self source */ From 17cb22ee07095781115596b84216f3d76be33f0e Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 24 Jan 2023 23:21:04 -0500 Subject: [PATCH 366/482] startup of the default values in a link shoud startup --- .../com/neuronrobotics/sdk/addons/kinematics/DHChain.java | 4 +++- .../sdk/addons/kinematics/LinkConfiguration.java | 4 ++-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 77ceecba..08bb6bb6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -189,7 +189,9 @@ public Matrix forwardKinematicsMatrix(double[] jointSpaceVector, ArrayList linkConfigurations = factory2.getLinkConfigurations(); + LinkConfiguration conf= linkConfigurations.get(i); Matrix step; if(conf.isPrismatic()) step= getLinks().get(i).DhStep(jointSpaceVector[i]); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 0695779d..79a5a587 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -36,7 +36,7 @@ public class LinkConfiguration implements ITransformNRChangeListener { private int index=0;// = Double.parseDouble(getTagValue("index",eElement)); /** The totla number of links. */ - private int totlaNumberOfLinks=0; + private int totlaNumberOfLinks=1; /** The link index. */ private int linkIndex = 0; @@ -73,7 +73,7 @@ public class LinkConfiguration implements ITransformNRChangeListener { private double velocityLimit = 100000000; /** The device scripting name. */ - private String deviceScriptingName=null; + private String deviceScriptingName=name; private double deviceTheoreticalMax =180; private double deviceTheoreticalMin =0; private double mass=0.01;// KG From ddfadeff581444ca98028d9f684b8b748ddf8126 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 24 Jan 2023 23:25:16 -0500 Subject: [PATCH 367/482] updating the link configuration efaults --- .../neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 79a5a587..909603e9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -73,7 +73,7 @@ public class LinkConfiguration implements ITransformNRChangeListener { private double velocityLimit = 100000000; /** The device scripting name. */ - private String deviceScriptingName=name; + private String deviceScriptingName="exampleDevice"; private double deviceTheoreticalMax =180; private double deviceTheoreticalMin =0; private double mass=0.01;// KG From 2030a930aef0fd4e58af1e1941592b7b6380ab1c Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 25 Jan 2023 00:20:11 -0500 Subject: [PATCH 368/482] load a dhlink from another config --- .../sdk/addons/kinematics/DHLink.java | 7 + .../addons/kinematics/LinkConfiguration.java | 835 +++++++++--------- 2 files changed, 446 insertions(+), 396 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java index fa67c7fc..d0017543 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java @@ -101,6 +101,13 @@ public DHLink(Element nNode, LinkConfiguration newLinkConf) { } + public DHLink(DHLink dhl) { + setDelta(dhl.getDelta()); + setTheta(dhl.getTheta()); + setRadius(dhl.getRadius()); + setAlpha(dhl.getAlpha()); + } + /** * Fire on link global position change. * diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 909603e9..ff48854c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -18,247 +18,254 @@ import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; import com.neuronrobotics.sdk.pid.PIDConfiguration; - - // TODO: Auto-generated Javadoc /** * The Class LinkConfiguration. */ public class LinkConfiguration implements ITransformNRChangeListener { - private ArrayList listeners=null; + private ArrayList listeners = null; /** The name. */ - private String name="newLink";// = getTagValue("name",eElement); - + private String name = "newLink";// = getTagValue("name",eElement); + /** The type. */ - private String type="virtual"; - + private String type = "virtual"; + /** The index. */ - private int index=0;// = Double.parseDouble(getTagValue("index",eElement)); - + private int index = 0;// = Double.parseDouble(getTagValue("index",eElement)); + /** The totla number of links. */ - private int totlaNumberOfLinks=1; - + private int totlaNumberOfLinks = 1; + /** The link index. */ private int linkIndex = 0; - + /** The scale. */ - //private double length;// = Double.parseDouble(getTagValue("length",eElement)); - private double scale=1.0;// = Double.parseDouble(getTagValue("scale",eElement)); - + // private double length;// = + // Double.parseDouble(getTagValue("length",eElement)); + private double scale = 1.0;// = Double.parseDouble(getTagValue("scale",eElement)); + /** The upper limit. */ - private double upperLimit=100000;// = Double.parseDouble(getTagValue("upperLimit",eElement)); - + private double upperLimit = 100000;// = Double.parseDouble(getTagValue("upperLimit",eElement)); + /** The lower limit. */ - private double lowerLimit=-100000;// = Double.parseDouble(getTagValue("lowerLimit",eElement)); - + private double lowerLimit = -100000;// = Double.parseDouble(getTagValue("lowerLimit",eElement)); + /** The k. */ - private double k[] = new double[]{1,0,0}; - + private double k[] = new double[] { 1, 0, 0 }; + /** The inverted. */ - private boolean inverted=false; - + private boolean inverted = false; + /** The is latch. */ - private boolean isLatch=false; - + private boolean isLatch = false; + /** The index latch. */ - private double indexLatch=0; - + private double indexLatch = 0; + /** The is stop on latch. */ - private boolean isStopOnLatch=false; - + private boolean isStopOnLatch = false; + /** The homing ticks per second. */ - private int homingTicksPerSecond=10000000; - + private int homingTicksPerSecond = 10000000; + /** The upper velocity. */ private double velocityLimit = 100000000; - + /** The device scripting name. */ - private String deviceScriptingName="exampleDevice"; - private double deviceTheoreticalMax =180; - private double deviceTheoreticalMin =0; - private double mass=0.01;// KG - private TransformNR centerOfMassFromCentroid=new TransformNR(); - private TransformNR imuFromCentroid=new TransformNR(); + private String deviceScriptingName = "exampleDevice"; + private double deviceTheoreticalMax = 180; + private double deviceTheoreticalMin = 0; + private double mass = 0.01;// KG + private TransformNR centerOfMassFromCentroid = new TransformNR(); + private TransformNR imuFromCentroid = new TransformNR(); /** The static offset. */ - private double staticOffset=0; - + private double staticOffset = 0; + private ArrayList slaveLinks = new ArrayList(); - + /** - * This is the flag for setting the direction of the velocity lock out for limit switches + * This is the flag for setting the direction of the velocity lock out for limit + * switches */ - private boolean invertVelocity=false; - + private boolean invertVelocity = false; + /** - * This is the flag for setting the direction of the velocity lock out for limit switches + * This is the flag for setting the direction of the velocity lock out for limit + * switches */ - private boolean invertLimitVelocityPolarity=false; - + private boolean invertLimitVelocityPolarity = false; - private HashMap vitamins= new HashMap(); - private HashMap vitaminVariant= new HashMap(); + private HashMap vitamins = new HashMap(); + private HashMap vitaminVariant = new HashMap(); private boolean passive = false; - private boolean newAbs=false; + private boolean newAbs = false; + /** * Instantiates a new link configuration. * * @param eElement the e element */ - public LinkConfiguration(Element eElement){ - setName(XmlFactory.getTagValue("name",eElement)); - setHardwareIndex(Integer.parseInt(XmlFactory.getTagValue("index",eElement))); - setScale(Double.parseDouble(XmlFactory.getTagValue("scale",eElement))); - try{ - setDeviceTheoreticalMax(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMax",eElement))); - }catch (Exception e){ - newAbs=true; - }try{ - setDeviceTheoreticalMin(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMin",eElement))); - }catch (Exception e){ - newAbs=true; - } - setUpperLimit(Double.parseDouble(XmlFactory.getTagValue("upperLimit",eElement))); - setLowerLimit(Double.parseDouble(XmlFactory.getTagValue("lowerLimit",eElement))); - try{ - setDeviceScriptingName(XmlFactory.getTagValue("deviceName",eElement)); - }catch(NullPointerException e){ - // no device from connection engine specified - } - try{ - invertLimitVelocityPolarity=XmlFactory.getTagValue("invertLimitVelocityPolarity",eElement).contains("true"); - - }catch(NullPointerException e){ - // no device from connection engine specified - } - try{ - setTypeString(XmlFactory.getTagValue("type",eElement)); - try { - setTypeString(getTypeString()); - }catch(NoSuchElementException e) { - setTypeString(LinkType.VIRTUAL.getName()); - setTypeString("virtual"); - } - }catch (NullPointerException e){ - setTypeString(LinkType.PID.getName()); - } - if(getTypeEnum()==LinkType.PID){ - try{ - k[0]=Double.parseDouble(XmlFactory.getTagValue("pGain",eElement)); - k[1]=Double.parseDouble(XmlFactory.getTagValue("iGain",eElement)); - k[2]=Double.parseDouble(XmlFactory.getTagValue("dGain",eElement)); - inverted=XmlFactory.getTagValue("isInverted",eElement).contains("true"); - setHomingTicksPerSecond(Integer.parseInt(XmlFactory.getTagValue("homingTPS",eElement))); - }catch (Exception ex){} - } - - try{ - setUpperVelocity(Double.parseDouble(XmlFactory.getTagValue("upperVelocity",eElement))); - }catch (Exception e){ - - } - try{ - setStaticOffset(Double.parseDouble(XmlFactory.getTagValue("staticOffset",eElement))); - }catch (Exception e){ - - } - - - - try{ - setMassKg(Double.parseDouble(XmlFactory.getTagValue("mass",eElement))); - }catch (Exception e){ - - } - try{ - setElectroMechanicalType(XmlFactory.getTagValue("electroMechanicalType",eElement)); - }catch (Exception e){ - - } - - try{ - setElectroMechanicalSize(XmlFactory.getTagValue("electroMechanicalSize",eElement)); - }catch (Exception e){ - - } - try{ - setShaftType(XmlFactory.getTagValue("shaftType",eElement)); - }catch (Exception e){ - - } - - try{ - setShaftSize(XmlFactory.getTagValue("shaftSize",eElement)); - }catch (Exception e){ - - } - try{ - setPassive(Boolean.parseBoolean(XmlFactory.getTagValue("passive",eElement))); - }catch (Exception e){ - - } - NodeList nodListofLinks = eElement.getChildNodes(); - - for (int i = 0; i < nodListofLinks .getLength(); i++) { - Node linkNode = nodListofLinks.item(i); - try{ - if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("centerOfMassFromCentroid")) { - Element cntr = (Element)linkNode; - setCenterOfMassFromCentroid(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), - Double.parseDouble(XmlFactory.getTagValue("y",cntr)), - Double.parseDouble(XmlFactory.getTagValue("z",cntr)), - new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), - Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))}))); - } - }catch (Exception e){ - - } - try{ - if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("imuFromCentroid")) { - Element cntr = (Element)linkNode; - setimuFromCentroid(new TransformNR( Double.parseDouble(XmlFactory.getTagValue("x",cntr)), - Double.parseDouble(XmlFactory.getTagValue("y",cntr)), - Double.parseDouble(XmlFactory.getTagValue("z",cntr)), - new RotationNR(new double[]{ Double.parseDouble(XmlFactory.getTagValue("rotw",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotx",cntr)), - Double.parseDouble(XmlFactory.getTagValue("roty",cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotz",cntr))}))); - } - }catch (Exception e){ - - }try{ - if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamins")) { - getVitamins((Element)linkNode) ; - } - }catch (Exception e){ - - } + public LinkConfiguration(Element eElement) { + setName(XmlFactory.getTagValue("name", eElement)); + setHardwareIndex(Integer.parseInt(XmlFactory.getTagValue("index", eElement))); + setScale(Double.parseDouble(XmlFactory.getTagValue("scale", eElement))); + try { + setDeviceTheoreticalMax(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMax", eElement))); + } catch (Exception e) { + newAbs = true; + } + try { + setDeviceTheoreticalMin(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMin", eElement))); + } catch (Exception e) { + newAbs = true; + } + setUpperLimit(Double.parseDouble(XmlFactory.getTagValue("upperLimit", eElement))); + setLowerLimit(Double.parseDouble(XmlFactory.getTagValue("lowerLimit", eElement))); + try { + setDeviceScriptingName(XmlFactory.getTagValue("deviceName", eElement)); + } catch (NullPointerException e) { + // no device from connection engine specified + } + try { + invertLimitVelocityPolarity = XmlFactory.getTagValue("invertLimitVelocityPolarity", eElement) + .contains("true"); + + } catch (NullPointerException e) { + // no device from connection engine specified + } + try { + setTypeString(XmlFactory.getTagValue("type", eElement)); + try { + setTypeString(getTypeString()); + } catch (NoSuchElementException e) { + setTypeString(LinkType.VIRTUAL.getName()); + setTypeString("virtual"); + } + } catch (NullPointerException e) { + setTypeString(LinkType.PID.getName()); + } + if (getTypeEnum() == LinkType.PID) { + try { + k[0] = Double.parseDouble(XmlFactory.getTagValue("pGain", eElement)); + k[1] = Double.parseDouble(XmlFactory.getTagValue("iGain", eElement)); + k[2] = Double.parseDouble(XmlFactory.getTagValue("dGain", eElement)); + inverted = XmlFactory.getTagValue("isInverted", eElement).contains("true"); + setHomingTicksPerSecond(Integer.parseInt(XmlFactory.getTagValue("homingTPS", eElement))); + } catch (Exception ex) { + } + } + + try { + setUpperVelocity(Double.parseDouble(XmlFactory.getTagValue("upperVelocity", eElement))); + } catch (Exception e) { + + } + try { + setStaticOffset(Double.parseDouble(XmlFactory.getTagValue("staticOffset", eElement))); + } catch (Exception e) { + } - isLatch=XmlFactory.getTagValue("isLatch",eElement).contains("true"); - setIndexLatch(Double.parseDouble(XmlFactory.getTagValue("indexLatch",eElement))); - isStopOnLatch=XmlFactory.getTagValue("isStopOnLatch",eElement).contains("true"); - if(staticOffset>getUpperLimit() || staticOffset getUpperLimit() || staticOffset < getLowerLimit()) + Log.error("PID group " + getHardwareIndex() + " staticOffset is " + staticOffset + + " but needs to be between " + getUpperLimit() + " and " + getLowerLimit()); + // System.out.println("Interted"+ inverted); + } + /** * Instantiates a new link configuration. * * @param args the args */ public LinkConfiguration(Object[] args) { - setName((String)args[6]); - setHardwareIndex((Integer)args[0]); - setScale((Double)args[5]); - setUpperLimit((Integer)args[4]); - setLowerLimit((Integer)args[3]); - setTypeString(LinkType.PID.getName()); + setName((String) args[6]); + setHardwareIndex((Integer) args[0]); + setScale((Double) args[5]); + setUpperLimit((Integer) args[4]); + setLowerLimit((Integer) args[3]); + setTypeString(LinkType.PID.getName()); - setTotlaNumberOfLinks((Integer)args[1]); - fireChangeEvent(); + setTotlaNumberOfLinks((Integer) args[1]); + fireChangeEvent(); } + /** * Gets the vitamins. * @@ -272,14 +279,12 @@ protected void getVitamins(Element doc) { Node linkNode = nodListofLinks.item(i); if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamin")) { Element e = (Element) linkNode; - setVitamin(XmlFactory.getTagValue("name",e), - XmlFactory.getTagValue("type",e), - XmlFactory.getTagValue("id",e) - ); - try{ - setVitaminVariant(XmlFactory.getTagValue("name",e), - XmlFactory.getTagValue("variant",e)); - }catch(Exception ex){} + setVitamin(XmlFactory.getTagValue("name", e), XmlFactory.getTagValue("type", e), + XmlFactory.getTagValue("id", e)); + try { + setVitaminVariant(XmlFactory.getTagValue("name", e), XmlFactory.getTagValue("variant", e)); + } catch (Exception ex) { + } } } return; @@ -288,33 +293,38 @@ protected void getVitamins(Element doc) { } return; } - + /** * Add a vitamin to this link - * @param name the name of this vitamin, - if the name already exists, the data will be overwritten. + * + * @param name the name of this vitamin, if the name already exists, the data + * will be overwritten. * @param type the vitamin type, this maps the the json filename - * @param id the part ID, theis maps to the key in the json for the vitamin + * @param id the part ID, theis maps to the key in the json for the vitamin */ - public void setVitamin(String name, String type, String id){ - if(getVitamins().get(name)==null){ + public void setVitamin(String name, String type, String id) { + if (getVitamins().get(name) == null) { getVitamins().put(name, new String[2]); } - getVitamins().get(name)[0]=type; - getVitamins().get(name)[1]=id; + getVitamins().get(name)[0] = type; + getVitamins().get(name)[1] = id; fireChangeEvent(); } + /** * Set a purchasing code for a vitamin - * @param name name of vitamin + * + * @param name name of vitamin * @param tagValue2 Purchaning code */ public void setVitaminVariant(String name, String tagValue2) { vitaminVariant.put(name, tagValue2); fireChangeEvent(); } + /** * Get a purchaing code for a vitamin + * * @param name name of vitamin * @return */ @@ -326,41 +336,75 @@ public String getVitaminVariant(String name) { * Instantiates a new link configuration. */ public LinkConfiguration() { - //default values + // default values + } + + public LinkConfiguration(LinkConfiguration from) { + setDeviceScriptingName(from.getDeviceScriptingName()); + + for(int i=0;i"+getDeviceScriptingName()+"\n":""; - String slaves=""; - for(int i=0;i\n"; + public String getXml() { + String DevStr = deviceScriptingName != null ? "" + getDeviceScriptingName() + "\n" + : ""; + String slaves = ""; + for (int i = 0; i < slaveLinks.size(); i++) { + slaves += "\n\t\n" + slaveLinks.get(i).getXml() + "\n\t\n"; } - String allVitamins=""; - for(String key: getVitamins().keySet()){ + String allVitamins = ""; + for (String key : getVitamins().keySet()) { String v = "\t\t\n"; - v+= "\t\t\t"+key+"\n"+ - "\t\t\t"+getVitamins().get(key)[0]+"\n"+ - "\t\t\t"+getVitamins().get(key)[1]+"\n"; - if (getVitaminVariant(key)!=null){ - v+= "\t\t\t"+getVitamins().get(key)[1]+"\n"; + v += "\t\t\t" + key + "\n" + "\t\t\t" + getVitamins().get(key)[0] + "\n" + + "\t\t\t" + getVitamins().get(key)[1] + "\n"; + if (getVitaminVariant(key) != null) { + v += "\t\t\t" + getVitamins().get(key)[1] + "\n"; } - v+="\t\t\n"; - allVitamins+=v; + v += "\t\t\n"; + allVitamins += v; } - - return "\t"+getName()+"\n"+ - "\t"+DevStr+ - "\t"+getTypeString()+"\n"+ - "\t"+getHardwareIndex()+"\n"+ - "\t"+getScale()+"\n"+ - "\t"+getUpperLimit()+"\n"+ - "\t"+getLowerLimit()+"\n"+ - "\t"+getUpperVelocity()+"\n"+ - "\t"+getLowerVelocity()+"\n"+ - "\t"+getStaticOffset()+"\n"+ - "\t"+getDeviceTheoreticalMax()+"\n"+ - "\t"+getDeviceTheoreticalMin()+"\n"+ - "\t"+isLatch()+"\n"+ - "\t"+getIndexLatch()+"\n"+ - "\t"+isStopOnLatch()+"\n"+ - "\t"+getHomingTicksPerSecond()+"\n"+ - "\n\t\n"+allVitamins+"\n\t\n"+ - "\t"+isPassive()+"\n"+ - "\t"+getMassKg()+"\n"+ - "\t"+getCenterOfMassFromCentroid().getXml()+"\n"+ - "\t"+getimuFromCentroid().getXml()+"\n" - +slaves; + + return "\t" + getName() + "\n" + "\t" + DevStr + "\t" + getTypeString() + "\n" + + "\t" + getHardwareIndex() + "\n" + "\t" + getScale() + "\n" + + "\t" + getUpperLimit() + "\n" + "\t" + getLowerLimit() + + "\n" + "\t" + getUpperVelocity() + "\n" + + "\t" + getLowerVelocity() + "\n" + "\t" + + getStaticOffset() + "\n" + "\t" + getDeviceTheoreticalMax() + + "\n" + "\t" + getDeviceTheoreticalMin() + + "\n" + "\t" + isLatch() + "\n" + "\t" + + getIndexLatch() + "\n" + "\t" + isStopOnLatch() + "\n" + + "\t" + getHomingTicksPerSecond() + "\n" + "\n\t\n" + allVitamins + + "\n\t\n" + "\t" + isPassive() + "\n" + "\t" + getMassKg() + + "\n" + "\t" + getCenterOfMassFromCentroid().getXml() + + "\n" + "\t" + getimuFromCentroid().getXml() + + "\n" + slaves; } /** @@ -419,11 +455,11 @@ public String getXml(){ * @param name the new name */ public void setName(String name) { - Log.info("Setting controller name: "+name); + Log.info("Setting controller name: " + name); this.name = name; fireChangeEvent(); } - + /** * Gets the name. * @@ -432,9 +468,10 @@ public void setName(String name) { public String getName() { return name; } - + /** - * sets the hardware index for maping this kinematics link to its assocaited hardware index. + * sets the hardware index for maping this kinematics link to its assocaited + * hardware index. * * @param index the new hardware index */ @@ -442,9 +479,10 @@ public void setHardwareIndex(int index) { this.index = index; fireChangeEvent(); } - + /** - * gets the hardware index for maping this kinematics link to its assocaited hardware index. + * gets the hardware index for maping this kinematics link to its assocaited + * hardware index. * * @return the hardware index */ @@ -461,7 +499,7 @@ public void setScale(double scale) { this.scale = scale; fireChangeEvent(); } - + /** * Gets the scale. * @@ -488,7 +526,7 @@ public void setDeviceTheoreticalMin(double deviceTheoreticalMin) { this.deviceTheoreticalMin = deviceTheoreticalMin; fireChangeEvent(); } - + /** * Sets the upper limit. * @@ -496,16 +534,16 @@ public void setDeviceTheoreticalMin(double deviceTheoreticalMin) { */ public void setUpperLimit(double upperLimit) { this.upperLimit = upperLimit; - if(upperLimit>getDeviceTheoreticalMax()) { - if(!newAbs) - this.upperLimit=getDeviceTheoreticalMax(); + if (upperLimit > getDeviceTheoreticalMax()) { + if (!newAbs) + this.upperLimit = getDeviceTheoreticalMax(); else setDeviceTheoreticalMax(upperLimit); - + } fireChangeEvent(); } - + /** * Gets the upper limit. * @@ -514,7 +552,7 @@ public void setUpperLimit(double upperLimit) { public double getUpperLimit() { return upperLimit; } - + /** * Sets the lower limit. * @@ -522,18 +560,17 @@ public double getUpperLimit() { */ public void setLowerLimit(double lowerLimit) { this.lowerLimit = lowerLimit; - if(lowerLimitgetDeviceTheoreticalMax()) - indexLatch= getDeviceTheoreticalMax(); - if(indexLatch getDeviceTheoreticalMax()) + indexLatch = getDeviceTheoreticalMax(); + if (indexLatch < getDeviceTheoreticalMin()) + indexLatch = getDeviceTheoreticalMin(); this.indexLatch = indexLatch; fireChangeEvent(); } - + /** * Gets the index latch. * @@ -642,7 +679,7 @@ public void setIndexLatch(double indexLatch) { public double getIndexLatch() { return indexLatch; } - + /** * Sets the latch. * @@ -651,7 +688,7 @@ public double getIndexLatch() { public void setLatch(boolean isLatch) { this.isLatch = isLatch; } - + /** * Checks if is latch. * @@ -660,7 +697,7 @@ public void setLatch(boolean isLatch) { public boolean isLatch() { return isLatch; } - + /** * Sets the stop on latch. * @@ -670,7 +707,7 @@ public void setStopOnLatch(boolean isStopOnLatch) { this.isStopOnLatch = isStopOnLatch; fireChangeEvent(); } - + /** * Checks if is stop on latch. * @@ -679,7 +716,7 @@ public void setStopOnLatch(boolean isStopOnLatch) { public boolean isStopOnLatch() { return isStopOnLatch; } - + /** * Sets the homing ticks per second. * @@ -689,7 +726,7 @@ public void setHomingTicksPerSecond(int homingTicksPerSecond) { this.homingTicksPerSecond = homingTicksPerSecond; fireChangeEvent(); } - + /** * Gets the homing ticks per second. * @@ -698,9 +735,7 @@ public void setHomingTicksPerSecond(int homingTicksPerSecond) { public int getHomingTicksPerSecond() { return homingTicksPerSecond; } - - /** * Gets the type. * @@ -709,7 +744,7 @@ public int getHomingTicksPerSecond() { LinkType getTypeEnum() { return LinkType.fromString(type); } - + /** * Sets the upper velocity. * @@ -719,7 +754,7 @@ public void setUpperVelocity(double upperVelocity) { this.velocityLimit = upperVelocity; fireChangeEvent(); } - + /** * Gets the upper velocity. * @@ -729,7 +764,6 @@ public double getUpperVelocity() { return velocityLimit; } - /** * Gets the lower velocity. * @@ -738,7 +772,7 @@ public double getUpperVelocity() { public double getLowerVelocity() { return -velocityLimit; } - + /** * THis is the index of this link in its kinematics chain. * @@ -747,7 +781,7 @@ public double getLowerVelocity() { public int getLinkIndex() { return linkIndex; } - + /** * This sets the index of the link in itts kinematic chain. * @@ -757,7 +791,7 @@ public void setLinkIndex(int linkIndex) { this.linkIndex = linkIndex; fireChangeEvent(); } - + /** * Gets the totla number of links. * @@ -766,7 +800,7 @@ public void setLinkIndex(int linkIndex) { public int getTotlaNumberOfLinks() { return totlaNumberOfLinks; } - + /** * Sets the totla number of links. * @@ -776,13 +810,13 @@ public void setTotlaNumberOfLinks(int totlaNumberOfLinks) { this.totlaNumberOfLinks = totlaNumberOfLinks; fireChangeEvent(); } - + /** * Gets the pid configuration. * * @return the pid configuration */ - public PIDConfiguration getPidConfiguration(){ + public PIDConfiguration getPidConfiguration() { PIDConfiguration pid = new PIDConfiguration(); pid.setKD(getKD()); pid.setGroup(getHardwareIndex()); @@ -793,7 +827,7 @@ public PIDConfiguration getPidConfiguration(){ pid.setInverted(isInverted()); return pid; } - + /** * Sets the pid configuration. * @@ -801,23 +835,23 @@ public PIDConfiguration getPidConfiguration(){ */ public void setPidConfiguration(IPidControlNamespace pid) { PIDConfiguration conf = pid.getPIDConfiguration(getHardwareIndex()); - if(getTypeEnum()==LinkType.PID){ - k[0]=conf.getKP(); - k[1]=conf.getKI(); - k[2]=conf.getKD(); - inverted=conf.isInverted(); - setHomingTicksPerSecond(10000); - } - - isLatch=conf.isUseLatch(); - indexLatch=(int) conf.getIndexLatch(); - isStopOnLatch=conf.isStopOnIndex(); - fireChangeEvent(); + if (getTypeEnum() == LinkType.PID) { + k[0] = conf.getKP(); + k[1] = conf.getKI(); + k[2] = conf.getKD(); + inverted = conf.isInverted(); + setHomingTicksPerSecond(10000); + } + + isLatch = conf.isUseLatch(); + indexLatch = (int) conf.getIndexLatch(); + isStopOnLatch = conf.isStopOnIndex(); + fireChangeEvent(); // if(indexLatch>getUpperLimit() || indexLatchgetUpperLimit()) - staticOffset= getUpperLimit(); - if(staticOffset getUpperLimit()) + staticOffset = getUpperLimit(); + if (staticOffset < getLowerLimit()) + staticOffset = getLowerLimit(); this.staticOffset = staticOffset; fireChangeEvent(); } - public boolean isInvertLimitVelocityPolarity() { return invertLimitVelocityPolarity; } @@ -882,25 +915,30 @@ public void setSlaveLinks(ArrayList slaveLinks) { public double getMassKg() { return mass; } + public void setMassKg(double mass) { this.mass = mass; fireChangeEvent(); } + public TransformNR getCenterOfMassFromCentroid() { return centerOfMassFromCentroid; } + public void setCenterOfMassFromCentroid(TransformNR com) { - if(this.centerOfMassFromCentroid!=null) + if (this.centerOfMassFromCentroid != null) this.centerOfMassFromCentroid.removeChangeListener(this); this.centerOfMassFromCentroid = com; this.centerOfMassFromCentroid.addChangeListener(this); fireChangeEvent(); } + public TransformNR getimuFromCentroid() { return imuFromCentroid; } + public void setimuFromCentroid(TransformNR imu) { - if(this.imuFromCentroid!=null) + if (this.imuFromCentroid != null) this.imuFromCentroid.removeChangeListener(this); this.imuFromCentroid = imu; this.imuFromCentroid.addChangeListener(this); @@ -910,21 +948,23 @@ public void setimuFromCentroid(TransformNR imu) { // private String electroMechanicalSize = "standardMicro"; // private String shaftType = "hobbyServoHorn"; // private String shaftSize = "standardMicro1"; - - private String[] getCoreShaftPart(){ - if(vitamins.get("shaft")==null){ - vitamins.put("shaft", new String[]{"hobbyServoHorn","standardMicro1"}); + + private String[] getCoreShaftPart() { + if (vitamins.get("shaft") == null) { + vitamins.put("shaft", new String[] { "hobbyServoHorn", "standardMicro1" }); } return vitamins.get("shaft"); } - private String[] getCoreEmPart(){ - if(vitamins.get("electroMechanical")==null){ - vitamins.put("electroMechanical", new String[]{"hobbyServo","standardMicro"}); + + private String[] getCoreEmPart() { + if (vitamins.get("electroMechanical") == null) { + vitamins.put("electroMechanical", new String[] { "hobbyServo", "standardMicro" }); } return vitamins.get("electroMechanical"); } + public String getElectroMechanicalType() { - return getCoreEmPart()[0] ; + return getCoreEmPart()[0]; } public void setElectroMechanicalType(String electroMechanicalType) { @@ -933,7 +973,7 @@ public void setElectroMechanicalType(String electroMechanicalType) { } public String getElectroMechanicalSize() { - return getCoreEmPart()[1] ; + return getCoreEmPart()[1]; } public void setElectroMechanicalSize(String electroMechanicalSize) { @@ -968,11 +1008,11 @@ public void setPassive(boolean passive) { fireChangeEvent(); } - public HashMap getVitamins() { + public HashMap getVitamins() { return vitamins; } - public void setVitamins(HashMap vitamins) { + public void setVitamins(HashMap vitamins) { this.vitamins = vitamins; fireChangeEvent(); } @@ -982,98 +1022,101 @@ public String getTypeString() { } public void setTypeString(String typeString) { - if(typeString==null) + if (typeString == null) throw new NullPointerException(); - type=typeString; + type = typeString; fireChangeEvent(); } - - /** + + /** * Checks if is virtual. * * @return true, if is virtual */ - public boolean isVirtual(){ - switch(getTypeEnum()){ + public boolean isVirtual() { + switch (getTypeEnum()) { case DUMMY: case VIRTUAL: return true; case USERDEFINED: - if(getTypeString().toLowerCase().contains("virtual")){ + if (getTypeString().toLowerCase().contains("virtual")) { return true; } default: return false; - } - } - - /** + } + } + + /** * Checks if is tool. * * @return true, if is tool */ - public boolean isTool(){ - switch(getTypeEnum()){ + public boolean isTool() { + switch (getTypeEnum()) { case PID_TOOL: case GCODE_STEPPER_TOOL: case GCODE_HEATER_TOOL: return true; case USERDEFINED: - if(getTypeString().toLowerCase().contains("tool")){ + if (getTypeString().toLowerCase().contains("tool")) { return true; - } + } default: return false; - - } - } - - /** + + } + } + + /** * Checks if is prismatic. * * @return true, if is prismatic */ - public boolean isPrismatic(){ - switch(getTypeEnum()){ + public boolean isPrismatic() { + switch (getTypeEnum()) { case ANALOG_PRISMATIC: case PID_PRISMATIC: case GCODE_STEPPER_PRISMATIC: return true; case USERDEFINED: - if(getTypeString().toLowerCase().contains("prismatic")){ + if (getTypeString().toLowerCase().contains("prismatic")) { return true; } default: return false; - } - } + } + } public void addChangeListener(ILinkConfigurationChangeListener l) { - if(!getListeners().contains(l)) + if (!getListeners().contains(l)) getListeners().add(l); } + public void removeChangeListener(ILinkConfigurationChangeListener l) { - if(getListeners().contains(l)) + if (getListeners().contains(l)) getListeners().remove(l); } + public void clearChangeListener() { getListeners().clear(); - listeners=null; + listeners = null; } + public ArrayList getListeners() { - if(listeners==null) - listeners=new ArrayList(); + if (listeners == null) + listeners = new ArrayList(); return listeners; } void fireChangeEvent() { - if(listeners!=null) { - for(int i=0;i Date: Wed, 25 Jan 2023 00:44:01 -0500 Subject: [PATCH 369/482] setting and configuration during constructure needs to surppress the event, which will create a new ling infinitly --- .../addons/kinematics/LinkConfiguration.java | 45 ++++++++++++------- .../sdk/addons/kinematics/MockRotoryLink.java | 2 + .../addons/kinematics/PidPrismaticLink.java | 2 + .../sdk/addons/kinematics/PidRotoryLink.java | 2 + 4 files changed, 34 insertions(+), 17 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index ff48854c..4050d6fc 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -24,6 +24,7 @@ */ public class LinkConfiguration implements ITransformNRChangeListener { private ArrayList listeners = null; + private boolean pauseEvents=false; /** The name. */ private String name = "newLink";// = getTagValue("name",eElement); @@ -351,23 +352,23 @@ public LinkConfiguration(LinkConfiguration from) { } setName(from.getName()); - setTypeString(getTypeString()); - setHardwareIndex(getHardwareIndex()); - setScale(getScale()); - setUpperLimit(getUpperLimit()); - setLowerLimit(getLowerLimit()); - setUpperVelocity(getUpperVelocity()); - setStaticOffset(getStaticOffset()); - setDeviceTheoreticalMax(getDeviceTheoreticalMax()); - setDeviceTheoreticalMin(getDeviceTheoreticalMin()); - setLatch(isLatch()); - setIndexLatch(getIndexLatch()); - setStopOnLatch(isStopOnLatch()); - setHomingTicksPerSecond(getHomingTicksPerSecond()); - setPassive(isPassive()); - setMassKg(getMassKg()); - setCenterOfMassFromCentroid(getCenterOfMassFromCentroid()); - setimuFromCentroid(getimuFromCentroid()); + setTypeString(from.getTypeString()); + setHardwareIndex(from.getHardwareIndex()); + setScale(from.getScale()); + setUpperLimit(from.getUpperLimit()); + setLowerLimit(from.getLowerLimit()); + setUpperVelocity(from.getUpperVelocity()); + setStaticOffset(from.getStaticOffset()); + setDeviceTheoreticalMax(from.getDeviceTheoreticalMax()); + setDeviceTheoreticalMin(from.getDeviceTheoreticalMin()); + setLatch(from.isLatch()); + setIndexLatch(from.getIndexLatch()); + setStopOnLatch(from.isStopOnLatch()); + setHomingTicksPerSecond(from.getHomingTicksPerSecond()); + setPassive(from.isPassive()); + setMassKg(from.getMassKg()); + setCenterOfMassFromCentroid(from.getCenterOfMassFromCentroid()); + setimuFromCentroid(from.getimuFromCentroid()); } @@ -1112,6 +1113,8 @@ public ArrayList getListeners() { } void fireChangeEvent() { + if(pauseEvents) + return; if (listeners != null) { for (int i = 0; i < listeners.size(); i++) { try { @@ -1128,4 +1131,12 @@ public void event(TransformNR changed) { fireChangeEvent(); } + public boolean isPauseEvents() { + return pauseEvents; + } + + public void setPauseEvents(boolean pauseEvents) { + this.pauseEvents = pauseEvents; + } + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java index f5182f2f..5e2fd4ea 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java @@ -21,8 +21,10 @@ public MockRotoryLink(LinkConfiguration conf) { setUpperLimit(355); setScale(Math.PI/180); setTargetValue(35); + conf.setPauseEvents(true); conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); conf.setDeviceTheoreticalMin(Integer.MIN_VALUE); + conf.setPauseEvents(false); } /* (non-Javadoc) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java index 0e8a0974..a6b980b3 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java @@ -24,8 +24,10 @@ public class PidPrismaticLink extends AbstractPrismaticLink{ public PidPrismaticLink(PIDChannel c,LinkConfiguration conf, boolean b) { super(conf); if(!b) { + conf.setPauseEvents(true); conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); conf.setDeviceTheoreticalMin(Integer.MIN_VALUE); + conf.setPauseEvents(false); }else { // conf.setDeviceTheoreticalMax(conf.getUpperLimit()); // conf.setDeviceTheoreticalMin(conf.getLowerLimit()); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java index 0ca47eb3..5befe574 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java @@ -24,8 +24,10 @@ public class PidRotoryLink extends AbstractRotoryLink{ public PidRotoryLink(PIDChannel c,LinkConfiguration conf, boolean b) { super(conf); if(!b) { + conf.setPauseEvents(true); conf.setDeviceTheoreticalMax(Integer.MAX_VALUE); conf.setDeviceTheoreticalMin(Integer.MIN_VALUE); + conf.setPauseEvents(false); }else { // conf.setDeviceTheoreticalMax(conf.getUpperLimit()); // conf.setDeviceTheoreticalMin(conf.getLowerLimit()); From 663b7ed2d7fc369bcb137e13ae4bb2a31528e7b7 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 25 Jan 2023 01:44:22 -0500 Subject: [PATCH 370/482] require that teh affine listener is set before attaching a new link --- .../sdk/addons/kinematics/DHParameterKinematics.java | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index ef7d641e..b0733414 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -9,6 +9,7 @@ import org.w3c.dom.Element; import Jama.Matrix; +import javafx.scene.transform.Affine; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; @@ -580,11 +581,20 @@ public void addNewLink(LinkConfiguration newLink, DHLink dhLink) { LinkFactory factory = getFactory(); // remove the link listener while the number of links could chnage factory.removeLinkListener(this); - factory.getLink(newLink);// adds new link internally + AbstractLink link = factory.getLink(newLink);// adds new link internally + if(dhLink.getListener()==null) + throw new RuntimeException("FAIL the link listner must be set to dhLink.setListener(new Affine());"); + link.setGlobalPositionListener(dhLink.getListener()); DHChain chain = getDhChain(); chain.addLink(dhLink); // set the modified kinematics chain setChain(chain); + if (newLink.isTool()) { + dhLink.setLinkType(DhLinkType.TOOL); + } else if (newLink.isPrismatic()) + dhLink.setLinkType(DhLinkType.PRISMATIC); + else + dhLink.setLinkType(DhLinkType.ROTORY); // once the new link configuration is set up, re add the listener factory.addLinkListener(this); } From a080d34438fb8f37e54b2d50c379a4286efac0fd Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 25 Jan 2023 02:08:10 -0500 Subject: [PATCH 371/482] flush the new link to ensure the updates for its pose fire --- .../sdk/addons/kinematics/DHParameterKinematics.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index b0733414..02f68e9a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -597,6 +597,7 @@ public void addNewLink(LinkConfiguration newLink, DHLink dhLink) { dhLink.setLinkType(DhLinkType.ROTORY); // once the new link configuration is set up, re add the listener factory.addLinkListener(this); + link.flush(0); } /** From e7cb2b566c5c281741b7b0283f8fe5a346a5d862 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 2 Feb 2023 15:07:09 -0500 Subject: [PATCH 372/482] adding a setter for the Max and Min limits in engineering units --- .../kinematics/AbstractKinematicsNR.java | 19 +++++++++++++++ .../sdk/addons/kinematics/AbstractLink.java | 24 +++++++++++++++++++ 2 files changed, 43 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 609e3827..84ca5e96 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -1553,6 +1553,25 @@ public double getMinEngineeringUnits(int linkIndex) { return getAbstractLink(linkIndex).getMinEngineeringUnits(); } + + /** + * Sets the max engineering units. + * + * @param maxLimit the max engineering units + */ + public void setMaxEngineeringUnits(int linkIndex, double maxLimit) { + getAbstractLink(linkIndex).setMaxEngineeringUnits(maxLimit); + } + + /** + * Sets the min engineering units. + * + * @param minLimit the min engineering units + */ + public void setMinEngineeringUnits(int linkIndex, double minLimit) { + + getAbstractLink(linkIndex).setMinEngineeringUnits(minLimit); + } public String getElectroMechanicalType(int linkIndex) { return getLinkConfiguration(linkIndex).getElectroMechanicalType() ; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 8965e4c1..7033df3e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -348,6 +348,30 @@ public double getMinEngineeringUnits() { return toEngineeringUnits(getUpperLimit()); } + /** + * Sets the upper limit. + * + * @param upperLimit the new upper limit + */ + public void setMinEngineeringUnits(double minLimit ) { + if(conf.getScale()>0) + conf.setLowerLimit( toLinkUnits(minLimit)); + else + conf.setUpperLimit( toLinkUnits(minLimit)); + } + + /** + * Sets the lower limit. + * + * @param lowerLimit the new lower limit + */ + public void setMaxEngineeringUnits(double maxLimit) { + if(conf.getScale()>0) + conf.setUpperLimit( toLinkUnits(maxLimit)); + else + conf.setLowerLimit( toLinkUnits(maxLimit)); + } + /** * Gets the max engineering units. From c5e589c9d015e4ac10e7a1c27f6a7b1dd8365aea Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 15 Feb 2023 18:22:43 -0500 Subject: [PATCH 373/482] CLOSE https://github.com/CommonWealthRobotics/BowlerStudio/issues/310 --- .../sdk/addons/kinematics/DHParameterKinematics.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 02f68e9a..df5d9b4b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -597,6 +597,8 @@ public void addNewLink(LinkConfiguration newLink, DHLink dhLink) { dhLink.setLinkType(DhLinkType.ROTORY); // once the new link configuration is set up, re add the listener factory.addLinkListener(this); + chain.setFactory(factory); + link.flush(0); } From c28bb678fb8c1bc657de9ddd6ce29178896457d6 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 26 Feb 2023 13:52:05 -0500 Subject: [PATCH 374/482] Virtual PID thread should Die on disconnect --- .../neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index 1fbc106d..b92d14e2 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -32,7 +32,8 @@ public class VirtualGenericPIDDevice extends GenericPIDDevice implements IHardwa private ArrayList PDconfigs = new ArrayList(); /** The sync. */ - SyncThread sync = new SyncThread(); + private SyncThread sync = new SyncThread(); + private boolean runSync =false; /** The max ticks per second. */ private double maxTicksPerSecond; @@ -366,7 +367,7 @@ public void run() { PIDConfiguration[] toUpdate = new PIDConfiguration[numChannels] ; int updateIndex=0; long time; - while (true) { + while (runSync) { try { Thread.sleep(threadTime); } catch (InterruptedException ex) { @@ -442,7 +443,7 @@ public boolean connect() { @Override public void disconnect() { fireDisconnectEvent(); - + runSync=false; } } From 8d870989341b583027ef326f8026a06cc259ce68 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 26 Feb 2023 13:55:15 -0500 Subject: [PATCH 375/482] start running --- .../com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index b92d14e2..20b77451 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -33,7 +33,7 @@ public class VirtualGenericPIDDevice extends GenericPIDDevice implements IHardwa /** The sync. */ private SyncThread sync = new SyncThread(); - private boolean runSync =false; + private boolean runSync =true; /** The max ticks per second. */ private double maxTicksPerSecond; From e8c2461dcd921b74f1586ce012d870c56c113970 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 23 Mar 2023 15:51:51 -0400 Subject: [PATCH 376/482] add PR tests --- .github/FUNDING.yml | 9 +++++++ .github/workflows/verify.yml | 49 ++++++++++++++++++++++++++++++++++++ 2 files changed, 58 insertions(+) create mode 100644 .github/FUNDING.yml create mode 100644 .github/workflows/verify.yml diff --git a/.github/FUNDING.yml b/.github/FUNDING.yml new file mode 100644 index 00000000..c62157a0 --- /dev/null +++ b/.github/FUNDING.yml @@ -0,0 +1,9 @@ +# These are supported funding model platforms +github: madhephaestus +#github: madhephaestus +patreon: madhephaestus +#community_bridge: BowlerStudio +issuehunt: CommonWealthRobotics/BowlerStudio +#ko-fi: bowlerstudio +liberapay: madhephaestus +#open_collective: kevin-harrington diff --git a/.github/workflows/verify.yml b/.github/workflows/verify.yml new file mode 100644 index 00000000..56c88508 --- /dev/null +++ b/.github/workflows/verify.yml @@ -0,0 +1,49 @@ +name: "Test Build" + +on: [pull_request] + +jobs: + build: + runs-on: ubuntu-latest + + steps: + - name: Checkout repository and submodules + uses: actions/checkout@v2 + with: + submodules: recursive + + - name: List directory contents + run: pwd; ls -la + + - name: start xvfb + run: + Xvfb :0 & + + - name: initialize the X11 DISPLAY variable + run: + export DISPLAY=:0 + + - name: After checkout, list directory contnts + run: pwd; ls -la + - name: Install libraries + run: | + sudo apt update + sudo apt install libgtk2.0-0 + + - name: Pull a JavaFX JDK + run: wget http://static.azul.com/zulu/bin/zulu8.33.0.1-ca-fx-jdk8.0.192-linux_x64.tar.gz + + - name: After JDK download, list directory contnts + run: pwd; ls -la + + - name: Set Java + uses: actions/setup-java@v1 + with: + java-version: 1.8 + jdkFile: ./zulu8.33.0.1-ca-fx-jdk8.0.192-linux_x64.tar.gz + + + - name: Test with Gradle + run: xvfb-run -s '-screen 0 1024x768x24' ./gradlew test + + From c20aa8c4760240549f2ea4e24281965744d84763 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 30 Mar 2023 10:57:12 -0400 Subject: [PATCH 377/482] put a try catch around link creation, and put a virtual link in its place in case it fails --- .../sdk/addons/kinematics/LinkFactory.java | 128 +++++++++--------- 1 file changed, 63 insertions(+), 65 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index 5a516ea8..f9e67764 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -24,10 +24,9 @@ /** * A factory for creating Link objects. */ -public class LinkFactory implements IHardwareSyncPulseReciver,IHardwareSyncPulseProvider { +public class LinkFactory implements IHardwareSyncPulseReciver, IHardwareSyncPulseProvider { private static HashMap userLinkProviders = new HashMap(); - /** The links. */ private ArrayList links = new ArrayList(); @@ -155,63 +154,66 @@ private AbstractLink getLinkLocal(LinkConfiguration c) { AbstractLink tmp = null; // Log.info("Loading link: "+c.getName()+" type = "+c.getTypeEnum()+" device= // "+c.getDeviceScriptingName()); - - switch (c.getTypeEnum()) { - - case ANALOG_PRISMATIC: - if (getDyio(c) != null) { - tmp = new AnalogPrismaticLink(new AnalogInputChannel(getDyio(c).getChannel(c.getHardwareIndex())), c); - tmp.setUseLimits(false); - } - break; - case ANALOG_ROTORY: - if (getDyio(c) != null) { - tmp = new AnalogRotoryLink(new AnalogInputChannel(getDyio(c).getChannel(c.getHardwareIndex())), c); - tmp.setUseLimits(false); - } - break; - case PID_TOOL: - case PID: - if (getPid(c) != null) { - tmp = new PidRotoryLink(getPid(c).getPIDChannel(c.getHardwareIndex()), c, false); - } - break; - case PID_PRISMATIC: - if (getPid(c) != null) { - tmp = new PidPrismaticLink(getPid(c).getPIDChannel(c.getHardwareIndex()), c, false); - } - break; - case DUMMY: - case VIRTUAL: - String myVirtualDevName = c.getDeviceScriptingName(); - tmp = new PidRotoryLink(getVirtual(myVirtualDevName).getPIDChannel(c.getHardwareIndex()), c, true); - break; - case GCODE_HEATER_TOOL: - if (getGCODE(c) != null) { - tmp = getGCODE(c).getHeater(c); - } - break; - case GCODE_STEPPER_PRISMATIC: - case GCODE_STEPPER_ROTORY: - case GCODE_STEPPER_TOOL: - if (getGCODE(c) != null) { - tmp = getGCODE(c).getLink(c); - } - break; - case USERDEFINED: - if (userLinkProviders.containsKey(c.getTypeString())) { - INewLinkProvider iNewLinkProvider = userLinkProviders.get(c.getTypeString()); - tmp = iNewLinkProvider.generate(c); - if(IHardwareSyncPulseProvider.class.isInstance(iNewLinkProvider)) { - IHardwareSyncPulseProvider r=(IHardwareSyncPulseProvider)iNewLinkProvider; - r.addIHardwareSyncPulseReciver(this); + try { + switch (c.getTypeEnum()) { + + case ANALOG_PRISMATIC: + if (getDyio(c) != null) { + tmp = new AnalogPrismaticLink(new AnalogInputChannel(getDyio(c).getChannel(c.getHardwareIndex())), + c); + tmp.setUseLimits(false); + } + break; + case ANALOG_ROTORY: + if (getDyio(c) != null) { + tmp = new AnalogRotoryLink(new AnalogInputChannel(getDyio(c).getChannel(c.getHardwareIndex())), c); + tmp.setUseLimits(false); } + break; + case PID_TOOL: + case PID: + if (getPid(c) != null) { + tmp = new PidRotoryLink(getPid(c).getPIDChannel(c.getHardwareIndex()), c, false); + } + break; + case PID_PRISMATIC: + if (getPid(c) != null) { + tmp = new PidPrismaticLink(getPid(c).getPIDChannel(c.getHardwareIndex()), c, false); + } + break; + case DUMMY: + case VIRTUAL: + String myVirtualDevName = c.getDeviceScriptingName(); + tmp = new PidRotoryLink(getVirtual(myVirtualDevName).getPIDChannel(c.getHardwareIndex()), c, true); + break; + case GCODE_HEATER_TOOL: + if (getGCODE(c) != null) { + tmp = getGCODE(c).getHeater(c); + } + break; + case GCODE_STEPPER_PRISMATIC: + case GCODE_STEPPER_ROTORY: + case GCODE_STEPPER_TOOL: + if (getGCODE(c) != null) { + tmp = getGCODE(c).getLink(c); + } + break; + case USERDEFINED: + if (userLinkProviders.containsKey(c.getTypeString())) { + INewLinkProvider iNewLinkProvider = userLinkProviders.get(c.getTypeString()); + tmp = iNewLinkProvider.generate(c); + if (IHardwareSyncPulseProvider.class.isInstance(iNewLinkProvider)) { + IHardwareSyncPulseProvider r = (IHardwareSyncPulseProvider) iNewLinkProvider; + r.addIHardwareSyncPulseReciver(this); + } + } + break; + default: + break; } - break; - default: - break; + } catch (Throwable t) { + t.printStackTrace(); } - if (tmp == null) { String myVirtualDevName = c.getDeviceScriptingName(); if (!c.isPrismatic()) { @@ -407,21 +409,17 @@ public void deleteLink(int i) { getLinkConfigurations().remove(i); } - - @Override public void sync() { doSync(); } public VirtualGenericPIDDevice getVirtual(String myVirtualDevName) { - return (VirtualGenericPIDDevice) DeviceManager.getSpecificDevice(myVirtualDevName, - () -> { - VirtualGenericPIDDevice virtualGenericPIDDevice = new VirtualGenericPIDDevice(myVirtualDevName); - virtualGenericPIDDevice.addIHardwareSyncPulseReciver(this); - return virtualGenericPIDDevice; - }); + return (VirtualGenericPIDDevice) DeviceManager.getSpecificDevice(myVirtualDevName, () -> { + VirtualGenericPIDDevice virtualGenericPIDDevice = new VirtualGenericPIDDevice(myVirtualDevName); + virtualGenericPIDDevice.addIHardwareSyncPulseReciver(this); + return virtualGenericPIDDevice; + }); } - } From 6562e8ea2abb4e73043eb984a4aebbdda1f435da Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 25 Apr 2023 17:47:01 -0400 Subject: [PATCH 378/482] close https://github.com/CommonWealthRobotics/BowlerStudio/issues/76#issuecomment-1522452193 --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 84ca5e96..5679f5f6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -958,7 +958,8 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase, boolean fireUp this.fiducial2RAS = frameToBase; if(!fireUpdate) return; - for (IRegistrationListenerNR r : regListeners) { + for (int i = 0; i < regListeners.size(); i++) { + IRegistrationListenerNR r = regListeners.get(i); r.onFiducialToGlobalUpdate(this, frameToBase); } From 7e0428e555f8295b5e0b74c8e7a29c8e150d1174 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 19 Mar 2024 10:09:33 -0400 Subject: [PATCH 379/482] helper functions --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 7 +++++++ .../neuronrobotics/sdk/addons/kinematics/MobileBase.java | 8 +++++++- 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 5679f5f6..e19effb0 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -113,6 +113,13 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP private IMU imu = new IMU(); private Runnable renderWrangler=null; + public int getLinkIndex(AbstractLink l) { + for (int i=0;i getTipLocations() { } return tipList; } - + public DHParameterKinematics getLimb(AbstractLink l) { + for(DHParameterKinematics k:getAllDHChains()) { + if(k.getLinkIndex(l)>=0) + return k; + } + return null; + } public boolean pose(TransformNR newAbsolutePose) throws Exception { HashMap tipLocations = getTipLocations(); From 03aa4c2b939046d73d878bcfa6e340313a9ceccd Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 20 Mar 2024 10:27:05 -0400 Subject: [PATCH 380/482] Adding helper functions --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 8 ++++++++ .../sdk/addons/kinematics/DHParameterKinematics.java | 6 ++++++ 2 files changed, 14 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index e19effb0..05ab5000 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -113,6 +113,7 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP private IMU imu = new IMU(); private Runnable renderWrangler=null; + public int getLinkIndex(AbstractLink l) { for (int i=0;i Date: Wed, 20 Mar 2024 14:01:17 -0400 Subject: [PATCH 381/482] Adding time keeper code throughout the kinematics stack, the mobil base and all associated classes --- .../kinematics/AbstractKinematicsNR.java | 33 +++++----- .../sdk/addons/kinematics/AbstractLink.java | 13 +++- .../sdk/addons/kinematics/DHChain.java | 16 +++-- .../kinematics/DHParameterKinematics.java | 6 ++ .../sdk/addons/kinematics/MobileBase.java | 8 +++ .../kinematics/gcodebridge/GcodeDevice.java | 6 +- .../sdk/addons/kinematics/imu/IMU.java | 8 ++- .../sdk/addons/kinematics/imu/IMUUpdate.java | 34 +++++++++- .../addons/kinematics/time/ITimeProvider.java | 14 +++++ .../addons/kinematics/time/TimeKeeper.java | 62 +++++++++++++++++++ .../sdk/bowlercam/device/BowlerCamDevice.java | 10 +-- .../sdk/common/BowlerAbstractDevice.java | 3 +- .../sdk/dyio/peripherals/ServoChannel.java | 2 +- .../bcs/pid/LegacyPidNamespaceImp.java | 4 +- .../namespace/bcs/pid/PidNamespaceImp.java | 4 +- .../sdk/pid/InterpolationEngine.java | 11 +++- .../com/neuronrobotics/sdk/pid/PIDEvent.java | 4 +- .../neuronrobotics/sdk/pid/PausableTime.java | 27 ++++---- .../sdk/pid/VirtualGenericPIDDevice.java | 22 +++++-- 19 files changed, 224 insertions(+), 63 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/ITimeProvider.java create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/TimeKeeper.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 05ab5000..f5b7451d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -16,6 +16,8 @@ import com.neuronrobotics.sdk.addons.kinematics.imu.IMU; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; +import com.neuronrobotics.sdk.addons.kinematics.time.ITimeProvider; +import com.neuronrobotics.sdk.addons.kinematics.time.TimeKeeper; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.BowlerAbstractDevice; import com.neuronrobotics.sdk.common.BowlerDatagram; @@ -255,16 +257,6 @@ public AbstractKinematicsNR(Element doc, LinkFactory f) { } - /** - * Gets the date. - * - * @return the date - */ - private String getDate() { - Timestamp t = new Timestamp(System.currentTimeMillis()); - return t.toString().split("\\ ")[0]; - } - /** * Load XML configuration file, then store in LinkConfiguration (ArrayList * type). @@ -1199,15 +1191,15 @@ public void onPIDLimitEvent(PIDLimitEvent e) { @Override public void onPIDEvent(PIDEvent e) { - homeTime = System.currentTimeMillis(); + homeTime = currentTimeMillis(); } }; joint.addPIDEventListener(listen); - homeTime = System.currentTimeMillis(); + homeTime = currentTimeMillis(); joint.SetPIDSetPoint(tps, 0); Log.info("Homing output to value: " + tps); - while ((System.currentTimeMillis() < homeTime + 3000)) { + while ((currentTimeMillis() < homeTime + 3000)) { ThreadUtil.wait(100); } joint.removePIDEventListener(listen); @@ -1691,8 +1683,8 @@ public void asyncInterpolatedMove(TransformNR target, double seconds, Interpolat } public InterpolationMoveState blockingInterpolatedMove(TransformNR target, double seconds, InterpolationType type, double ...conf ) { - InterpolationEngine engine = new InterpolationEngine(); - long currentTimeMillis = System.currentTimeMillis(); + InterpolationEngine engine = new InterpolationEngine(getTimeProvider()); + long currentTimeMillis = currentTimeMillis(); TransformNR delta =getDeltaToTarget(target); TransformNR startingPoint = getCurrentPoseTarget(); if (checkTaskSpaceTransform(target)) { @@ -1717,7 +1709,7 @@ public InterpolationMoveState blockingInterpolatedMove(TransformNR target, doubl // of the translation // the new tip point here calculated is multiplied by the starting point to get // a global space tip target - TransformNR nextPoint = getTipAlongTrajectory(startingPoint,delta,engine.getInterpolationUnitIncrement(System.currentTimeMillis())); + TransformNR nextPoint = getTipAlongTrajectory(startingPoint,delta,engine.getInterpolationUnitIncrement(currentTimeMillis())); // now the best time for this increment is calculated double bestTime = getBestTime(nextPoint); // error check for the best time being below the commanded time @@ -1743,4 +1735,13 @@ public InterpolationMoveState blockingInterpolatedMove(TransformNR target, doubl } return InterpolationMoveState.READY; } + @Override + public void setTimeProvider(ITimeProvider t) { + super.setTimeProvider(t); + imu.setTimeProvider(getTimeProvider()); + for(int i=0;i links = new ArrayList(); @@ -114,9 +116,7 @@ public double[] inverseKinematics(TransformNR target,double[] jointSpaceVector ) if(getLinks() == null) return null; - long start = System.currentTimeMillis(); - - + //is = new GradiantDecent(this,debug); //is = new SearchTreeSolver(this,debug); if(getInverseSolver() == null) @@ -483,5 +483,13 @@ public void setFactory(LinkFactory factory) { lowerLimits = factory.getLowerLimits(); this.factory = factory; } + @Override + public void setTimeProvider(ITimeProvider t) { + super.setTimeProvider(t); + for(DHLink l:getLinks()) { + if (l.getSlaveMobileBase()!=null) + l.getSlaveMobileBase().setTimeProvider(getTimeProvider()); + } + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index ec60362c..0812d9f5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -12,6 +12,7 @@ import javafx.scene.transform.Affine; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; +import com.neuronrobotics.sdk.addons.kinematics.time.ITimeProvider; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.BowlerAbstractDevice; import com.neuronrobotics.sdk.common.IDeviceConnectionEventListener; @@ -836,4 +837,9 @@ public void throwExceptionOnJointLimit(boolean b) { public TransformNR getLinkTip(int linkIndex) { return getChain().getCachedChain().get(linkIndex); } + @Override + public void setTimeProvider(ITimeProvider t) { + super.setTimeProvider(t); + getDhChain().setTimeProvider(t); + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index c8e889ad..512ea070 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -17,6 +17,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup; +import com.neuronrobotics.sdk.addons.kinematics.time.ITimeProvider; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.common.Log; @@ -1020,5 +1021,12 @@ public void onJointSpaceLimit(AbstractKinematicsNR source, int axis, JointLimit public void sync() { doSync(); } + @Override + public void setTimeProvider(ITimeProvider t) { + super.setTimeProvider(t); + for(DHParameterKinematics k:getAllDHChains()) { + k.setTimeProvider(getTimeProvider()); + } + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 937188b5..746967fe 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -203,15 +203,15 @@ public String runLine(String line) { // TODO Auto-generated catch block e.printStackTrace(); } - long start = System.currentTimeMillis(); + long start = currentTimeMillis(); String ret= ""; while(ret.contentEquals("") && - (System.currentTimeMillis()-start)>"+line); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java index 19fd5d02..e8686940 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java @@ -2,12 +2,14 @@ import java.util.ArrayList; -public class IMU { +import com.neuronrobotics.sdk.addons.kinematics.time.TimeKeeper; + +public class IMU extends TimeKeeper{ private ArrayList virtualListeneras = new ArrayList(); private ArrayList hardwareListeneras = new ArrayList(); - private IMUUpdate virtualState=new IMUUpdate(0.0,0.0,0.0,0.0,0.0,0.0); - private IMUUpdate hardwareState=new IMUUpdate(null,null,null,null,null,null); + private IMUUpdate virtualState=new IMUUpdate(0.0,0.0,0.0,0.0,0.0,0.0,currentTimeMillis()); + private IMUUpdate hardwareState=new IMUUpdate(null,null,null,null,null,null,currentTimeMillis()); public void addhardwareListeners(IMUUpdateListener l){ if(!hardwareListeneras.contains(l)) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMUUpdate.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMUUpdate.java index 459fd911..539a9d46 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMUUpdate.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMUUpdate.java @@ -1,4 +1,7 @@ package com.neuronrobotics.sdk.addons.kinematics.imu; + +import com.neuronrobotics.sdk.addons.kinematics.time.TimeKeeper; + /** * This is a state object for the IMU * any function that returns null has no new data availible. @@ -6,6 +9,7 @@ * */ public class IMUUpdate { + private static boolean notice=true; private final Double xAcceleration; private final Double yAcceleration; private final Double zAcceleration; @@ -13,7 +17,28 @@ public class IMUUpdate { private final Double rotyAcceleration; private final Double rotzAcceleration; private long timestamp; - + /** + * Values represent current state of accelerations + * Null values means there is no update for this value + * @param xAcceleration (meters / second^2) + * @param yAcceleration (meters / second^2) + * @param zAcceleration (meters / second^2) + * @param rotxAcceleration (radian / second^2) + * @param rotyAcceleration (radian / second^2) + * @param rotzAcceleration (radian / second^2) + */ + public IMUUpdate(Double xAcceleration,Double yAcceleration,Double zAcceleration, + Double rotxAcceleration,Double rotyAcceleration,Double rotzAcceleration , long timestamp + ){ + this.xAcceleration = xAcceleration; + this.yAcceleration = yAcceleration; + this.zAcceleration = zAcceleration; + this.rotxAcceleration = rotxAcceleration; + this.rotyAcceleration = rotyAcceleration; + this.rotzAcceleration = rotzAcceleration; + this.setTimestamp(timestamp); + + } /** * Values represent current state of accelerations @@ -25,6 +50,7 @@ public class IMUUpdate { * @param rotyAcceleration (radian / second^2) * @param rotzAcceleration (radian / second^2) */ + @Deprecated public IMUUpdate(Double xAcceleration,Double yAcceleration,Double zAcceleration, Double rotxAcceleration,Double rotyAcceleration,Double rotzAcceleration ){ @@ -34,7 +60,11 @@ public IMUUpdate(Double xAcceleration,Double yAcceleration,Double zAcceleration, this.rotxAcceleration = rotxAcceleration; this.rotyAcceleration = rotyAcceleration; this.rotzAcceleration = rotzAcceleration; - this.setTimestamp(System.currentTimeMillis()); + if(notice) { + notice=false; + new RuntimeException("This constructor is depricated, please provide a timestamp").printStackTrace(System.out); + } + this.setTimestamp(TimeKeeper.getMostRecent().currentTimeMillis()); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/ITimeProvider.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/ITimeProvider.java new file mode 100644 index 00000000..f3ae9a22 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/ITimeProvider.java @@ -0,0 +1,14 @@ +package com.neuronrobotics.sdk.addons.kinematics.time; + +public interface ITimeProvider { + //default public final long timestamp = System.currentTimeMillis(); + default long currentTimeMillis() { + return System.currentTimeMillis(); + } + default void sleep(long time) throws InterruptedException { + Thread.sleep(time); + } + default void sleep(long ms,int ns) throws InterruptedException { + Thread.sleep(ms,ns); + } +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/TimeKeeper.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/TimeKeeper.java new file mode 100644 index 00000000..b9b19c5c --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/TimeKeeper.java @@ -0,0 +1,62 @@ +package com.neuronrobotics.sdk.addons.kinematics.time; + +public class TimeKeeper { + private static ITimeProvider mostRecent; + + private ITimeProvider clock = new ITimeProvider() {}; + public void setTimeProvider(ITimeProvider t) { + if(t==null) + t= new ITimeProvider() {}; + clock = t; + setMostRecent(clock); + } + public ITimeProvider getTimeProvider() { + return clock; + } + + public void sleep(long time) throws InterruptedException { + getTimeProvider().sleep(time); + } + public void sleep(long ms,int ns) throws InterruptedException { + getTimeProvider().sleep(ms,ns); + } + + /** + * Wait. + * + * @param time the time + */ + public void wait(int time) { + try { sleep(time); } catch (InterruptedException e) { throw new RuntimeException(e); } + } + + /** + * Wait. + * + * @param time0 the time0 + * @param time1 the time1 + */ + public void wait(int time0, int time1) { + try { sleep(time0, time1); } catch (InterruptedException e) {throw new RuntimeException(e); } + } + + public long currentTimeMillis() { + return getTimeProvider().currentTimeMillis(); + } + /** + * @return the mostRecent + */ + public static ITimeProvider getMostRecent() { + if(null==mostRecent) { + mostRecent=new ITimeProvider() {}; + } + return mostRecent; + } + /** + * @param mostRecent the mostRecent to set + */ + public static void setMostRecent(ITimeProvider mostRecent) { + TimeKeeper.mostRecent = mostRecent; + } + +} diff --git a/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java b/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java index 4c50a85a..5b096607 100644 --- a/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java @@ -106,8 +106,8 @@ public BufferedImage getHighSpeedImage(int cam) throws MalformedURLException, IO //System.out.println("Reading: "+urls.get(cam) ); ImageReader ir = new ImageReader(cam); ir.start(); - long start = System.currentTimeMillis(); - while(((System.currentTimeMillis()-start)<200) && ir.isDone()==false){ + long start = currentTimeMillis(); + while(((currentTimeMillis()-start)<200) && ir.isDone()==false){ ThreadUtil.wait(5); } if(!ir.isDone()) @@ -353,7 +353,7 @@ public highSpeedAutoCapture(int cam,double scale,int fps){ */ public void run() { //System.out.println("Starting auto capture on: "+getImageServerURL(cam)); - long st = System.currentTimeMillis(); + long st = currentTimeMillis(); while(running && isAvailable()) { //System.out.println("Getting image from: "+getImageServerURL(cam)); try { @@ -370,7 +370,7 @@ public void run() { e.printStackTrace(); } if(mspf != 0) { - long diff = System.currentTimeMillis() - st; + long diff = currentTimeMillis() - st; ////System.out.print("\nMS diff: "+diff); if(diff listeners = new ArrayList(); - - public static long currentTimeMillis() { + public PausableTime(ITimeProvider t) { + setTimeProvider(t); + } + public long currentTimeMillis() { if(!paused) - return System.currentTimeMillis()-durationPaused; + return super.currentTimeMillis()-durationPaused; return timePaused; } - public static void pause(boolean val) { + public void pause(boolean val) { if(val) - timePaused=System.currentTimeMillis(); + timePaused=super.currentTimeMillis(); else - durationPaused+=(System.currentTimeMillis()-timePaused); + durationPaused+=(super.currentTimeMillis()-timePaused); paused=val; for(int i=0;i{ boolean start = paused; pause(false); @@ -35,7 +40,7 @@ public static void step(long ms) { }).start(); } - public static void sleep(long durationMS) { + public void sleep(long durationMS) { try { Thread.sleep(durationMS); } catch (InterruptedException e) { @@ -50,12 +55,12 @@ public static void sleep(long durationMS) { } } - public static void addIPauseTimeListener(IPauseTimeListener l) { + public void addIPauseTimeListener(IPauseTimeListener l) { if(listeners.contains(l)) return; listeners.add(l); } - public static void removeIPauseTimeListener(IPauseTimeListener l) { + public void removeIPauseTimeListener(IPauseTimeListener l) { if(listeners.contains(l)) listeners.remove(l); } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index 20b77451..be76f9e8 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -5,6 +5,7 @@ import com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseProvider; import com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseReciver; +import com.neuronrobotics.sdk.addons.kinematics.time.ITimeProvider; import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerDatagram; import com.neuronrobotics.sdk.common.InvalidConnectionException; @@ -189,7 +190,7 @@ public boolean ResetPIDChannel(int group, float valueToSetCurrentTo) { */ @Override public boolean SetPIDSetPoint(int group, float setpoint, double seconds) { - long currentTimeMillis = System.currentTimeMillis(); + long currentTimeMillis = currentTimeMillis(); sync.setPause(true); synchronized(interpolationEngines) { getDriveThread(group).StartLinearMotion(setpoint, seconds,currentTimeMillis); @@ -247,7 +248,7 @@ public void flushPIDChannels(double time) { */ @Override public boolean SetAllPIDSetPoint(float[] setpoints, double seconds) { - long start = System.currentTimeMillis(); + long start = currentTimeMillis(); sync.setPause(true); synchronized(interpolationEngines) { for (int i = 0; i < setpoints.length; i++) { @@ -313,7 +314,7 @@ public float[] GetAllPIDPosition() { PIDConfiguration conf = new PIDConfiguration(); conf.setGroup(i); conf.setEnabled(true); - InterpolationEngine d = new InterpolationEngine(); + InterpolationEngine d = new InterpolationEngine(getTimeProvider()); interpolationEngines.put(conf, d); configs.put(i, conf); } @@ -325,6 +326,13 @@ public float[] GetAllPIDPosition() { } return backs; } + @Override + public void setTimeProvider(ITimeProvider t) { + super.setTimeProvider(t); + for(InterpolationEngine e:interpolationEngines.values()) { + e.setTimeProvider(getTimeProvider()); + } + } /** * Sets the max ticks per second. @@ -369,12 +377,13 @@ public void run() { long time; while (runSync) { try { - Thread.sleep(threadTime); + sleep(threadTime); } catch (InterruptedException ex) { + return; } if(!pause) { sync = false; - time = System.currentTimeMillis(); + time = currentTimeMillis(); synchronized(interpolationEngines) { for (PIDConfiguration key : interpolationEngines.keySet()) { InterpolationEngine dr = interpolationEngines.get(key); @@ -405,10 +414,11 @@ public void run() { }else while (isPause()) try { - Thread.sleep(1); + sleep(1); } catch (InterruptedException e1) { // TODO Auto-generated catch block e1.printStackTrace(); + return; } if (sync) doSync(); From 177099715a00da88868eba4457c66d7c813b94b7 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 20 Mar 2024 14:53:06 -0400 Subject: [PATCH 382/482] Adding wait and sleep --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 4 ++-- .../sdk/addons/kinematics/WalkingDriveEngine.java | 4 ++-- .../sdk/addons/kinematics/gcodebridge/GcodeDevice.java | 2 +- .../sdk/addons/kinematics/time/TimeKeeper.java | 3 +++ .../sdk/bowlercam/device/BowlerCamDevice.java | 6 +++--- src/main/java/com/neuronrobotics/sdk/pid/PausableTime.java | 4 ++-- .../com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java | 4 ++-- 7 files changed, 15 insertions(+), 12 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index f5b7451d..7b7595b3 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -1200,7 +1200,7 @@ public void onPIDEvent(PIDEvent e) { joint.SetPIDSetPoint(tps, 0); Log.info("Homing output to value: " + tps); while ((currentTimeMillis() < homeTime + 3000)) { - ThreadUtil.wait(100); + wait(100); } joint.removePIDEventListener(listen); } @@ -1728,7 +1728,7 @@ public InterpolationMoveState blockingInterpolatedMove(TransformNR target, doubl // incremental tip failed, fault return InterpolationMoveState.FAULT; } - ThreadUtil.wait((int) msPerStep); + wait((int) msPerStep); } }else { return InterpolationMoveState.FAULT; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java index 1831b444..93257ad9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java @@ -56,10 +56,10 @@ public void DriveArc(MobileBase source, TransformNR newPose, double seconds) { try { // lift leg above home legs.get(i).setDesiredTaskSpaceTransform(home[i], seconds/10); - ThreadUtil.wait((int) (seconds*100)); + source.wait((int) (seconds*100)); //step to new target legs.get(i).setDesiredTaskSpaceTransform(feetLocations[i], seconds/10); - ThreadUtil.wait((int) (seconds*100)); + source.wait((int) (seconds*100)); //set new target for the coordinated motion step at the end feetLocations[i].translateX(newPose.getX()); feetLocations[i].translateY(newPose.getY()); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 746967fe..c6baab1f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -208,7 +208,7 @@ public String runLine(String line) { while(ret.contentEquals("") && (currentTimeMillis()-start) getBlobs(){ send(new BlobCommand()); while(gotLastMark == false && isAvailable()){ try { - Thread.sleep(10); + sleep(10); } catch (InterruptedException e) { // TODO Auto-generated catch block e.printStackTrace(); @@ -375,7 +375,7 @@ public void run() { if(diff Date: Wed, 20 Mar 2024 15:19:03 -0400 Subject: [PATCH 383/482] adding a listener for timebase change --- .../addons/kinematics/time/TimeKeeper.java | 28 +++++++++++++++++-- 1 file changed, 25 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/TimeKeeper.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/TimeKeeper.java index 3752c2c9..d527edc5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/TimeKeeper.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/TimeKeeper.java @@ -1,9 +1,11 @@ package com.neuronrobotics.sdk.addons.kinematics.time; -import com.neuronrobotics.sdk.util.ThreadUtil; +import java.util.ArrayList; + public class TimeKeeper { private static ITimeProvider mostRecent; + private ArrayList timebaseChangeListener =new ArrayList<>(); private ITimeProvider clock = new ITimeProvider() {}; public void setTimeProvider(ITimeProvider t) { @@ -11,12 +13,32 @@ public void setTimeProvider(ITimeProvider t) { t= new ITimeProvider() {}; clock = t; setMostRecent(clock); - ThreadUtil.wait(1); + for(int i=0;i Date: Wed, 20 Mar 2024 15:45:21 -0400 Subject: [PATCH 384/482] adding helper functions --- .../sdk/addons/kinematics/DHParameterKinematics.java | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 0812d9f5..bc7e9a4a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -837,6 +837,15 @@ public void throwExceptionOnJointLimit(boolean b) { public TransformNR getLinkTip(int linkIndex) { return getChain().getCachedChain().get(linkIndex); } + public MobileBase getFollowerMobileBase(int linkIndex) { + return getDhLink(linkIndex).getSlaveMobileBase(); + } + public MobileBase getFollowerMobileBase(AbstractLink myLink) { + return getDhLink(myLink).getSlaveMobileBase(); + } + public MobileBase getFollowerMobileBase(LinkConfiguration myLink) { + return getDhLink(myLink).getSlaveMobileBase(); + } @Override public void setTimeProvider(ITimeProvider t) { super.setTimeProvider(t); From 1a4fb209a581fea633478256097c456919ef5f91 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 20 Mar 2024 17:50:04 -0400 Subject: [PATCH 385/482] fix old warning --- .../neuronrobotics/sdk/common/DMDevice.java | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java index c1300770..add1d763 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java @@ -1,9 +1,9 @@ -package com.neuronrobotics.sdk.common; +1package com.neuronrobotics.sdk.common; import java.lang.reflect.InvocationTargetException; import java.lang.reflect.Method; import java.util.ArrayList; - +@SuppressWarnings("resource") public class DMDevice extends NonBowlerDevice { private Object wrapped = null; Method methodConnect = null; @@ -17,8 +17,8 @@ public DMDevice(Object o) throws NoSuchMethodException, SecurityException { if(!wrappable(o)) throw new RuntimeException("This object is not wrappable! "); setWrapped(o); - methodConnect = getWrapped().getClass().getMethod("connect", null); - methodDisconnect = getWrapped().getClass().getMethod("disconnect", null); + methodConnect = getWrapped().getClass().getMethod("connect",(Class) null); + methodDisconnect = getWrapped().getClass().getMethod("disconnect",(Class) null); hasGetName = methodExists(getWrapped(), "getName"); hasIsAvailible = methodExists(getWrapped(), "isAvailable"); methodGetName = null; @@ -30,7 +30,7 @@ public String getScriptingName() { if (hasGetName) { if (methodGetName == null) try { - methodGetName = getWrapped().getClass().getMethod("getName", null); + methodGetName = getWrapped().getClass().getMethod("getName",(Class) null); } catch (Exception e) { return super.getScriptingName(); @@ -41,7 +41,7 @@ public String getScriptingName() { if (methodGetName == null) return super.getScriptingName(); try { - super.setScriptingName( (String) methodGetName.invoke(getWrapped(), null)); + super.setScriptingName( (String) methodGetName.invoke(getWrapped(),(Class) null)); } catch (Exception e) { return super.getScriptingName(); } @@ -57,7 +57,7 @@ public ArrayList getNamespacesImp() { @Override public void disconnectDeviceImp() { try { - methodDisconnect.invoke(getWrapped(), null); + methodDisconnect.invoke(getWrapped(), (Class)null); } catch (Exception e) { // TODO Auto-generated catch block e.printStackTrace(); @@ -74,13 +74,13 @@ public boolean isAvailable() throws InvalidConnectionException{ if(hasIsAvailible) { if(isAvaibleMeth==null) { try { - isAvaibleMeth = getWrapped().getClass().getMethod("isAvailable", null); + isAvaibleMeth = getWrapped().getClass().getMethod("isAvailable",(Class) null); } catch (Exception e) { //true } } try { - return (boolean) isAvaibleMeth.invoke(getWrapped(), null); + return (boolean) isAvaibleMeth.invoke(getWrapped(), (Class)null); } catch (Exception e) { //true } @@ -91,7 +91,7 @@ public boolean isAvailable() throws InvalidConnectionException{ @Override public boolean connectDeviceImp() { try { - Object value = methodConnect.invoke(getWrapped(), null); + Object value = methodConnect.invoke(getWrapped(), (Class)null); try { return (Boolean) value; } catch (Exception e) { From ad33397949c8f15699db52a13d589ce03bb64bf8 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 20 Mar 2024 17:51:21 -0400 Subject: [PATCH 386/482] removing the compile error --- src/main/java/com/neuronrobotics/sdk/common/DMDevice.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java index add1d763..82f13d16 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java @@ -1,4 +1,4 @@ -1package com.neuronrobotics.sdk.common; +package com.neuronrobotics.sdk.common; import java.lang.reflect.InvocationTargetException; import java.lang.reflect.Method; From 326d9350e994e61fbd178e62de1ffa74dbe20f1f Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 20 Mar 2024 20:46:24 -0400 Subject: [PATCH 387/482] adding comments --- .../neuronrobotics/sdk/addons/kinematics/DHLink.java | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java index d0017543..cf206fca 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java @@ -221,15 +221,15 @@ public Matrix DhStepInverse(Matrix end, double jointValue) { /** * Dh step prismatic. * - * @param jointValue the joint value + * @param radians the joint value in radians * @return the matrix */ - public Matrix DhStep(double jointValue) { + public Matrix DhStep(double radians) { switch(type){ case PRISMATIC: - return DhStep(0,jointValue); + return DhStep(0,radians); case ROTORY: - return DhStep(jointValue,0); + return DhStep(radians,0); default: case TOOL: return DhStep(0,0); @@ -240,7 +240,7 @@ public Matrix DhStep(double jointValue) { /** * Dh step. * - * @param rotory the rotory + * @param rotory the rotory value in radians * @param prismatic the prismatic * @return the matrix */ @@ -336,7 +336,7 @@ public void setRotX(Matrix rotX) { /** * Sets the matrix. * - * @param rotory the rotory + * @param rotory the rotory value in radians * @param prismatic the prismatic */ private void setMatrix(double rotory,double prismatic){ From d03c232af71083f665cff93a28bc3d94c0252a1b Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 20 Mar 2024 21:55:17 -0400 Subject: [PATCH 388/482] catch null excceptions --- .../com/neuronrobotics/sdk/addons/kinematics/MobileBase.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 512ea070..de806e7f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -963,7 +963,8 @@ public static void main(String[] args) throws Exception { private void fireIOnMobileBaseRenderChange() { for (int i = 0; i < changeListeners.size(); i++) { IOnMobileBaseRenderChange l = changeListeners.get(i); - l.onIOnMobileBaseRenderChange(); + if(l!=null) + l.onIOnMobileBaseRenderChange(); } } From b636fe4ce88b0a90bf3931eb946a22103b17ae19 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 21 Mar 2024 12:27:25 -0400 Subject: [PATCH 389/482] revert changed to reflection code, this is the correct way to do this, compiler be damned --- .../neuronrobotics/sdk/common/DMDevice.java | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java index 82f13d16..c1300770 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java @@ -3,7 +3,7 @@ import java.lang.reflect.InvocationTargetException; import java.lang.reflect.Method; import java.util.ArrayList; -@SuppressWarnings("resource") + public class DMDevice extends NonBowlerDevice { private Object wrapped = null; Method methodConnect = null; @@ -17,8 +17,8 @@ public DMDevice(Object o) throws NoSuchMethodException, SecurityException { if(!wrappable(o)) throw new RuntimeException("This object is not wrappable! "); setWrapped(o); - methodConnect = getWrapped().getClass().getMethod("connect",(Class) null); - methodDisconnect = getWrapped().getClass().getMethod("disconnect",(Class) null); + methodConnect = getWrapped().getClass().getMethod("connect", null); + methodDisconnect = getWrapped().getClass().getMethod("disconnect", null); hasGetName = methodExists(getWrapped(), "getName"); hasIsAvailible = methodExists(getWrapped(), "isAvailable"); methodGetName = null; @@ -30,7 +30,7 @@ public String getScriptingName() { if (hasGetName) { if (methodGetName == null) try { - methodGetName = getWrapped().getClass().getMethod("getName",(Class) null); + methodGetName = getWrapped().getClass().getMethod("getName", null); } catch (Exception e) { return super.getScriptingName(); @@ -41,7 +41,7 @@ public String getScriptingName() { if (methodGetName == null) return super.getScriptingName(); try { - super.setScriptingName( (String) methodGetName.invoke(getWrapped(),(Class) null)); + super.setScriptingName( (String) methodGetName.invoke(getWrapped(), null)); } catch (Exception e) { return super.getScriptingName(); } @@ -57,7 +57,7 @@ public ArrayList getNamespacesImp() { @Override public void disconnectDeviceImp() { try { - methodDisconnect.invoke(getWrapped(), (Class)null); + methodDisconnect.invoke(getWrapped(), null); } catch (Exception e) { // TODO Auto-generated catch block e.printStackTrace(); @@ -74,13 +74,13 @@ public boolean isAvailable() throws InvalidConnectionException{ if(hasIsAvailible) { if(isAvaibleMeth==null) { try { - isAvaibleMeth = getWrapped().getClass().getMethod("isAvailable",(Class) null); + isAvaibleMeth = getWrapped().getClass().getMethod("isAvailable", null); } catch (Exception e) { //true } } try { - return (boolean) isAvaibleMeth.invoke(getWrapped(), (Class)null); + return (boolean) isAvaibleMeth.invoke(getWrapped(), null); } catch (Exception e) { //true } @@ -91,7 +91,7 @@ public boolean isAvailable() throws InvalidConnectionException{ @Override public boolean connectDeviceImp() { try { - Object value = methodConnect.invoke(getWrapped(), (Class)null); + Object value = methodConnect.invoke(getWrapped(), null); try { return (Boolean) value; } catch (Exception e) { From d4f7be57c2ccacb5d5c152979a79e8b951570678 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 21 Mar 2024 12:56:37 -0400 Subject: [PATCH 390/482] adding helper functions --- .../sdk/addons/kinematics/DHParameterKinematics.java | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index bc7e9a4a..d19ce61c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -846,6 +846,16 @@ public MobileBase getFollowerMobileBase(AbstractLink myLink) { public MobileBase getFollowerMobileBase(LinkConfiguration myLink) { return getDhLink(myLink).getSlaveMobileBase(); } + + public TransformNR getDHStep(int myLink) { + return new TransformNR(getDhLink(myLink).DhStep(0)); + } + public TransformNR getDHStep(AbstractLink myLink) { + return new TransformNR(getDhLink(myLink).DhStep(0)); + } + public TransformNR getDHStep(LinkConfiguration myLink) { + return new TransformNR(getDhLink(myLink).DhStep(0)); + } @Override public void setTimeProvider(ITimeProvider t) { super.setTimeProvider(t); From 9d6b05793c58ea89bb95e73efb0459e39fc5b199 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 21 Mar 2024 16:06:25 -0400 Subject: [PATCH 391/482] add helper functions to detect if a link is a foot or wheel --- .../sdk/addons/kinematics/MobileBase.java | 39 +++++++++++++++++++ 1 file changed, 39 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index de806e7f..96c7c9ae 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -717,6 +717,45 @@ private String makeLimbTag(String xml, DHParameterKinematics l) { xml += l.getEmbedableXml(); return xml; } + + public boolean isWheel(AbstractLink link) { + ArrayList possible= new ArrayList<>(); + possible.addAll(getSteerable()); + possible.addAll(getDrivable()); + for(DHParameterKinematics kin:possible) { + for(int i=0;i possible= new ArrayList<>(); + possible.addAll(legs); + for(DHParameterKinematics kin:possible) { + for(int i=0;i Date: Thu, 21 Mar 2024 18:35:44 -0400 Subject: [PATCH 392/482] working helper function --- .../neuronrobotics/sdk/addons/kinematics/MobileBase.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 96c7c9ae..d70d0a5d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -724,14 +724,14 @@ public boolean isWheel(AbstractLink link) { possible.addAll(getDrivable()); for(DHParameterKinematics kin:possible) { for(int i=0;i Date: Sun, 24 Mar 2024 11:23:50 -0400 Subject: [PATCH 393/482] Fixed a bug in how the masses of tags were loaded. --- build.gradle | 16 +- .../sdk/addons/kinematics/MobileBase.java | 41 +- .../addons/kinematics/math/TransformNR.java | 5 + .../kinematics/xml/NASASuspensionTest.xml | 1290 +++++++++++++++++ .../utilities/ParallelArmTest.java | 2 +- .../utilities/TestMobilBaseLoading.java | 24 + 6 files changed, 1359 insertions(+), 19 deletions(-) create mode 100644 src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml create mode 100644 test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java diff --git a/build.gradle b/build.gradle index 0825cbf0..579d4581 100644 --- a/build.gradle +++ b/build.gradle @@ -9,14 +9,14 @@ File buildDir = file("."); Properties props = new Properties() props.load(new FileInputStream(buildDir.getAbsolutePath()+"/src/main/resources/com/neuronrobotics/sdk/config/build.properties")) -//sourceSets { -// -// test { -// java { -// srcDirs = ["test/java/src" ] // Note @Peter's comment below -// } -// } -//} +sourceSets { + + test { + java { + srcDirs = ["test/java/src" ] + } + } +} manifest { attributes( diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index d70d0a5d..466e59b7 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -333,6 +333,19 @@ private String getname(Element e) { private String getParallelGroup(Element e) { return getTag(e, "parallelGroup"); } + + private String findNameTag(Node e) { + NodeList firstLevelList = e.getChildNodes(); + for(int i=0;i + + + https://github.com/NeuronRobotics/NASACurisoity.git + bodyCad.groovy + + + https://github.com/NeuronRobotics/NASACurisoity.git + DriveEngine.groovy + + +NASA_Curiosity + + +RobotArm + + https://github.com/NeuronRobotics/NASACurisoity.git + armCad.groovy + + + https://github.com/madhephaestus/carl-the-hexapod.git + DefaultDhSolver.groovy + + + basePan + dyio + servo-rotory + 4 + 0.001 + 1000000.0 + -1000000.0 + 1.0E8 + -1.0E8 + 0.0 + 2.147483647E9 + -2.147483648E9 + true + 180.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.001 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 16.0 + 0.0 + 0.0 + -90.0 + + + + + baseTilt + dyio + servo-rotory + 5 + 0.001 + 1000000.0 + -1000000.0 + 1.0E8 + -1.0E8 + 0.0 + 2.147483647E9 + -2.147483648E9 + true + 128.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.001 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + -90.0 + 60.0 + 0.0 + + + + + elbow + dyio + servo-rotory + 6 + 0.001 + 100000.0 + -100000.0 + 1.0E8 + -1.0E8 + 0.0 + 2.147483647E9 + -2.147483648E9 + true + 121.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.001 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 90.0 + 50.0 + 0.0 + + + + + mahliApxs + dyio + servo-rotory + 7 + 0.001 + 120000.0 + -120000.0 + 1.0E8 + -1.0E8 + 0.0 + 2.147483647E9 + -2.147483648E9 + false + 0.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.001 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 0.0 + 0.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + -75.00000000000001 + -23.069999999999993 + 38.0952380952381 + 0.05455892332782112 + 0.017903047010183144 + 0.0077571528961058725 + 0.9983199043252653 + + + + + +Front_Left + + https://github.com/NeuronRobotics/NASACurisoity.git + steer_wheel.groovy + + + https://github.com/madhephaestus/carl-the-hexapod.git + DefaultDhSolver.groovy + + + fl_steer + dyio + servo-rotory + 0 + 2.0 + 255.0 + 0.0 + 178.0 + -178.0 + 128.0 + 2.147483647E9 + -2.147483648E9 + true + 105.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.001 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 0.0 + -90.0 + + + + + fl_wheel + pid + pid + 0 + 0.33 + 1000000.0 + -1000000.0 + 436.7392582541836 + -436.7392582541836 + 133.7089552238806 + 2.147483647E9 + -2.147483648E9 + true + 105.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.05 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 18.0 + -90.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + -78.5 + -73.75 + 0.0 + 0.008725098943435386 + -0.9999619021083685 + 2.258102901239317E-6 + 2.587955605911594E-4 + + + + + +Back_Left + + https://github.com/NeuronRobotics/NASACurisoity.git + steer_wheel.groovy + + + https://github.com/madhephaestus/carl-the-hexapod.git + DefaultDhSolver.groovy + + + leftRocker + virtual + virtual + 1 + 1.0 + 147.0 + 88.2910447761194 + 233.7089552238806 + -233.7089552238806 + 128.0 + 2.147483647E9 + -2.147483648E9 + true + 105.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + true + 0.001 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 24.0 + 0.0 + 45.0 + 90.0 + + + + https://github.com/madhephaestus/carl-the-hexapod.git + ThreeDPrintCad.groovy + + + https://github.com/madhephaestus/carl-the-hexapod.git + WalkingDriveEngine.groovy + + +fixedWheelLeft + + +Center_Left + + https://github.com/NeuronRobotics/NASACurisoity.git + fixed_wheel.groovy + + + https://github.com/madhephaestus/carl-the-hexapod.git + DefaultDhSolver.groovy + + + cl_wheel + pid + pid + 1 + 0.33 + 1000000.0 + -1000000.0 + 465.28403437358656 + -465.28403437358656 + 162.25373134328353 + 2.147483647E9 + -2.147483648E9 + true + 171.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.05 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 18.0 + -90.0 + + + + + 72.9999999999727 + -75.5 + 28.999950421262387 + -2.2204460492501225E-16 + -0.9999999999998482 + -1.4056873444211037E-22 + 5.508748628022816E-7 + + + + -74.0 + 0.0 + 29.0 + 0.7071067811865476 + -0.7071067811865475 + -8.120692378444618E-12 + -8.120692378444618E-12 + + + + + + 72.9999999999727 + -75.5 + 28.999950421262387 + -2.220446049250122E-16 + -0.9999999999998482 + -1.4056873444211032E-22 + 5.508748628022816E-7 + + + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + 0.001 + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + + + + + + + + + bl_steer + dyio + servo-rotory + 1 + 1.0 + 255.0 + 0.0 + 233.7089552238806 + -233.7089552238806 + 133.7089552238806 + 2.147483647E9 + -2.147483648E9 + true + 105.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.001 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 30.0 + 0.0 + 0.0 + -90.0 + + + + + bl_wheel + pid + pid + 2 + 0.33 + 1000000.0 + -1000000.0 + 447.8731410788662 + -447.8731410788662 + 144.84283804856315 + 2.147483647E9 + -2.147483648E9 + true + 124.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.05 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 18.0 + -90.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + 28.0 + -51.5 + 29.000000000000032 + 0.7071067811864403 + 0.7071067811864402 + 3.895273510727024E-7 + -3.895273510727023E-7 + + + + + +Back_Right + + https://github.com/NeuronRobotics/NASACurisoity.git + steer_wheel.groovy + + + https://github.com/madhephaestus/carl-the-hexapod.git + DefaultDhSolver.groovy + + + rightRocker + virtual + virtual + 2 + 1.0 + 149.0 + 90.0 + 233.7089552238806 + -233.7089552238806 + 128.0 + 2.147483647E9 + -2.147483648E9 + true + 105.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + true + 0.001 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + -25.0 + 0.0 + 45.0 + 90.0 + + + + https://github.com/madhephaestus/carl-the-hexapod.git + ThreeDPrintCad.groovy + + + https://github.com/madhephaestus/carl-the-hexapod.git + WalkingDriveEngine.groovy + + +fixedWheelRight + + +Center_Right + + https://github.com/NeuronRobotics/NASACurisoity.git + fixed_wheel.groovy + + + https://github.com/madhephaestus/carl-the-hexapod.git + DefaultDhSolver.groovy + + + cr_wheel + pid + pid + 4 + 0.33 + 1000000.0 + -1000000.0 + 425.3213478064224 + -425.3213478064224 + 122.2910447761194 + 2.147483647E9 + -2.147483648E9 + true + 128.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.05 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 18.0 + -90.0 + + + + + 72.99999999999918 + 76.5 + 28.99999132090427 + -2.220446049250312E-16 + -0.9999999999999953 + -2.0632536132425642E-23 + 9.643439691231537E-8 + + + + -73.0 + 0.0 + 29.0 + 0.7071067811637124 + -0.7071067811637123 + -5.682767991797112E-6 + -5.682767991797108E-6 + + + + + + 72.99999999999918 + 76.5 + 28.99999132090427 + -2.220446049250312E-16 + -0.9999999999999953 + -2.0632536132425645E-23 + 9.643439691231537E-8 + + + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + 0.001 + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + + + + + + + + + br_steer + dyio + servo-rotory + 2 + 1.0 + 255.0 + 0.0 + 233.7089552238806 + -233.7089552238806 + 133.7089552238806 + 2.147483647E9 + -2.147483648E9 + true + 105.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.001 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 30.0 + 0.0 + 0.0 + -90.0 + + + + + br_wheel + pid + pid + 3 + 0.33 + 1000000.0 + -1000000.0 + 412.25607714480515 + -412.25607714480515 + 109.22577411450214 + 2.147483647E9 + -2.147483648E9 + true + 133.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.001 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 18.0 + -90.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + 28.0 + 51.5 + 29.0 + 0.7071067811865444 + 0.7071067811865442 + 6.818941599633328E-8 + -6.818941599633326E-8 + + + + + +Front_Right + + https://github.com/NeuronRobotics/NASACurisoity.git + steer_wheel.groovy + + + https://github.com/madhephaestus/carl-the-hexapod.git + DefaultDhSolver.groovy + + + fr_steer + dyio + servo-rotory + 3 + 1.0 + 255.0 + 0.0 + 233.7089552238806 + -233.7089552238806 + 133.7089552238806 + 2.147483647E9 + -2.147483648E9 + true + 105.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.001 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 0.0 + -90.0 + + + + + fr_wheel + pid + pid + 5 + 0.33 + 1000000.0 + -1000000.0 + 423.4183627317955 + -423.4183627317955 + 120.38805970149252 + 2.147483647E9 + -2.147483648E9 + true + 135.0 + false + 10000000 + + + + electroMechanical + hobbyServo + standardMicro + + + shaft + hobbyServoHorn + standardMicro1 + + + + false + 0.05 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + 0.0 + 0.0 + 18.0 + -90.0 + + + + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + -78.5 + 73.75 + 0.0 + 0.008725098943435386 + -0.9999619021083685 + 2.2581029012393413E-6 + 2.587955605911622E-4 + + + + + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + 0.1 + 0.0 + 0.0 + 40.0 + 1.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 1.0 + 0.0 + 0.0 + 0.0 + + + + + + + + \ No newline at end of file diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java index a8ff20e7..4cd7202c 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java @@ -24,7 +24,7 @@ public class ParallelArmTest { @Test public void test() throws Exception { - main(null); + //main(null); } public static void main(String[] args) throws Exception { diff --git a/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java b/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java new file mode 100644 index 00000000..171e75ee --- /dev/null +++ b/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java @@ -0,0 +1,24 @@ +package junit.test.neuronrobotics.utilities; + +import static org.junit.Assert.*; + +import java.io.File; +import java.io.FileInputStream; +import java.io.FileNotFoundException; + +import org.junit.Test; + +import com.neuronrobotics.sdk.addons.kinematics.MobileBase; + +public class TestMobilBaseLoading { + + @Test + public void test() throws FileNotFoundException { + MobileBase base = new MobileBase(new FileInputStream(new File("src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml"))); + + if(Math.abs(0.1-base.getMassKg())>0.0001) { + fail("Base mass failed to load! expected "+0.1+" got "+base.getMassKg()); + } + } + +} From 6a6a069aa4cbfacb9eb203a943ed169088c3a7ee Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Mar 2024 11:50:59 -0400 Subject: [PATCH 394/482] fully robust Unit test that checks loaded XML against exported XML --- .../sdk/addons/kinematics/xml/.gitignore | 1 + .../kinematics/xml/NASASuspensionTest.xml | 54 +++++++++---------- .../utilities/TestMobilBaseLoading.java | 18 +++++-- 3 files changed, 43 insertions(+), 30 deletions(-) create mode 100644 src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/.gitignore diff --git a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/.gitignore b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/.gitignore new file mode 100644 index 00000000..c9cc22b6 --- /dev/null +++ b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/.gitignore @@ -0,0 +1 @@ +/NASASuspensionTestOUTPUT.xml diff --git a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml index 57d4f3ed..2e059a73 100644 --- a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml +++ b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml @@ -557,13 +557,13 @@ 72.9999999999727 - -75.5 - 28.999950421262387 - -2.2204460492501225E-16 - -0.9999999999998482 - -1.4056873444211037E-22 - 5.508748628022816E-7 +> 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 @@ -579,13 +579,13 @@ - 72.9999999999727 - -75.5 - 28.999950421262387 - -2.220446049250122E-16 - -0.9999999999998482 - -1.4056873444211032E-22 - 5.508748628022816E-7 + 0.2951945417837649 + -75.50000000000001 + -6.460453388562168 + 4.866904542229674E-17 + 0.43837065166596395 + -9.978614964896946E-17 + -0.898794287786676 @@ -901,13 +901,13 @@ 72.99999999999918 - 76.5 - 28.99999132090427 - -2.220446049250312E-16 - -0.9999999999999953 - -2.0632536132425642E-23 - 9.643439691231537E-8 +> 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 @@ -923,13 +923,13 @@ - 72.99999999999918 + 0.2952267711251224 76.5 - 28.99999132090427 - -2.220446049250312E-16 - -0.9999999999999953 - -2.0632536132425645E-23 - 9.643439691231537E-8 + -6.460478568916969 + 4.86689829712371E-17 + 0.4383710601144136 + -9.978618010838941E-17 + -0.89879408857322 diff --git a/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java b/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java index 171e75ee..3701338f 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java @@ -4,7 +4,9 @@ import java.io.File; import java.io.FileInputStream; -import java.io.FileNotFoundException; +import java.io.IOException; +import java.nio.file.Files; +import java.nio.file.Paths; import org.junit.Test; @@ -13,12 +15,22 @@ public class TestMobilBaseLoading { @Test - public void test() throws FileNotFoundException { - MobileBase base = new MobileBase(new FileInputStream(new File("src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml"))); + public void test() throws IOException { + File file = new File("src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml"); + + String content = new String(Files.readAllBytes(Paths.get(file.getAbsolutePath()))); + MobileBase base = new MobileBase(new FileInputStream(file)); if(Math.abs(0.1-base.getMassKg())>0.0001) { fail("Base mass failed to load! expected "+0.1+" got "+base.getMassKg()); } + String read = base.getXml(); + if(!content.contentEquals(read)) { + File out = new File("src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTestOUTPUT.xml"); + Files.write( Paths.get(out.getAbsolutePath()), read.getBytes()); + System.out.println("diff "+file.getAbsolutePath()+" "+out.getAbsolutePath()); + fail("What was loaded failed to match the source"); + } } } From 728b103a8654d7eb457c27f67f13f062a7b81751 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Mar 2024 16:11:59 -0400 Subject: [PATCH 395/482] A refresh of the Vitamins layer using objecte and properly integrating the mobile base and testing --- .../kinematics/AbstractKinematicsNR.java | 17 +- .../addons/kinematics/LinkConfiguration.java | 109 +++---- .../sdk/addons/kinematics/MobileBase.java | 58 ++-- .../addons/kinematics/VitaminLocation.java | 150 +++++++++ .../addons/kinematics/math/TransformNR.java | 19 +- .../sdk/addons/kinematics/xml/XmlFactory.java | 14 + .../kinematics/xml/NASASuspensionTest.xml | 299 +++++++++++++----- .../utilities/TestMobilBaseLoading.java | 8 +- 8 files changed, 477 insertions(+), 197 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 7b7595b3..ed6bfb2c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -326,14 +326,7 @@ public void onConnect(BowlerAbstractDevice source) { && linkNode.getNodeName().contentEquals("ZframeToRAS")) { Element eElement = (Element) linkNode; try { - setGlobalToFiducialTransform(new TransformNR( - Double.parseDouble(XmlFactory.getTagValue("x", eElement)), - Double.parseDouble(XmlFactory.getTagValue("y", eElement)), - Double.parseDouble(XmlFactory.getTagValue("z", eElement)), - new RotationNR(new double[] { Double.parseDouble(XmlFactory.getTagValue("rotw", eElement)), - Double.parseDouble(XmlFactory.getTagValue("rotx", eElement)), - Double.parseDouble(XmlFactory.getTagValue("roty", eElement)), - Double.parseDouble(XmlFactory.getTagValue("rotz", eElement)) }))); + setGlobalToFiducialTransform(XmlFactory.getTransform(eElement)); } catch (Exception ex) { ex.printStackTrace(); setGlobalToFiducialTransform(new TransformNR()); @@ -342,13 +335,7 @@ public void onConnect(BowlerAbstractDevice source) { && linkNode.getNodeName().contentEquals("baseToZframe")) { Element eElement = (Element) linkNode; try { - setRobotToFiducialTransform(new TransformNR(Double.parseDouble(XmlFactory.getTagValue("x", eElement)), - Double.parseDouble(XmlFactory.getTagValue("y", eElement)), - Double.parseDouble(XmlFactory.getTagValue("z", eElement)), - new RotationNR(new double[] { Double.parseDouble(XmlFactory.getTagValue("rotw", eElement)), - Double.parseDouble(XmlFactory.getTagValue("rotx", eElement)), - Double.parseDouble(XmlFactory.getTagValue("roty", eElement)), - Double.parseDouble(XmlFactory.getTagValue("rotz", eElement)) }))); + setRobotToFiducialTransform(XmlFactory.getTransform(eElement)); } catch (Exception ex) { ex.printStackTrace(); setRobotToFiducialTransform(new TransformNR()); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 4050d6fc..7e5cfe2f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -96,7 +96,7 @@ public class LinkConfiguration implements ITransformNRChangeListener { */ private boolean invertLimitVelocityPolarity = false; - private HashMap vitamins = new HashMap(); + private ArrayList vitamins = new ArrayList(); private HashMap vitaminVariant = new HashMap(); private boolean passive = false; private boolean newAbs = false; @@ -275,19 +275,7 @@ public LinkConfiguration(Object[] args) { protected void getVitamins(Element doc) { try { - NodeList nodListofLinks = doc.getChildNodes(); - for (int i = 0; i < nodListofLinks.getLength(); i++) { - Node linkNode = nodListofLinks.item(i); - if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamin")) { - Element e = (Element) linkNode; - setVitamin(XmlFactory.getTagValue("name", e), XmlFactory.getTagValue("type", e), - XmlFactory.getTagValue("id", e)); - try { - setVitaminVariant(XmlFactory.getTagValue("name", e), XmlFactory.getTagValue("variant", e)); - } catch (Exception ex) { - } - } - } + vitamins=VitaminLocation.getVitamins(doc); return; } catch (Exception e) { e.printStackTrace(); @@ -303,12 +291,15 @@ protected void getVitamins(Element doc) { * @param type the vitamin type, this maps the the json filename * @param id the part ID, theis maps to the key in the json for the vitamin */ - public void setVitamin(String name, String type, String id) { - if (getVitamins().get(name) == null) { - getVitamins().put(name, new String[2]); - } - getVitamins().get(name)[0] = type; - getVitamins().get(name)[1] = id; + public void setVitamin(VitaminLocation loc) { + if(vitamins.contains(loc)) + return; + vitamins.add(loc); + fireChangeEvent(); + } + public void removeVitamin(VitaminLocation loc) { + if(vitamins.contains(loc)) + vitamins.remove(loc); fireChangeEvent(); } @@ -347,9 +338,7 @@ public LinkConfiguration(LinkConfiguration from) { slaveLinks.add(new LinkConfiguration(from.slaveLinks.get(i))); } - for(String key: from.getVitamins().keySet()){ - getVitamins().put(key, from.getVitamins().get(key)); - } + vitamins.addAll(from.vitamins); setName(from.getName()); setTypeString(from.getTypeString()); @@ -422,29 +411,23 @@ public String getXml() { for (int i = 0; i < slaveLinks.size(); i++) { slaves += "\n\t\n" + slaveLinks.get(i).getXml() + "\n\t\n"; } - String allVitamins = ""; - for (String key : getVitamins().keySet()) { - String v = "\t\t\n"; - v += "\t\t\t" + key + "\n" + "\t\t\t" + getVitamins().get(key)[0] + "\n" - + "\t\t\t" + getVitamins().get(key)[1] + "\n"; - if (getVitaminVariant(key) != null) { - v += "\t\t\t" + getVitamins().get(key)[1] + "\n"; - } - v += "\t\t\n"; - allVitamins += v; - } - return "\t" + getName() + "\n" + "\t" + DevStr + "\t" + getTypeString() + "\n" - + "\t" + getHardwareIndex() + "\n" + "\t" + getScale() + "\n" - + "\t" + getUpperLimit() + "\n" + "\t" + getLowerLimit() - + "\n" + "\t" + getUpperVelocity() + "\n" - + "\t" + getLowerVelocity() + "\n" + "\t" + + String vitamnsString = VitaminLocation.getAllXML(vitamins); + return "\t" + getName() + "\n" + "\t" + + DevStr + "\t" + getTypeString() + "\n"+ + "\t" + getHardwareIndex() + "\n" + + "\t" + getScale() + "\n" + + "\t" + getUpperLimit() + "\n" + + "\t" + getLowerLimit()+ "\n" + + "\t" + getUpperVelocity() + "\n"+ + "\t" + getLowerVelocity() + "\n" + + "\t" + getStaticOffset() + "\n" + "\t" + getDeviceTheoreticalMax() + "\n" + "\t" + getDeviceTheoreticalMin() + "\n" + "\t" + isLatch() + "\n" + "\t" + getIndexLatch() + "\n" + "\t" + isStopOnLatch() + "\n" - + "\t" + getHomingTicksPerSecond() + "\n" + "\n\t\n" + allVitamins - + "\n\t\n" + "\t" + isPassive() + "\n" + "\t" + getMassKg() + + "\t" + getHomingTicksPerSecond() + "\n" + vitamnsString+ "\t" + isPassive() + "\n" + "\t" + getMassKg() + "\n" + "\t" + getCenterOfMassFromCentroid().getXml() + "\n" + "\t" + getimuFromCentroid().getXml() + "\n" + slaves; @@ -950,53 +933,57 @@ public void setimuFromCentroid(TransformNR imu) { // private String shaftType = "hobbyServoHorn"; // private String shaftSize = "standardMicro1"; - private String[] getCoreShaftPart() { - if (vitamins.get("shaft") == null) { - vitamins.put("shaft", new String[] { "hobbyServoHorn", "standardMicro1" }); - } - return vitamins.get("shaft"); + private VitaminLocation getCoreShaftPart() { + for(VitaminLocation loc:vitamins) + if(loc.getName().contentEquals("shaft")) + return loc; + VitaminLocation e = new VitaminLocation("shaft", "hobbyServoHorn", "standardMicro1", new TransformNR()); + vitamins.add(e); + return e; } - private String[] getCoreEmPart() { - if (vitamins.get("electroMechanical") == null) { - vitamins.put("electroMechanical", new String[] { "hobbyServo", "standardMicro" }); - } - return vitamins.get("electroMechanical"); + private VitaminLocation getCoreEmPart() { + for(VitaminLocation loc:vitamins) + if(loc.getName().contentEquals("electroMechanical")) + return loc; + VitaminLocation e = new VitaminLocation("electroMechanical", "hobbyServoHorn", "mg92b", new TransformNR()); + vitamins.add(e); + return e; } public String getElectroMechanicalType() { - return getCoreEmPart()[0]; + return getCoreEmPart().getType(); } public void setElectroMechanicalType(String electroMechanicalType) { - getCoreEmPart()[0] = electroMechanicalType; + getCoreEmPart().setType(electroMechanicalType); fireChangeEvent(); } public String getElectroMechanicalSize() { - return getCoreEmPart()[1]; + return getCoreEmPart().getSize(); } public void setElectroMechanicalSize(String electroMechanicalSize) { - getCoreEmPart()[1] = electroMechanicalSize; + getCoreEmPart().setSize(electroMechanicalSize); fireChangeEvent(); } public String getShaftType() { - return getCoreShaftPart()[0]; + return getCoreShaftPart().getType(); } public void setShaftType(String shaftType) { - getCoreShaftPart()[0] = shaftType; + getCoreShaftPart().setType(shaftType);; fireChangeEvent(); } public String getShaftSize() { - return getCoreShaftPart()[1]; + return getCoreShaftPart().getSize(); } public void setShaftSize(String shaftSize) { - getCoreShaftPart()[1] = shaftSize; + getCoreShaftPart().setSize(shaftSize); fireChangeEvent(); } @@ -1009,11 +996,11 @@ public void setPassive(boolean passive) { fireChangeEvent(); } - public HashMap getVitamins() { + public ArrayListgetVitamins() { return vitamins; } - public void setVitamins(HashMap vitamins) { + public void setVitamins(ArrayList vitamins) { this.vitamins = vitamins; fireChangeEvent(); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 466e59b7..662b8275 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -51,7 +51,7 @@ public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurati private String[] walkingEngine = new String[] { "https://github.com/madhephaestus/carl-the-hexapod.git", "WalkingDriveEngine.groovy" }; - private HashMap vitamins = new HashMap(); + private ArrayList vitamins = new ArrayList<>(); private HashMap vitaminVariant = new HashMap(); /** The self source. */ @@ -547,7 +547,7 @@ private void loadVitamins(Element doc) { } } - public HashMap getVitamins() { + public ArrayList getVitamins() { return vitamins; } @@ -559,19 +559,7 @@ public HashMap getVitamins() { private void getVitamins(Element doc) { try { - NodeList nodListofLinks = doc.getChildNodes(); - for (int i = 0; i < nodListofLinks.getLength(); i++) { - Node linkNode = nodListofLinks.item(i); - if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamin")) { - Element e = (Element) linkNode; - setVitamin(XmlFactory.getTagValue("name", e), XmlFactory.getTagValue("type", e), - XmlFactory.getTagValue("id", e)); - try { - setVitaminVariant(XmlFactory.getTagValue("name", e), XmlFactory.getTagValue("variant", e)); - } catch (Exception ex) { - } - } - } + vitamins = VitaminLocation.getVitamins(doc); return; } catch (Exception e) { e.printStackTrace(); @@ -587,12 +575,16 @@ private void getVitamins(Element doc) { * @param type the vitamin type, this maps the the json filename * @param id the part ID, theis maps to the key in the json for the vitamin */ - public void setVitamin(String name, String type, String id) { - if (getVitamins().get(name) == null) { - getVitamins().put(name, new String[2]); - } - getVitamins().get(name)[0] = type; - getVitamins().get(name)[1] = id; + public void setVitamin(VitaminLocation location) { + if(vitamins.contains(location)) + return; + vitamins.add(location); + + } + public void removeVitamin(VitaminLocation loc) { + if(vitamins.contains(loc)) + vitamins.remove(loc); + //fireChangeEvent(); } /** @@ -643,17 +635,17 @@ public String getXml() { public String getEmbedableXml() { TransformNR location = getFiducialToGlobalTransform(); - String allVitamins = ""; - for (String key : getVitamins().keySet()) { - String v = "\t\t\n"; - v += "\t\t\t" + key + "\n" + "\t\t\t" + getVitamins().get(key)[0] + "\n" - + "\t\t\t" + getVitamins().get(key)[1] + "\n"; - if (getVitaminVariant(key) != null) { - v += "\t\t\t" + getVitamins().get(key)[1] + "\n"; - } - v += "\t\t\n"; - allVitamins += v; - } +// String allVitamins = ""; +// for (String key : getVitamins().keySet()) { +// String v = "\t\t\n"; +// v += "\t\t\t" + key + "\n" + "\t\t\t" + getVitamins().get(key)[0] + "\n" +// + "\t\t\t" + getVitamins().get(key)[1] + "\n"; +// if (getVitaminVariant(key) != null) { +// v += "\t\t\t" + getVitamins().get(key)[1] + "\n"; +// } +// v += "\t\t\n"; +// allVitamins += v; +// } String xml = "\n"; xml += "\t\n"; @@ -711,7 +703,7 @@ public String getEmbedableXml() { xml += "\n\n" + "\t" + getMassKg() + "\n" + "\t" + getCenterOfMassFromCentroid().getXml() + "\n" + "\t" + getIMUFromCentroid().getXml() + "\n"; - xml += "\n\n" + allVitamins + "\n\n"; + xml += VitaminLocation.getAllXML(vitamins); xml += "\n\n"; setGlobalToFiducialTransform(location); return xml; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java new file mode 100644 index 00000000..c55c7036 --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -0,0 +1,150 @@ +package com.neuronrobotics.sdk.addons.kinematics; + +import java.util.ArrayList; + +import org.w3c.dom.Element; +import org.w3c.dom.Node; +import org.w3c.dom.NodeList; + +import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; +import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; + +public class VitaminLocation { + + private String name; + private String type; + private String size; + private TransformNR location; + + public VitaminLocation(String name, String type, String size, TransformNR location) { + this.setName(name); + this.setType(type); + this.setSize(size); + this.setLocation(location); + } + + public VitaminLocation(Element vitamins) { + setName(XmlFactory.getTagValue("name", vitamins)); + setType(XmlFactory.getTagValue("type", vitamins)); + setSize(XmlFactory.getTagValue("id", vitamins)); + + NodeList nodListofLinks = vitamins.getChildNodes(); + TransformNR tf=null; + for (int i = 0; i < nodListofLinks.getLength(); i++) { + Node linkNode = nodListofLinks.item(i); + if(linkNode.getNodeType() != Node.ELEMENT_NODE) + continue; + Element eElement = (Element) linkNode; + if(linkNode.getNodeName().contentEquals("pose")) { + tf=XmlFactory.getTransform(eElement); + } + } + if(tf==null) + tf=new TransformNR(); + setLocation(tf); + + } + + public String getXML() { + + return "\n\n"+ + ""+name+"\n"+ + ""+type+"\n"+ + ""+size+"\n"+ + ""+location.getXml()+"\n"+ + "\n" + ; + } + public static ArrayList getVitamins(Element doc) { + ArrayList locations = new ArrayList<>(); + try { + NodeList nodListofLinks = doc.getChildNodes(); + for (int i = 0; i < nodListofLinks.getLength(); i++) { + Node linkNode = nodListofLinks.item(i); + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamin")) { + Element e = (Element) linkNode; + locations.add(new VitaminLocation(e)); + } + } + } catch (Exception e) { + e.printStackTrace(); + } + return locations; + } + + public static String getAllXML(ArrayList list) { + + String vitamins="\n\n"; + for(VitaminLocation loc:list) { + vitamins+=loc.getXML(); + } + return vitamins+"\n\n"; + + } + + /** + * @return the name + */ + public String getName() { + return name; + } + + /** + * @param name the name to set + */ + public void setName(String name) { + if (name==null) + throw new RuntimeException("Name can not be null"); + this.name = name; + } + + /** + * @return the type + */ + public String getType() { + return type; + } + + /** + * @param type the type to set + */ + public void setType(String type) { + + if (type==null) + throw new RuntimeException("type can not be null"); + this.type = type; + } + + /** + * @return the size + */ + public String getSize() { + return size; + } + + /** + * @param size the size to set + */ + public void setSize(String size) { + if (size==null) + throw new RuntimeException("size can not be null"); + this.size = size; + } + + /** + * @return the location + */ + public TransformNR getLocation() { + return location; + } + + /** + * @param location the location to set + */ + public void setLocation(TransformNR location) { + if (location==null) + throw new RuntimeException("location can not be null"); + this.location = location; + } + +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index ff39913b..4a8acce3 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -97,7 +97,20 @@ public TransformNR(double x, double y, double z, RotationNR q) { this.setZ(z); this.setRotation(q); } - + /** + * Instantiates a new transform nr. + * + * @param x the x + * @param y the y + * @param z the z + * @param q the q + */ + public TransformNR(double x, double y, double z) { + this.setX(x); + this.setY(y); + this.setZ(z); + this.setRotation(new RotationNR()); + } /** * Instantiates a new transform nr. * @@ -461,7 +474,7 @@ public TransformNR setZ(double tz) { */ public String getXml() { String xml = - "\t" + getX() + "\n" + "\t" + getY() + "\n" + "\t" + getZ() + "\n"; + "\n\t" + getX() + "\n" + "\t" + getY() + "\n" + "\t" + getZ() + "\n"; if (Double.isNaN(getRotation().getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotation().getRotationMatrix2QuaturnionX()) || Double.isNaN(getRotation().getRotationMatrix2QuaturnionY()) @@ -472,7 +485,7 @@ public String getXml() { xml += "\t" + getRotation().getRotationMatrix2QuaturnionW() + "\n" + "\t" + getRotation().getRotationMatrix2QuaturnionX() + "\n" + "\t" + getRotation().getRotationMatrix2QuaturnionY() + "\n" + "\t" - + getRotation().getRotationMatrix2QuaturnionZ() + ""; + + getRotation().getRotationMatrix2QuaturnionZ() + "\n"; return xml; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java index aefeff63..6e73e2b3 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java @@ -12,6 +12,9 @@ import org.w3c.dom.NodeList; import org.xml.sax.SAXException; +import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; +import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; + // TODO: Auto-generated Javadoc /** * A factory for creating Xml objects. @@ -53,6 +56,17 @@ public static Document getAllNodesDocument(InputStream config) { return doc; } + public static TransformNR getTransform(Element eElement) { + return new TransformNR( + Double.parseDouble(XmlFactory.getTagValue("x", eElement)), + Double.parseDouble(XmlFactory.getTagValue("y", eElement)), + Double.parseDouble(XmlFactory.getTagValue("z", eElement)), + new RotationNR(new double[] { Double.parseDouble(XmlFactory.getTagValue("rotw", eElement)), + Double.parseDouble(XmlFactory.getTagValue("rotx", eElement)), + Double.parseDouble(XmlFactory.getTagValue("roty", eElement)), + Double.parseDouble(XmlFactory.getTagValue("rotz", eElement)) })); + } + /** * Gets the all nodes from tag. diff --git a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml index 2e059a73..80321ef0 100644 --- a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml +++ b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml @@ -54,20 +54,24 @@ false 0.001 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 16.0 @@ -110,20 +114,24 @@ false 0.001 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 0.0 @@ -166,20 +174,24 @@ false 0.001 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 0.0 @@ -222,20 +234,24 @@ false 0.001 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 0.0 @@ -247,16 +263,19 @@ 0.0 +> + 0.0 0.0 0.0 1.0 -0.0 -0.0 -0.0 + + -75.00000000000001 -23.069999999999993 38.0952380952381 @@ -264,6 +283,7 @@ 0.017903047010183144 0.0077571528961058725 0.9983199043252653 + @@ -311,20 +331,24 @@ false 0.001 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 0.0 @@ -367,20 +391,24 @@ false 0.05 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 0.0 @@ -392,16 +420,19 @@ 0.0 +> + 0.0 0.0 0.0 1.0 -0.0 -0.0 -0.0 + + -78.5 -73.75 0.0 @@ -409,6 +440,7 @@ -0.9999619021083685 2.258102901239317E-6 2.587955605911594E-4 + @@ -456,20 +488,24 @@ true 0.001 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 24.0 @@ -532,20 +568,24 @@ false 0.05 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 0.0 @@ -557,16 +597,19 @@ 0.0 +> + 0.0 0.0 0.0 1.0 -0.0 -0.0 -0.0 + + -74.0 0.0 29.0 @@ -574,11 +617,13 @@ -0.7071067811865475 -8.120692378444618E-12 -8.120692378444618E-12 + + 0.2951945417837649 -75.50000000000001 -6.460453388562168 @@ -586,9 +631,11 @@ 0.43837065166596395 -9.978614964896946E-17 -0.898794287786676 + + 0.0 0.0 0.0 @@ -596,22 +643,27 @@ -0.0 -0.0 -0.0 + 0.001 - 0.0 + + 0.0 0.0 0.0 1.0 -0.0 -0.0 - -0.0 - 0.0 + -0.0 + + + 0.0 0.0 0.0 1.0 -0.0 -0.0 - -0.0 + -0.0 + @@ -655,20 +707,24 @@ false 0.001 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 30.0 @@ -711,20 +767,24 @@ false 0.05 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 0.0 @@ -736,16 +796,19 @@ 0.0 +> + 0.0 0.0 0.0 1.0 -0.0 -0.0 -0.0 + + 28.0 -51.5 29.000000000000032 @@ -753,6 +816,7 @@ 0.7071067811864402 3.895273510727024E-7 -3.895273510727023E-7 + @@ -800,20 +864,24 @@ true 0.001 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + -25.0 @@ -876,20 +944,24 @@ false 0.05 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 0.0 @@ -901,16 +973,19 @@ 0.0 +> + 0.0 0.0 0.0 1.0 -0.0 -0.0 -0.0 + + -73.0 0.0 29.0 @@ -918,11 +993,13 @@ -0.7071067811637123 -5.682767991797112E-6 -5.682767991797108E-6 + + 0.2952267711251224 76.5 -6.460478568916969 @@ -930,9 +1007,11 @@ 0.4383710601144136 -9.978618010838941E-17 -0.89879408857322 + + 0.0 0.0 0.0 @@ -940,22 +1019,27 @@ -0.0 -0.0 -0.0 + 0.001 - 0.0 + + 0.0 0.0 0.0 1.0 -0.0 -0.0 - -0.0 - 0.0 + -0.0 + + + 0.0 0.0 0.0 1.0 -0.0 -0.0 - -0.0 + -0.0 + @@ -999,20 +1083,24 @@ false 0.001 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 30.0 @@ -1055,20 +1143,24 @@ false 0.001 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 0.0 @@ -1080,16 +1172,19 @@ 0.0 +> + 0.0 0.0 0.0 1.0 -0.0 -0.0 -0.0 + + 28.0 51.5 29.0 @@ -1097,6 +1192,7 @@ 0.7071067811865442 6.818941599633328E-8 -6.818941599633326E-8 + @@ -1144,20 +1240,24 @@ false 0.001 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 0.0 @@ -1200,20 +1300,24 @@ false 0.05 - 0.0 + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + 0.0 @@ -1225,16 +1329,19 @@ 0.0 +> + 0.0 0.0 0.0 1.0 -0.0 -0.0 -0.0 + + -78.5 73.75 0.0 @@ -1242,11 +1349,13 @@ -0.9999619021083685 2.2581029012393413E-6 2.587955605911622E-4 + + 0.0 0.0 0.0 @@ -1254,9 +1363,11 @@ -0.0 -0.0 -0.0 + + 0.0 0.0 0.0 @@ -1264,27 +1375,47 @@ -0.0 -0.0 -0.0 + 0.1 - 0.0 + + 0.0 0.0 40.0 1.0 0.0 0.0 - 0.0 - 0.0 + 0.0 + + + 0.0 0.0 0.0 1.0 0.0 0.0 - 0.0 + 0.0 + + +test1 +hobbyServo +mg92b + + 0.0 + 1.0 + 4.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + - \ No newline at end of file + diff --git a/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java b/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java index 3701338f..88186f40 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java @@ -11,6 +11,8 @@ import org.junit.Test; import com.neuronrobotics.sdk.addons.kinematics.MobileBase; +import com.neuronrobotics.sdk.addons.kinematics.VitaminLocation; +import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; public class TestMobilBaseLoading { @@ -20,7 +22,11 @@ public void test() throws IOException { String content = new String(Files.readAllBytes(Paths.get(file.getAbsolutePath()))); MobileBase base = new MobileBase(new FileInputStream(file)); - + base.getAllDHChains().get(0).getLinkConfiguration(0).getVitamins(); +// base.setVitamin(new VitaminLocation("test1", "hobbyServo", "mg92b", new TransformNR(0, 1, 4))); +// base.setVitamin(new VitaminLocation("test2", "hobbyServo", "mg92b", new TransformNR(0, 1, 4))); +// base.setVitamin(new VitaminLocation("test1", "hobbyServo", "mg92b", new TransformNR(0, 1, 4))); + if(Math.abs(0.1-base.getMassKg())>0.0001) { fail("Base mass failed to load! expected "+0.1+" got "+base.getMassKg()); } From 7200666ad762a9aeb6a03e00a9758b40b37a6956 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Mar 2024 16:46:31 -0400 Subject: [PATCH 396/482] add cnfiguration listeners --- .../addons/kinematics/VitaminLocation.java | 45 ++++++++++++++++--- 1 file changed, 40 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index c55c7036..8db1603e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -6,15 +6,17 @@ import org.w3c.dom.Node; import org.w3c.dom.NodeList; +import com.neuronrobotics.sdk.addons.kinematics.math.ITransformNRChangeListener; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; -public class VitaminLocation { +public class VitaminLocation implements ITransformNRChangeListener { + ArrayList listeners=new ArrayList<>(); private String name; private String type; private String size; - private TransformNR location; + private TransformNR location=null; public VitaminLocation(String name, String type, String size, TransformNR location) { this.setName(name); @@ -45,12 +47,33 @@ public VitaminLocation(Element vitamins) { } + public void addChangeListener(Runnable r) { + if(listeners.contains(r)) + return; + listeners.add(r); + } + public void removeChangeListener(Runnable r) { + if(listeners.contains(r)) + listeners.remove(r); + } + void fireChangeEvent() { + if (listeners != null) { + for (int i = 0; i < listeners.size(); i++) { + try { + listeners.get(i).run(); + } catch (Throwable t) { + t.printStackTrace(); + } + } + } + + } public String getXML() { return "\n\n"+ ""+name+"\n"+ ""+type+"\n"+ - ""+size+"\n"+ + ""+size+"\n"+ ""+location.getXml()+"\n"+ "\n" ; @@ -86,6 +109,7 @@ public static String getAllXML(ArrayList list) { * @return the name */ public String getName() { + return name; } @@ -96,6 +120,7 @@ public void setName(String name) { if (name==null) throw new RuntimeException("Name can not be null"); this.name = name; + fireChangeEvent(); } /** @@ -113,6 +138,7 @@ public void setType(String type) { if (type==null) throw new RuntimeException("type can not be null"); this.type = type; + fireChangeEvent(); } /** @@ -129,6 +155,7 @@ public void setSize(String size) { if (size==null) throw new RuntimeException("size can not be null"); this.size = size; + fireChangeEvent(); } /** @@ -141,10 +168,18 @@ public TransformNR getLocation() { /** * @param location the location to set */ - public void setLocation(TransformNR location) { + public void setLocation(TransformNR l) { if (location==null) throw new RuntimeException("location can not be null"); - this.location = location; + if(l!=null) + l.removeChangeListener(this); + this.location = l; + location.addChangeListener(this); + } + + @Override + public void event(TransformNR changed) { + fireChangeEvent(); } } From 99cb4cd6c51709d6d10527e85d624febd78f2bca Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Mar 2024 16:46:44 -0400 Subject: [PATCH 397/482] use vitamin configuration listners --- .../addons/kinematics/LinkConfiguration.java | 34 ++++++++++++++++--- 1 file changed, 29 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 7e5cfe2f..e8533f14 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -100,6 +100,9 @@ public class LinkConfiguration implements ITransformNRChangeListener { private HashMap vitaminVariant = new HashMap(); private boolean passive = false; private boolean newAbs = false; + private Runnable changeListener = ()->{ + fireChangeEvent(); + }; /** * Instantiates a new link configuration. @@ -283,6 +286,7 @@ protected void getVitamins(Element doc) { return; } + /** * Add a vitamin to this link * @@ -291,15 +295,30 @@ protected void getVitamins(Element doc) { * @param type the vitamin type, this maps the the json filename * @param id the part ID, theis maps to the key in the json for the vitamin */ - public void setVitamin(VitaminLocation loc) { - if(vitamins.contains(loc)) + @Deprecated + public void setVitamin(VitaminLocation location) { + addVitamin(location); + + } + /** + * Add a vitamin to this link + * + * @param name the name of this vitamin, if the name already exists, the data + * will be overwritten. + * @param type the vitamin type, this maps the the json filename + * @param id the part ID, theis maps to the key in the json for the vitamin + */ + public void addVitamin(VitaminLocation location) { + if(vitamins.contains(location)) return; - vitamins.add(loc); + vitamins.add(location); + location.addChangeListener(changeListener); fireChangeEvent(); } public void removeVitamin(VitaminLocation loc) { if(vitamins.contains(loc)) vitamins.remove(loc); + loc.removeChangeListener(changeListener); fireChangeEvent(); } @@ -1000,8 +1019,13 @@ public void setPassive(boolean passive) { return vitamins; } - public void setVitamins(ArrayList vitamins) { - this.vitamins = vitamins; + public void setVitamins(ArrayList v) { + if(vitamins!=null) + for(VitaminLocation l:vitamins) + l.removeChangeListener(changeListener); + this.vitamins = v; + for(VitaminLocation l:vitamins) + l.addChangeListener(changeListener); fireChangeEvent(); } From 0f25ece857506cb917a509cc69158b2e61bddf20 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Mar 2024 16:47:03 -0400 Subject: [PATCH 398/482] renamed the api to add --- .../sdk/addons/kinematics/MobileBase.java | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 662b8275..a7f44fc2 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -575,7 +575,20 @@ private void getVitamins(Element doc) { * @param type the vitamin type, this maps the the json filename * @param id the part ID, theis maps to the key in the json for the vitamin */ + @Deprecated public void setVitamin(VitaminLocation location) { + addVitamin(location); + + } + /** + * Add a vitamin to this link + * + * @param name the name of this vitamin, if the name already exists, the data + * will be overwritten. + * @param type the vitamin type, this maps the the json filename + * @param id the part ID, theis maps to the key in the json for the vitamin + */ + public void addVitamin(VitaminLocation location) { if(vitamins.contains(location)) return; vitamins.add(location); From d17fc037c384dc56309848f8afc9bed810d46533 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Mar 2024 16:47:19 -0400 Subject: [PATCH 399/482] testing adding additional vitamins on a link --- .../test/neuronrobotics/utilities/TestMobilBaseLoading.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java b/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java index 88186f40..9b42f51b 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java @@ -22,7 +22,10 @@ public void test() throws IOException { String content = new String(Files.readAllBytes(Paths.get(file.getAbsolutePath()))); MobileBase base = new MobileBase(new FileInputStream(file)); - base.getAllDHChains().get(0).getLinkConfiguration(0).getVitamins(); +// base.getAllDHChains() +// .get(0) +// .getLinkConfiguration(0) +// .setVitamin(new VitaminLocation("test1", "hobbyServo", "mg92b", new TransformNR(0, 1, 4))); // base.setVitamin(new VitaminLocation("test1", "hobbyServo", "mg92b", new TransformNR(0, 1, 4))); // base.setVitamin(new VitaminLocation("test2", "hobbyServo", "mg92b", new TransformNR(0, 1, 4))); // base.setVitamin(new VitaminLocation("test1", "hobbyServo", "mg92b", new TransformNR(0, 1, 4))); From d266c315a2fddc364befa695adec28bf35a66c10 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Mar 2024 16:47:30 -0400 Subject: [PATCH 400/482] Adding vitamin to lin --- .../kinematics/xml/NASASuspensionTest.xml | 753 +++++++++++++----- 1 file changed, 544 insertions(+), 209 deletions(-) diff --git a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml index 80321ef0..f5688dd6 100644 --- a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml +++ b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml @@ -39,19 +39,54 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +test1 +hobbyServo +mg92b + + 0.0 + 1.0 + 4.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.001 @@ -99,19 +134,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.001 @@ -159,19 +214,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.001 @@ -219,19 +294,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.001 @@ -316,19 +411,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.001 @@ -376,19 +491,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.05 @@ -473,19 +608,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + true 0.001 @@ -553,19 +708,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.05 @@ -692,19 +867,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.001 @@ -752,19 +947,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.05 @@ -849,19 +1064,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + true 0.001 @@ -929,19 +1164,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.05 @@ -1068,19 +1323,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.001 @@ -1128,19 +1403,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.001 @@ -1225,19 +1520,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.001 @@ -1285,19 +1600,39 @@ false 10000000 - - - electroMechanical - hobbyServo - standardMicro - - - shaft - hobbyServoHorn - standardMicro1 - - - + + + +electroMechanical +hobbyServo +standardMicro + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + +shaft +hobbyServoHorn +standardMicro1 + + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + + + false 0.05 @@ -1418,4 +1753,4 @@ - + \ No newline at end of file From f86ae42c7dc67080322d328a2387434e91fd0e68 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Mar 2024 16:49:57 -0400 Subject: [PATCH 401/482] runtime smoke test --- .../neuronrobotics/sdk/addons/kinematics/VitaminLocation.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index 8db1603e..dc99a350 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -169,7 +169,7 @@ public TransformNR getLocation() { * @param location the location to set */ public void setLocation(TransformNR l) { - if (location==null) + if (l==null) throw new RuntimeException("location can not be null"); if(l!=null) l.removeChangeListener(this); From 7cd504d8abbb19ec510de292c2c4ba25350c6fcd Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Mar 2024 21:17:42 -0400 Subject: [PATCH 402/482] loading of vitamins using a manipuable object --- .../sdk/addons/kinematics/MobileBase.java | 4 +- .../addons/kinematics/VitaminLocation.java | 16 +- .../kinematics/xml/NASASuspensionTest.xml | 598 +++++++++--------- 3 files changed, 294 insertions(+), 324 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index a7f44fc2..4d318163 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -344,7 +344,7 @@ private String findNameTag(Node e) { if(elementTester.getNodeName().contentEquals("name")) return elementTester.getChildNodes().item(0).getNodeValue(); } - return null; + return "parentNoName"; } /** @@ -708,7 +708,7 @@ public String getEmbedableXml() { } xml += "\n\n"; - xml += getFiducialToGlobalTransform().getXml(); + xml += new TransformNR().getXml(); xml += "\n\n"; xml += "\n\n"; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index dc99a350..4eb1a57d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -70,12 +70,12 @@ void fireChangeEvent() { } public String getXML() { - return "\n\n"+ - ""+name+"\n"+ - ""+type+"\n"+ - ""+size+"\n"+ - ""+location.getXml()+"\n"+ - "\n" + return "\n\t\t\n"+ + "\t\t\t"+name+"\n"+ + "\t\t\t"+type+"\n"+ + "\t\t\t"+size+"\n"+ + "\t\t\t"+location.getXml()+"\t\t\t\n"+ + "\t\t\n" ; } public static ArrayList getVitamins(Element doc) { @@ -97,11 +97,11 @@ public static ArrayList getVitamins(Element doc) { public static String getAllXML(ArrayList list) { - String vitamins="\n\n"; + String vitamins="\n\t\n"; for(VitaminLocation loc:list) { vitamins+=loc.getXML(); } - return vitamins+"\n\n"; + return vitamins+"\n\t\n"; } diff --git a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml index f5688dd6..8f2b3038 100644 --- a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml +++ b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml @@ -39,13 +39,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -53,14 +53,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -68,25 +68,10 @@ -0.0 -0.0 -0.0 - - + + - -test1 -hobbyServo -mg92b - - 0.0 - 1.0 - 4.0 - 1.0 - -0.0 - -0.0 - -0.0 - - - - + false 0.001 @@ -134,13 +119,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -148,14 +133,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -163,10 +148,10 @@ -0.0 -0.0 -0.0 - - + + - + false 0.001 @@ -214,13 +199,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -228,14 +213,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -243,10 +228,10 @@ -0.0 -0.0 -0.0 - - + + - + false 0.001 @@ -294,13 +279,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -308,14 +293,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -323,10 +308,10 @@ -0.0 -0.0 -0.0 - - + + - + false 0.001 @@ -411,13 +396,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -425,14 +410,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -440,10 +425,10 @@ -0.0 -0.0 -0.0 - - + + - + false 0.001 @@ -491,13 +476,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -505,14 +490,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -520,14 +505,14 @@ -0.0 -0.0 -0.0 - - + + - + false 0.05 - 0.0 + -18.0 0.0 0.0 1.0 @@ -608,13 +593,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -622,14 +607,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -637,10 +622,10 @@ -0.0 -0.0 -0.0 - - + + - + true 0.001 @@ -708,13 +693,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -722,14 +707,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -737,14 +722,14 @@ -0.0 -0.0 -0.0 - - + + - + false - 0.05 + 0.051 - 0.0 + -18.0 0.0 0.0 1.0 @@ -799,13 +784,13 @@ - 0.2951945417837649 - -75.50000000000001 - -6.460453388562168 - 4.866904542229674E-17 - 0.43837065166596395 - -9.978614964896946E-17 - -0.898794287786676 + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 @@ -840,9 +825,9 @@ -0.0 - + - + @@ -867,13 +852,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -881,14 +866,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -896,10 +881,10 @@ -0.0 -0.0 -0.0 - - + + - + false 0.001 @@ -947,13 +932,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -961,14 +946,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -976,14 +961,14 @@ -0.0 -0.0 -0.0 - - + + - + false 0.05 - 0.0 + -18.0 0.0 0.0 1.0 @@ -1064,13 +1049,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -1078,14 +1063,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -1093,10 +1078,10 @@ -0.0 -0.0 -0.0 - - + + - + true 0.001 @@ -1164,13 +1149,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -1178,14 +1163,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -1193,14 +1178,14 @@ -0.0 -0.0 -0.0 - - + + - + false 0.05 - 0.0 + -18.0 0.0 0.0 1.0 @@ -1255,13 +1240,13 @@ - 0.2952267711251224 - 76.5 - -6.460478568916969 - 4.86689829712371E-17 - 0.4383710601144136 - -9.978618010838941E-17 - -0.89879408857322 + 0.0 + 0.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 @@ -1296,9 +1281,9 @@ -0.0 - + - + @@ -1323,13 +1308,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -1337,14 +1322,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -1352,10 +1337,10 @@ -0.0 -0.0 -0.0 - - + + - + false 0.001 @@ -1403,13 +1388,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -1417,14 +1402,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -1432,14 +1417,14 @@ -0.0 -0.0 -0.0 - - + + - + false - 0.001 + 0.05 - 0.0 + -18.0 0.0 0.0 1.0 @@ -1520,13 +1505,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -1534,14 +1519,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -1549,10 +1534,10 @@ -0.0 -0.0 -0.0 - - + + - + false 0.001 @@ -1600,13 +1585,13 @@ false 10000000 - + - -electroMechanical -hobbyServo -standardMicro - + + electroMechanical + hobbyServo + standardMicro + 0.0 0.0 0.0 @@ -1614,14 +1599,14 @@ -0.0 -0.0 -0.0 - - + + - -shaft -hobbyServoHorn -standardMicro1 - + + shaft + hobbyServoHorn + standardMicro1 + 0.0 0.0 0.0 @@ -1629,14 +1614,14 @@ -0.0 -0.0 -0.0 - - + + - + false 0.05 - 0.0 + -18.0 0.0 0.0 1.0 @@ -1732,24 +1717,9 @@ 0.0 - - - -test1 -hobbyServo -mg92b - - 0.0 - 1.0 - 4.0 - 1.0 - -0.0 - -0.0 - -0.0 - - + - + From 9761964dad71b5e64aef375d9487f89669a249e2 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 24 Mar 2024 21:25:38 -0400 Subject: [PATCH 403/482] mks having vitamins into an interface --- .../sdk/addons/kinematics/IVitaminHolder.java | 9 +++++++++ .../sdk/addons/kinematics/LinkConfiguration.java | 2 +- .../neuronrobotics/sdk/addons/kinematics/MobileBase.java | 2 +- 3 files changed, 11 insertions(+), 2 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java new file mode 100644 index 00000000..3ecfde5c --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java @@ -0,0 +1,9 @@ +package com.neuronrobotics.sdk.addons.kinematics; + +import java.util.ArrayList; + +public interface IVitaminHolder { + ArrayList getVitamins() ; + void addVitamin(VitaminLocation location); + void removeVitamin(VitaminLocation loc); +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index e8533f14..1700f950 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -22,7 +22,7 @@ /** * The Class LinkConfiguration. */ -public class LinkConfiguration implements ITransformNRChangeListener { +public class LinkConfiguration implements ITransformNRChangeListener,IVitaminHolder { private ArrayList listeners = null; private boolean pauseEvents=false; /** The name. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 4d318163..08d5512b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -27,7 +27,7 @@ * The Class MobileBase. */ public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurationChangeListener, - IOnMobileBaseRenderChange, IJointSpaceUpdateListenerNR, IHardwareSyncPulseReciver, IHardwareSyncPulseProvider { + IOnMobileBaseRenderChange, IJointSpaceUpdateListenerNR, IHardwareSyncPulseReciver, IHardwareSyncPulseProvider,IVitaminHolder { /** The legs. */ private final ArrayList legs = new ArrayList(); From 65ccfceb9fe35725c3a761160c66bc60c9867bd8 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 4 Apr 2024 10:42:34 -0400 Subject: [PATCH 404/482] add print string helper functions --- .../sdk/addons/kinematics/math/TransformNR.java | 14 +++++++++++++- 1 file changed, 13 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 4a8acce3..ae45efc1 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -223,11 +223,23 @@ public String toString() { return "Transform error" + ex.getLocalizedMessage(); } } + public String toSimpleString() { + return toPositionString()+" "+toAngleString(); + } public String toPositionString() { DecimalFormat decimalFormat = new DecimalFormat("000.00"); - return decimalFormat.format(x)+" "+decimalFormat.format(y)+" "+decimalFormat.format(z); + return "x="+decimalFormat.format(x)+" "+ + "y="+decimalFormat.format(y)+" "+ + "z="+decimalFormat.format(z); } + public String toAngleString() { + DecimalFormat decimalFormat = new DecimalFormat("000.00"); + + return "az="+decimalFormat.format(Math.toDegrees(getRotation().getRotationAzimuth()))+" "+ + "el="+decimalFormat.format(Math.toDegrees(getRotation().getRotationElevation()))+" "+ + "tl="+decimalFormat.format(Math.toDegrees(getRotation().getRotationTilt())); + } /** * Gets the matrix string. From 838acafbf087999edeb4f853744837d9bf8c3d96 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 7 Apr 2024 14:38:42 -0400 Subject: [PATCH 405/482] Adding accessor methods to dh parameters and abstriact link to access the configurations vitamins --- .../sdk/addons/kinematics/AbstractLink.java | 20 +++++++++++++++++- .../kinematics/DHParameterKinematics.java | 21 +++++++++++++++++++ .../addons/kinematics/LinkConfiguration.java | 20 +++++++++--------- 3 files changed, 50 insertions(+), 11 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 4e978588..9e27d988 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -21,7 +21,7 @@ * The Class AbstractLink. */ // Kevin Shouldn't the Link's channel be kept in this level of Abstraction? The way I designg AbstractCartesianPositonDevice Requires this -public abstract class AbstractLink extends TimeKeeper implements IFlushable{ +public abstract class AbstractLink extends TimeKeeper implements IFlushable,IVitaminHolder { /** The target value. */ private double targetValue=0; @@ -45,6 +45,24 @@ public abstract class AbstractLink extends TimeKeeper implements IFlushable{ * The object for communicating IMU information and registering it with the hardware */ private IMU imu = new IMU(); + + public VitaminLocation getShaftVitamin() { + return conf.getShaftVitamin(); + } + + public VitaminLocation getElectroMechanicalVitamin() { + return conf.getElectroMechanicalVitamin(); + } + public ArrayList getVitamins() { + return conf.getVitamins(); + } + public void addVitamin(VitaminLocation location) { + conf.addVitamin(location); + } + public void removeVitamin(VitaminLocation loc) { + conf.removeVitamin(loc); + } + /** * Override this method to specify a larger range * @return the maximum value possible for a link diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index d19ce61c..1e7ab036 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -861,4 +861,25 @@ public void setTimeProvider(ITimeProvider t) { super.setTimeProvider(t); getDhChain().setTimeProvider(t); } + + public VitaminLocation getShaftVitamin(int index) { + return getLinkConfiguration(index).getShaftVitamin(); + } + + public VitaminLocation getElectroMechanicalVitamin(int index) { + return getLinkConfiguration(index).getElectroMechanicalVitamin(); + } + public ArrayList getVitamins(int index) { + return getLinkConfiguration(index).getVitamins(); + } + + public void addVitamin(int index,VitaminLocation location) { + getLinkConfiguration(index).addVitamin(location); + } + public void removeVitamin(int index,VitaminLocation loc) { + getLinkConfiguration(index).removeVitamin(loc); + } + public IVitaminHolder getVitaminHolder(int index) { + return getLinkConfiguration(index); + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 1700f950..df0b0ce1 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -952,7 +952,7 @@ public void setimuFromCentroid(TransformNR imu) { // private String shaftType = "hobbyServoHorn"; // private String shaftSize = "standardMicro1"; - private VitaminLocation getCoreShaftPart() { + public VitaminLocation getShaftVitamin() { for(VitaminLocation loc:vitamins) if(loc.getName().contentEquals("shaft")) return loc; @@ -961,7 +961,7 @@ private VitaminLocation getCoreShaftPart() { return e; } - private VitaminLocation getCoreEmPart() { + public VitaminLocation getElectroMechanicalVitamin() { for(VitaminLocation loc:vitamins) if(loc.getName().contentEquals("electroMechanical")) return loc; @@ -971,38 +971,38 @@ private VitaminLocation getCoreEmPart() { } public String getElectroMechanicalType() { - return getCoreEmPart().getType(); + return getElectroMechanicalVitamin().getType(); } public void setElectroMechanicalType(String electroMechanicalType) { - getCoreEmPart().setType(electroMechanicalType); + getElectroMechanicalVitamin().setType(electroMechanicalType); fireChangeEvent(); } public String getElectroMechanicalSize() { - return getCoreEmPart().getSize(); + return getElectroMechanicalVitamin().getSize(); } public void setElectroMechanicalSize(String electroMechanicalSize) { - getCoreEmPart().setSize(electroMechanicalSize); + getElectroMechanicalVitamin().setSize(electroMechanicalSize); fireChangeEvent(); } public String getShaftType() { - return getCoreShaftPart().getType(); + return getShaftVitamin().getType(); } public void setShaftType(String shaftType) { - getCoreShaftPart().setType(shaftType);; + getShaftVitamin().setType(shaftType);; fireChangeEvent(); } public String getShaftSize() { - return getCoreShaftPart().getSize(); + return getShaftVitamin().getSize(); } public void setShaftSize(String shaftSize) { - getCoreShaftPart().setSize(shaftSize); + getShaftVitamin().setSize(shaftSize); fireChangeEvent(); } From ffb1087d0720842e89ddf52b54df0f9edb2a8110 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 7 Apr 2024 14:46:08 -0400 Subject: [PATCH 406/482] More accessor methods --- .../sdk/addons/kinematics/AbstractLink.java | 3 +++ .../sdk/addons/kinematics/DHParameterKinematics.java | 10 ++++++---- .../sdk/addons/kinematics/LinkConfiguration.java | 8 +++++++- 3 files changed, 16 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 9e27d988..36d36c73 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -62,6 +62,9 @@ public void addVitamin(VitaminLocation location) { public void removeVitamin(VitaminLocation loc) { conf.removeVitamin(loc); } + public ArrayListgetNonActuatorVitamins(){ + return conf.getNonActuatorVitamins(); + } /** * Override this method to specify a larger range diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 1e7ab036..dc39b327 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -870,14 +870,16 @@ public VitaminLocation getElectroMechanicalVitamin(int index) { return getLinkConfiguration(index).getElectroMechanicalVitamin(); } public ArrayList getVitamins(int index) { - return getLinkConfiguration(index).getVitamins(); + return getVitaminHolder(index).getVitamins(); + } + public ArrayListgetNonActuatorVitamins(int index){ + return getLinkConfiguration(index).getNonActuatorVitamins(); } - public void addVitamin(int index,VitaminLocation location) { - getLinkConfiguration(index).addVitamin(location); + getVitaminHolder(index).addVitamin(location); } public void removeVitamin(int index,VitaminLocation loc) { - getLinkConfiguration(index).removeVitamin(loc); + getVitaminHolder(index).removeVitamin(loc); } public IVitaminHolder getVitaminHolder(int index) { return getLinkConfiguration(index); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index df0b0ce1..0ee853db 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -951,7 +951,13 @@ public void setimuFromCentroid(TransformNR imu) { // private String electroMechanicalSize = "standardMicro"; // private String shaftType = "hobbyServoHorn"; // private String shaftSize = "standardMicro1"; - + public ArrayListgetNonActuatorVitamins() { + ArrayList back = new ArrayList<>(); + back.addAll(vitamins); + back.remove(getShaftVitamin()); + back.remove(getElectroMechanicalVitamin()); + return back; + } public VitaminLocation getShaftVitamin() { for(VitaminLocation loc:vitamins) if(loc.getName().contentEquals("shaft")) From 93bf0b036f75fedec21b90c18cac06d52c254c98 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 7 Apr 2024 16:03:19 -0400 Subject: [PATCH 407/482] add fire of the change event for setting location --- .../sdk/addons/kinematics/VitaminLocation.java | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index 4eb1a57d..2bd38293 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -169,12 +169,17 @@ public TransformNR getLocation() { * @param location the location to set */ public void setLocation(TransformNR l) { + if(l==location) { + fireChangeEvent(); + return; + } if (l==null) throw new RuntimeException("location can not be null"); if(l!=null) l.removeChangeListener(this); this.location = l; location.addChangeListener(this); + fireChangeEvent(); } @Override From bcb6ca6be8ea63497353e68bc252e8173035476b Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 7 Apr 2024 18:56:21 -0400 Subject: [PATCH 408/482] add configuration change update --- .../sdk/addons/kinematics/MobileBase.java | 38 ++++++++++++++++++- 1 file changed, 36 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 08d5512b..6cd950ce 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -64,6 +64,7 @@ public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurati private HashMap parallelGroups = new HashMap(); private ICalcLimbHomeProvider homeProvider = null; + private Runnable configurationUpdate = ()->{}; /** * Instantiates a new mobile base. @@ -71,6 +72,14 @@ public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurati public MobileBase() { }// used for building new bases live + public void fireConfigurationUpdate() { + if(configurationUpdate!=null) + try { + configurationUpdate.run(); + }catch(Throwable t) { + t.printStackTrace(); + } + } /** * Calc home. * @@ -212,6 +221,7 @@ public void addLimbToParallel(DHParameterKinematics limb, TransformNR tipOffset, removeLimFromParallel(limb); ParallelGroup g = getParallelGroup(name); g.addLimb(limb, tipOffset, relativeLimb, relativeIndex); + fireConfigurationUpdate(); } private void removeLimFromParallel(DHParameterKinematics limb) { @@ -222,6 +232,7 @@ private void removeLimFromParallel(DHParameterKinematics limb) { if (g.getConstituantLimbs().size() == 0) { getParallelGroups().remove(g.getNameOfParallelGroup()); } + fireConfigurationUpdate(); } /** @@ -592,12 +603,12 @@ public void addVitamin(VitaminLocation location) { if(vitamins.contains(location)) return; vitamins.add(location); - + fireConfigurationUpdate(); } public void removeVitamin(VitaminLocation loc) { if(vitamins.contains(loc)) vitamins.remove(loc); - //fireChangeEvent(); + fireConfigurationUpdate();//fireChangeEvent(); } /** @@ -816,6 +827,7 @@ private IDriveEngine getWalkingDriveEngine() { */ public void setWalkingDriveEngine(IDriveEngine walkingDriveEngine) { this.walkingDriveEngine = walkingDriveEngine; + fireConfigurationUpdate(); } /** @@ -877,6 +889,7 @@ public String[] getGitWalkingEngine() { public void setGitWalkingEngine(String[] walkingEngine) { if (walkingEngine != null && walkingEngine[0] != null && walkingEngine[1] != null) this.walkingEngine = walkingEngine; + fireConfigurationUpdate(); } /** @@ -897,6 +910,7 @@ public String[] getGitSelfSource() { */ public void setGitSelfSource(String[] selfSource) { this.selfSource = selfSource; + fireConfigurationUpdate(); } public double getMassKg() { @@ -908,6 +922,7 @@ public void setMassKg(double mass) { System.out.println("Mass of device " + getScriptingName() + " is " + mass); //new RuntimeException().printStackTrace(); this.mass = mass; + fireConfigurationUpdate(); } public TransformNR getCenterOfMassFromCentroid() { @@ -916,6 +931,7 @@ public TransformNR getCenterOfMassFromCentroid() { public void setCenterOfMassFromCentroid(TransformNR centerOfMassFromCentroid) { this.centerOfMassFromCentroid = centerOfMassFromCentroid; + fireConfigurationUpdate(); } public TransformNR getIMUFromCentroid() { @@ -924,10 +940,12 @@ public TransformNR getIMUFromCentroid() { public void setIMUFromCentroid(TransformNR centerOfMassFromCentroid) { this.IMUFromCentroid = centerOfMassFromCentroid; + fireConfigurationUpdate(); } public void setFiducialToGlobalTransform(TransformNR globe) { setGlobalToFiducialTransform(globe); + fireConfigurationUpdate(); } @@ -942,6 +960,7 @@ private void fireBaseUpdates() { public void shutDownParallel(ParallelGroup group) { group.close(); parallelGroups.remove(group.getNameOfParallelGroup()); + fireConfigurationUpdate(); } private HashMap getParallelGroups() { @@ -1057,6 +1076,7 @@ public void clearIOnMobileBaseRenderChange() { public void event(LinkConfiguration newConf) { // TODO Auto-generated method stub fireIOnMobileBaseRenderChange(); + fireConfigurationUpdate(); } @Override @@ -1095,4 +1115,18 @@ public void setTimeProvider(ITimeProvider t) { } } + /** + * @return the configurationUpdate + */ + public Runnable getConfigurationUpdate() { + return configurationUpdate; + } + + /** + * @param configurationUpdate the configurationUpdate to set + */ + public void setConfigurationUpdate(Runnable configurationUpdate) { + this.configurationUpdate = configurationUpdate; + } + } From d799358a9ac39fb430bbc4c696b3416450dddd5a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 8 Apr 2024 21:01:10 -0400 Subject: [PATCH 409/482] Add a frame definition to the vitamin --- .../sdk/addons/kinematics/VitaminFrame.java | 29 ++++++++++++ .../addons/kinematics/VitaminLocation.java | 45 ++++++++++++++++++- .../kinematics/xml/NASASuspensionTest.xml | 32 +++++++++++++ 3 files changed, 105 insertions(+), 1 deletion(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminFrame.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminFrame.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminFrame.java new file mode 100644 index 00000000..3794aa0c --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminFrame.java @@ -0,0 +1,29 @@ +package com.neuronrobotics.sdk.addons.kinematics; + +public enum VitaminFrame { + // the MobilBase root, or the tip of the link + DefaultFrame("default"), + // the place on the link where the previous one ends, where the shaft for the motor that turns it should be + LinkOrigin("origin"), + // The tip of the previous link. the place where the motor that turns a link would be mounted. if the first link this would be the limbs root + LastLinkTip("lastlink"); + + private String text; + + VitaminFrame(String text) { + this.text = text; + } + + public String getText() { + return this.text; + } + + public static VitaminFrame fromString(String text) { + for (VitaminFrame b : VitaminFrame.values()) { + if (b.text.equalsIgnoreCase(text)) { + return b; + } + } + return null; + } +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index 2bd38293..1d44257b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -18,6 +18,8 @@ public class VitaminLocation implements ITransformNRChangeListener { private String size; private TransformNR location=null; + private VitaminFrame frame=VitaminFrame.DefaultFrame; + public VitaminLocation(String name, String type, String size, TransformNR location) { this.setName(name); this.setType(type); @@ -44,7 +46,17 @@ public VitaminLocation(Element vitamins) { if(tf==null) tf=new TransformNR(); setLocation(tf); - + try { + setFrame(VitaminFrame.fromString( XmlFactory.getTagValue("frame", vitamins))); + }catch(NullPointerException ex) { + //use default + } + if(name.contentEquals("electroMechanical")) { + setFrame(VitaminFrame.LastLinkTip); + } + if(name.contentEquals("shaft")) { + setFrame(VitaminFrame.LinkOrigin); + } } public void addChangeListener(Runnable r) { @@ -75,6 +87,7 @@ public String getXML() { "\t\t\t"+type+"\n"+ "\t\t\t"+size+"\n"+ "\t\t\t"+location.getXml()+"\t\t\t\n"+ + "\t\t\t"+getFrame().getText()+"\n"+ "\t\t\n" ; } @@ -187,4 +200,34 @@ public void event(TransformNR changed) { fireChangeEvent(); } + /** + * + // the MobilBase root, or the tip of the link + DefaultFrame("default"), + // the place on the link where the previous one ends, where the shaft for the motor that turns it should be + LinkOrigin("origin"), + // The tip of the previous link. the place where the motor that turns a link would be mounted. if the first link this would be the limbs root + LastLinkTip("lastlink"); + * @return the frame + */ + public VitaminFrame getFrame() { + return frame; + } + + /** + // the MobilBase root, or the tip of the link + DefaultFrame("default"), + // the place on the link where the previous one ends, where the shaft for the motor that turns it should be + LinkOrigin("origin"), + // The tip of the previous link. the place where the motor that turns a link would be mounted. if the first link this would be the limbs root + LastLinkTip("lastlink"); + * @param frame the frame to set + */ + public void setFrame(VitaminFrame frame) { + + this.frame = frame; + fireChangeEvent(); + + } + } diff --git a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml index 8f2b3038..097ad488 100644 --- a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml +++ b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml @@ -54,6 +54,7 @@ -0.0 -0.0 + lastlink @@ -69,6 +70,7 @@ -0.0 -0.0 + origin @@ -134,6 +136,7 @@ -0.0 -0.0 + lastlink @@ -149,6 +152,7 @@ -0.0 -0.0 + origin @@ -214,6 +218,7 @@ -0.0 -0.0 + lastlink @@ -229,6 +234,7 @@ -0.0 -0.0 + origin @@ -294,6 +300,7 @@ -0.0 -0.0 + lastlink @@ -309,6 +316,7 @@ -0.0 -0.0 + origin @@ -411,6 +419,7 @@ -0.0 -0.0 + lastlink @@ -426,6 +435,7 @@ -0.0 -0.0 + origin @@ -491,6 +501,7 @@ -0.0 -0.0 + lastlink @@ -506,6 +517,7 @@ -0.0 -0.0 + origin @@ -608,6 +620,7 @@ -0.0 -0.0 + lastlink @@ -623,6 +636,7 @@ -0.0 -0.0 + origin @@ -708,6 +722,7 @@ -0.0 -0.0 + lastlink @@ -723,6 +738,7 @@ -0.0 -0.0 + origin @@ -867,6 +883,7 @@ -0.0 -0.0 + lastlink @@ -882,6 +899,7 @@ -0.0 -0.0 + origin @@ -947,6 +965,7 @@ -0.0 -0.0 + lastlink @@ -962,6 +981,7 @@ -0.0 -0.0 + origin @@ -1064,6 +1084,7 @@ -0.0 -0.0 + lastlink @@ -1079,6 +1100,7 @@ -0.0 -0.0 + origin @@ -1164,6 +1186,7 @@ -0.0 -0.0 + lastlink @@ -1179,6 +1202,7 @@ -0.0 -0.0 + origin @@ -1323,6 +1347,7 @@ -0.0 -0.0 + lastlink @@ -1338,6 +1363,7 @@ -0.0 -0.0 + origin @@ -1403,6 +1429,7 @@ -0.0 -0.0 + lastlink @@ -1418,6 +1445,7 @@ -0.0 -0.0 + origin @@ -1520,6 +1548,7 @@ -0.0 -0.0 + lastlink @@ -1535,6 +1564,7 @@ -0.0 -0.0 + origin @@ -1600,6 +1630,7 @@ -0.0 -0.0 + lastlink @@ -1615,6 +1646,7 @@ -0.0 -0.0 + origin From cb55defa4bda7c380d36f13c5b18adb2f42f281d Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 8 Apr 2024 21:21:03 -0400 Subject: [PATCH 410/482] default methods for getting vitamins of a given frame --- .../sdk/addons/kinematics/IVitaminHolder.java | 18 ++++++++++++++++++ .../sdk/addons/kinematics/VitaminFrame.java | 2 +- .../sdk/addons/kinematics/VitaminLocation.java | 2 +- 3 files changed, 20 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java index 3ecfde5c..79cb9d2c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java @@ -6,4 +6,22 @@ public interface IVitaminHolder { ArrayList getVitamins() ; void addVitamin(VitaminLocation location); void removeVitamin(VitaminLocation loc); + default ArrayList getVitamins(VitaminFrame frame){ + ArrayList copy = new ArrayList<>(); + for(VitaminLocation v:getVitamins()) { + if(v.getFrame()==frame) + copy.add(v); + } + + return copy; + } + default ArrayList getOriginVitamins(){ + return getVitamins(VitaminFrame.LinkOrigin); + } + default ArrayList getDefaultVitamins(){ + return getVitamins(VitaminFrame.DefaultFrame); + } + default ArrayList getPreviousLinkVitamins(){ + return getVitamins(VitaminFrame.previousLinkTip); + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminFrame.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminFrame.java index 3794aa0c..374ce31b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminFrame.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminFrame.java @@ -6,7 +6,7 @@ public enum VitaminFrame { // the place on the link where the previous one ends, where the shaft for the motor that turns it should be LinkOrigin("origin"), // The tip of the previous link. the place where the motor that turns a link would be mounted. if the first link this would be the limbs root - LastLinkTip("lastlink"); + previousLinkTip("lastlink"); private String text; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index 1d44257b..b0816567 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -52,7 +52,7 @@ public VitaminLocation(Element vitamins) { //use default } if(name.contentEquals("electroMechanical")) { - setFrame(VitaminFrame.LastLinkTip); + setFrame(VitaminFrame.previousLinkTip); } if(name.contentEquals("shaft")) { setFrame(VitaminFrame.LinkOrigin); From f3dc7de3ef8a8fbca1fcd4c58380cd641369e1a2 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 10 Apr 2024 06:42:38 -0400 Subject: [PATCH 411/482] fire the event from each vitamin added --- .../neuronrobotics/sdk/addons/kinematics/MobileBase.java | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 6cd950ce..f03833de 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -571,6 +571,11 @@ private void getVitamins(Element doc) { try { vitamins = VitaminLocation.getVitamins(doc); + for(VitaminLocation vl:vitamins) { + vl.addChangeListener(()->{ + fireConfigurationUpdate(); + }); + } return; } catch (Exception e) { e.printStackTrace(); @@ -603,6 +608,9 @@ public void addVitamin(VitaminLocation location) { if(vitamins.contains(location)) return; vitamins.add(location); + location.addChangeListener(()->{ + fireConfigurationUpdate(); + }); fireConfigurationUpdate(); } public void removeVitamin(VitaminLocation loc) { From 560aad308aa8f12c53cfc5ef6cb71691d1885335 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 14 Apr 2024 10:49:06 -0400 Subject: [PATCH 412/482] only force the default frame on the motor and shaft if it is not defined --- .../sdk/addons/kinematics/VitaminLocation.java | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index b0816567..aae66ae7 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -49,13 +49,12 @@ public VitaminLocation(Element vitamins) { try { setFrame(VitaminFrame.fromString( XmlFactory.getTagValue("frame", vitamins))); }catch(NullPointerException ex) { - //use default - } - if(name.contentEquals("electroMechanical")) { - setFrame(VitaminFrame.previousLinkTip); - } - if(name.contentEquals("shaft")) { - setFrame(VitaminFrame.LinkOrigin); + if(name.contentEquals("electroMechanical")) { + setFrame(VitaminFrame.previousLinkTip); + } + if(name.contentEquals("shaft")) { + setFrame(VitaminFrame.LinkOrigin); + } } } From f5117e14f19e03fdf4c3ef6e661e285c2cc336bb Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 18 Apr 2024 13:46:41 -0400 Subject: [PATCH 413/482] Remove the listeners from Gson load and unload and make a unit test for gson parsing --- build.gradle | 2 ++ .../addons/kinematics/VitaminLocation.java | 9 +++++- .../utilities/GsonVitaminLoad.java | 31 +++++++++++++++++++ 3 files changed, 41 insertions(+), 1 deletion(-) create mode 100644 test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java diff --git a/build.gradle b/build.gradle index 579d4581..9d609d8f 100644 --- a/build.gradle +++ b/build.gradle @@ -46,6 +46,8 @@ dependencies { //TODO change as many of these as possible to Maven repositories compile fileTree (dir: 'libs', includes: ['*.jar']) testCompile 'junit:junit:4.12' + compile 'com.google.code.gson:gson:2.5' + compile 'gov.nist.math:jama:1.0.2' compile 'com.miglayout:miglayout-swing:4.1' compile 'org.igniterealtime.smack:smack:3.2.1' diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index aae66ae7..f4b4a64a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -6,11 +6,13 @@ import org.w3c.dom.Node; import org.w3c.dom.NodeList; +import com.google.gson.annotations.Expose; import com.neuronrobotics.sdk.addons.kinematics.math.ITransformNRChangeListener; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; public class VitaminLocation implements ITransformNRChangeListener { + @Expose (serialize = false, deserialize = false) ArrayList listeners=new ArrayList<>(); private String name; @@ -19,7 +21,12 @@ public class VitaminLocation implements ITransformNRChangeListener { private TransformNR location=null; private VitaminFrame frame=VitaminFrame.DefaultFrame; - + public VitaminLocation() { + this.setName("NO NAME"); + this.setType("NO TYPE"); + this.setSize("NO SIZE"); + this.setLocation(new TransformNR()); + } public VitaminLocation(String name, String type, String size, TransformNR location) { this.setName(name); this.setType(type); diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java b/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java new file mode 100644 index 00000000..2e8c14cc --- /dev/null +++ b/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java @@ -0,0 +1,31 @@ +package junit.test.neuronrobotics.utilities; + +import static org.junit.Assert.*; + +import java.lang.reflect.Type; +import java.util.ArrayList; +import java.util.HashMap; + +import org.junit.Test; + +import com.google.gson.Gson; +import com.google.gson.GsonBuilder; +import com.google.gson.reflect.TypeToken; +import com.neuronrobotics.sdk.addons.kinematics.VitaminLocation; + +public class GsonVitaminLoad { + + @Test + public void test() { + Type type = new TypeToken() {}.getType(); + Gson gson = new GsonBuilder() + .excludeFieldsWithoutExposeAnnotation() + .disableHtmlEscaping() + .setPrettyPrinting() + .create(); + VitaminLocation src = new VitaminLocation(); + String content = gson.toJson(src); + System.out.println(content); + } + +} From 2ca90c3ef082bc0cdda37ed98f68251ff94a4836 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 19 Apr 2024 09:33:09 -0400 Subject: [PATCH 414/482] do not have a null constructor --- .../sdk/addons/kinematics/VitaminLocation.java | 12 ++++++------ .../neuronrobotics/utilities/GsonVitaminLoad.java | 3 ++- 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index f4b4a64a..821b054b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -21,12 +21,12 @@ public class VitaminLocation implements ITransformNRChangeListener { private TransformNR location=null; private VitaminFrame frame=VitaminFrame.DefaultFrame; - public VitaminLocation() { - this.setName("NO NAME"); - this.setType("NO TYPE"); - this.setSize("NO SIZE"); - this.setLocation(new TransformNR()); - } +// public VitaminLocation() { +// this.setName("NO NAME"); +// this.setType("NO TYPE"); +// this.setSize("NO SIZE"); +// this.setLocation(new TransformNR()); +// } public VitaminLocation(String name, String type, String size, TransformNR location) { this.setName(name); this.setType(type); diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java b/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java index 2e8c14cc..f7a90e24 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java @@ -12,6 +12,7 @@ import com.google.gson.GsonBuilder; import com.google.gson.reflect.TypeToken; import com.neuronrobotics.sdk.addons.kinematics.VitaminLocation; +import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; public class GsonVitaminLoad { @@ -23,7 +24,7 @@ public void test() { .disableHtmlEscaping() .setPrettyPrinting() .create(); - VitaminLocation src = new VitaminLocation(); + VitaminLocation src = new VitaminLocation("Tester", "hobbyServo","mg92b",new TransformNR()); String content = gson.toJson(src); System.out.println(content); } From e4eeee2edae9016b17679829135f7be02baf59ff Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 19 Apr 2024 09:53:06 -0400 Subject: [PATCH 415/482] Make sure add vitamin rejects duplicate names --- .../sdk/addons/kinematics/AbstractLink.java | 2 +- .../sdk/addons/kinematics/IVitaminHolder.java | 11 +++++++++-- .../sdk/addons/kinematics/LinkConfiguration.java | 2 +- .../sdk/addons/kinematics/MobileBase.java | 2 +- 4 files changed, 12 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 36d36c73..7e8c3b29 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -56,7 +56,7 @@ public VitaminLocation getElectroMechanicalVitamin() { public ArrayList getVitamins() { return conf.getVitamins(); } - public void addVitamin(VitaminLocation location) { + public void addVitaminInternal(VitaminLocation location) { conf.addVitamin(location); } public void removeVitamin(VitaminLocation loc) { diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java index 79cb9d2c..483c9a52 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java @@ -4,7 +4,15 @@ public interface IVitaminHolder { ArrayList getVitamins() ; - void addVitamin(VitaminLocation location); + default void addVitamin(VitaminLocation location) { + for(VitaminLocation v:getVitamins()) { + if(v.getName().contentEquals(location.getName())) { + new RuntimeException("Vitamin Name "+v.getName()+"already exists"); + } + } + addVitaminInternal( location); + } + void addVitaminInternal(VitaminLocation location); void removeVitamin(VitaminLocation loc); default ArrayList getVitamins(VitaminFrame frame){ ArrayList copy = new ArrayList<>(); @@ -12,7 +20,6 @@ default ArrayList getVitamins(VitaminFrame frame){ if(v.getFrame()==frame) copy.add(v); } - return copy; } default ArrayList getOriginVitamins(){ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 0ee853db..c06d386c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -308,7 +308,7 @@ public void setVitamin(VitaminLocation location) { * @param type the vitamin type, this maps the the json filename * @param id the part ID, theis maps to the key in the json for the vitamin */ - public void addVitamin(VitaminLocation location) { + public void addVitaminInternal(VitaminLocation location) { if(vitamins.contains(location)) return; vitamins.add(location); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index f03833de..cd7977b7 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -604,7 +604,7 @@ public void setVitamin(VitaminLocation location) { * @param type the vitamin type, this maps the the json filename * @param id the part ID, theis maps to the key in the json for the vitamin */ - public void addVitamin(VitaminLocation location) { + public void addVitaminInternal(VitaminLocation location) { if(vitamins.contains(location)) return; vitamins.add(location); From 8667f9814bf86266018c9b3136b9fa36d44328cc Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 19 Apr 2024 10:00:57 -0400 Subject: [PATCH 416/482] Adding a tostring for all devices --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 4 ++++ .../sdk/addons/kinematics/AbstractLink.java | 4 ++++ .../sdk/addons/kinematics/VitaminLocation.java | 9 ++++++++- 3 files changed, 16 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index ed6bfb2c..7314a699 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -1731,4 +1731,8 @@ public void setTimeProvider(ITimeProvider t) { l.setTimeProvider(getTimeProvider()); } } + @Override + public String toString() { + return "Bowler Device "+getScriptingName(); + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 7e8c3b29..95fdf2c1 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -720,4 +720,8 @@ public void setTimeProvider(ITimeProvider t) { super.setTimeProvider(t); imu.setTimeProvider(getTimeProvider()); } + @Override + public String toString() { + return "Bowler Link "+getLinkConfiguration().getDeviceScriptingName()+" "+getLinkConfiguration().getLinkIndex(); + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index 821b054b..c19aa78f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -33,7 +33,14 @@ public VitaminLocation(String name, String type, String size, TransformNR locati this.setSize(size); this.setLocation(location); } - + public VitaminLocation(String name, String type, String size, TransformNR location,IVitaminHolder h) { + this(name,type,size,location); + try { + h.addVitamin(this); + }catch(Throwable t){ + System.out.println("Vitamin "+name+" exists in "+h); + } + } public VitaminLocation(Element vitamins) { setName(XmlFactory.getTagValue("name", vitamins)); setType(XmlFactory.getTagValue("type", vitamins)); From b4b4cd008dd4fa92c02252fd4b13f782346bbac4 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 24 Apr 2024 12:33:15 -0400 Subject: [PATCH 417/482] updating the defaults for servos and shafts --- .../sdk/addons/kinematics/LinkConfiguration.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index c06d386c..35e3e239 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -963,6 +963,7 @@ public VitaminLocation getShaftVitamin() { if(loc.getName().contentEquals("shaft")) return loc; VitaminLocation e = new VitaminLocation("shaft", "hobbyServoHorn", "standardMicro1", new TransformNR()); + e.setFrame(VitaminFrame.LinkOrigin); vitamins.add(e); return e; } @@ -971,7 +972,8 @@ public VitaminLocation getElectroMechanicalVitamin() { for(VitaminLocation loc:vitamins) if(loc.getName().contentEquals("electroMechanical")) return loc; - VitaminLocation e = new VitaminLocation("electroMechanical", "hobbyServoHorn", "mg92b", new TransformNR()); + VitaminLocation e = new VitaminLocation("electroMechanical", "hobbyServo", "mg92b", new TransformNR()); + e.setFrame(VitaminFrame.previousLinkTip); vitamins.add(e); return e; } From bbb7af0766662dc89897db8e260a87ec92c65a3c Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 24 Apr 2024 12:43:16 -0400 Subject: [PATCH 418/482] force loading of default vitamins --- .../sdk/addons/kinematics/DHParameterKinematics.java | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index dc39b327..1158b43b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -87,6 +87,10 @@ public void onConnect(BowlerAbstractDevice source) { } }); + for(int i=0;i Date: Wed, 24 Apr 2024 13:30:54 -0400 Subject: [PATCH 419/482] change the way vitamin defaults are loaded --- .../kinematics/DHParameterKinematics.java | 13 ++- .../addons/kinematics/LinkConfiguration.java | 105 ++++++++++-------- 2 files changed, 66 insertions(+), 52 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 1158b43b..15d00d7d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -87,10 +87,7 @@ public void onConnect(BowlerAbstractDevice source) { } }); - for(int i=0;i listeners = null; - private boolean pauseEvents=false; + private boolean pauseEvents = false; /** The name. */ private String name = "newLink";// = getTagValue("name",eElement); @@ -100,7 +100,7 @@ public class LinkConfiguration implements ITransformNRChangeListener,IVitaminHol private HashMap vitaminVariant = new HashMap(); private boolean passive = false; private boolean newAbs = false; - private Runnable changeListener = ()->{ + private Runnable changeListener = () -> { fireChangeEvent(); }; @@ -278,7 +278,7 @@ public LinkConfiguration(Object[] args) { protected void getVitamins(Element doc) { try { - vitamins=VitaminLocation.getVitamins(doc); + vitamins = VitaminLocation.getVitamins(doc); return; } catch (Exception e) { e.printStackTrace(); @@ -286,7 +286,6 @@ protected void getVitamins(Element doc) { return; } - /** * Add a vitamin to this link * @@ -298,8 +297,9 @@ protected void getVitamins(Element doc) { @Deprecated public void setVitamin(VitaminLocation location) { addVitamin(location); - + } + /** * Add a vitamin to this link * @@ -309,14 +309,15 @@ public void setVitamin(VitaminLocation location) { * @param id the part ID, theis maps to the key in the json for the vitamin */ public void addVitaminInternal(VitaminLocation location) { - if(vitamins.contains(location)) + if (vitamins.contains(location)) return; vitamins.add(location); location.addChangeListener(changeListener); fireChangeEvent(); } + public void removeVitamin(VitaminLocation loc) { - if(vitamins.contains(loc)) + if (vitamins.contains(loc)) vitamins.remove(loc); loc.removeChangeListener(changeListener); fireChangeEvent(); @@ -353,13 +354,13 @@ public LinkConfiguration() { public LinkConfiguration(LinkConfiguration from) { setDeviceScriptingName(from.getDeviceScriptingName()); - for(int i=0;i\n"; } - String vitamnsString = VitaminLocation.getAllXML(vitamins); - return "\t" + getName() + "\n" + "\t" + - DevStr + "\t" + getTypeString() + "\n"+ - "\t" + getHardwareIndex() + "\n" + - "\t" + getScale() + "\n" - + "\t" + getUpperLimit() + "\n" + - "\t" + getLowerLimit()+ "\n" + - "\t" + getUpperVelocity() + "\n"+ - "\t" + getLowerVelocity() + "\n" + - "\t" + return "\t" + getName() + "\n" + "\t" + DevStr + "\t" + getTypeString() + "\n" + + "\t" + getHardwareIndex() + "\n" + "\t" + getScale() + "\n" + + "\t" + getUpperLimit() + "\n" + "\t" + getLowerLimit() + + "\n" + "\t" + getUpperVelocity() + "\n" + + "\t" + getLowerVelocity() + "\n" + "\t" + getStaticOffset() + "\n" + "\t" + getDeviceTheoreticalMax() + "\n" + "\t" + getDeviceTheoreticalMin() + "\n" + "\t" + isLatch() + "\n" + "\t" + getIndexLatch() + "\n" + "\t" + isStopOnLatch() + "\n" - + "\t" + getHomingTicksPerSecond() + "\n" + vitamnsString+ "\t" + isPassive() + "\n" + "\t" + getMassKg() - + "\n" + "\t" + getCenterOfMassFromCentroid().getXml() - + "\n" + "\t" + getimuFromCentroid().getXml() - + "\n" + slaves; + + "\t" + getHomingTicksPerSecond() + "\n" + vitamnsString + "\t" + + isPassive() + "\n" + "\t" + getMassKg() + "\n" + "\t" + + getCenterOfMassFromCentroid().getXml() + "\n" + "\t" + + getimuFromCentroid().getXml() + "\n" + slaves; } /** @@ -947,35 +943,51 @@ public void setimuFromCentroid(TransformNR imu) { this.imuFromCentroid.addChangeListener(this); fireChangeEvent(); } + // private String electroMechanicalType = "hobbyServo"; // private String electroMechanicalSize = "standardMicro"; // private String shaftType = "hobbyServoHorn"; // private String shaftSize = "standardMicro1"; - public ArrayListgetNonActuatorVitamins() { + public ArrayList getNonActuatorVitamins() { ArrayList back = new ArrayList<>(); back.addAll(vitamins); back.remove(getShaftVitamin()); back.remove(getElectroMechanicalVitamin()); return back; } - public VitaminLocation getShaftVitamin() { - for(VitaminLocation loc:vitamins) - if(loc.getName().contentEquals("shaft")) + + public VitaminLocation getShaftVitamin(boolean makeNew) { + for (VitaminLocation loc : vitamins) + if (loc.getName().contentEquals("shaft")) return loc; - VitaminLocation e = new VitaminLocation("shaft", "hobbyServoHorn", "standardMicro1", new TransformNR()); - e.setFrame(VitaminFrame.LinkOrigin); - vitamins.add(e); - return e; + if (makeNew) { + VitaminLocation e = new VitaminLocation("shaft", "hobbyServoHorn", "standardMicro1", new TransformNR()); + e.setFrame(VitaminFrame.LinkOrigin); + vitamins.add(e); + return e; + } + return null; } - public VitaminLocation getElectroMechanicalVitamin() { - for(VitaminLocation loc:vitamins) - if(loc.getName().contentEquals("electroMechanical")) + public VitaminLocation getElectroMechanicalVitamin(boolean makeNew) { + for (VitaminLocation loc : vitamins) + if (loc.getName().contentEquals("electroMechanical")) return loc; - VitaminLocation e = new VitaminLocation("electroMechanical", "hobbyServo", "mg92b", new TransformNR()); - e.setFrame(VitaminFrame.previousLinkTip); - vitamins.add(e); - return e; + if (makeNew) { + VitaminLocation e = new VitaminLocation("electroMechanical", "hobbyServo", "mg92b", new TransformNR()); + e.setFrame(VitaminFrame.previousLinkTip); + vitamins.add(e); + return e; + } + return null; + } + + public VitaminLocation getShaftVitamin() { + return getShaftVitamin(false); + } + + public VitaminLocation getElectroMechanicalVitamin() { + return getElectroMechanicalVitamin(false); } public String getElectroMechanicalType() { @@ -1001,7 +1013,8 @@ public String getShaftType() { } public void setShaftType(String shaftType) { - getShaftVitamin().setType(shaftType);; + getShaftVitamin().setType(shaftType); + ; fireChangeEvent(); } @@ -1023,16 +1036,16 @@ public void setPassive(boolean passive) { fireChangeEvent(); } - public ArrayListgetVitamins() { + public ArrayList getVitamins() { return vitamins; } public void setVitamins(ArrayList v) { - if(vitamins!=null) - for(VitaminLocation l:vitamins) + if (vitamins != null) + for (VitaminLocation l : vitamins) l.removeChangeListener(changeListener); this.vitamins = v; - for(VitaminLocation l:vitamins) + for (VitaminLocation l : vitamins) l.addChangeListener(changeListener); fireChangeEvent(); } @@ -1132,7 +1145,7 @@ public ArrayList getListeners() { } void fireChangeEvent() { - if(pauseEvents) + if (pauseEvents) return; if (listeners != null) { for (int i = 0; i < listeners.size(); i++) { From 1d8f5e417fc6adad3f09e8a6941c4d3d5bebeb67 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 2 May 2024 12:10:42 -0400 Subject: [PATCH 420/482] add comments --- .../com/neuronrobotics/sdk/addons/kinematics/MobileBase.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index cd7977b7..eee4597b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -902,7 +902,8 @@ public void setGitWalkingEngine(String[] walkingEngine) { /** * Gets the self source. - * + * index 0 is GIT url + * index 1 is filename * @return the self source */ public String[] getGitSelfSource() { From f02816a3ffb9cf8a8c3669c29421cdfcf44fb9ca Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 5 May 2024 13:44:48 -0400 Subject: [PATCH 421/482] set time based on the best time --- .../sdk/addons/kinematics/AbstractKinematicsNR.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 7314a699..8e88e252 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -729,7 +729,9 @@ private double[] _setDesiredJointSpaceVector(double[] jointSpaceVect, double se throw new IndexOutOfBoundsException("Vector must be " + getNumberOfLinks() + " links, actual number of links = " + jointSpaceVect.length); } - + double best = getBestTime(jointSpaceVect); + if(seconds Date: Mon, 6 May 2024 12:54:51 -0400 Subject: [PATCH 422/482] frame can not be null --- .../sdk/addons/kinematics/VitaminLocation.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index c19aa78f..30053908 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -224,6 +224,8 @@ public void event(TransformNR changed) { * @return the frame */ public VitaminFrame getFrame() { + if(frame==null) + return VitaminFrame.DefaultFrame; return frame; } @@ -237,7 +239,8 @@ public VitaminFrame getFrame() { * @param frame the frame to set */ public void setFrame(VitaminFrame frame) { - + if(frame==null) + throw new NullPointerException("Frame can not be null"); this.frame = frame; fireChangeEvent(); From f34bf8c832bd7c0dac25772b5c7287851e187d0c Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 9 Jul 2024 15:42:53 -0400 Subject: [PATCH 423/482] less dramatic euler fix --- .../neuronrobotics/sdk/addons/kinematics/math/RotationNR.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 8de27039..8b698fc1 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -372,9 +372,9 @@ private double getAngle(int index){ return getStorage().getAngles(getOrder(), getConvention())[index]; } catch (CardanEulerSingularityException e) { try { - return eulerFix( Math.toRadians(5), index); + return eulerFix( Math.toRadians(0.001), index); } catch (CardanEulerSingularityException ex) { - return eulerFix( Math.toRadians(-5), index); + return eulerFix( Math.toRadians(-0.001), index); } } From bf8208affa835e1b4a8c36693a3d5760f61cbab8 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 10 Jul 2024 10:48:48 -0400 Subject: [PATCH 424/482] Adding a field to the XML, and to the test for that field --- .../addons/kinematics/VitaminLocation.java | 16 +++++++++- .../kinematics/xml/NASASuspensionTest.xml | 32 +++++++++++++++++++ 2 files changed, 47 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index 30053908..eed6d242 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -19,6 +19,7 @@ public class VitaminLocation implements ITransformNRChangeListener { private String type; private String size; private TransformNR location=null; + private boolean isScript =false; private VitaminFrame frame=VitaminFrame.DefaultFrame; // public VitaminLocation() { @@ -45,7 +46,12 @@ public VitaminLocation(Element vitamins) { setName(XmlFactory.getTagValue("name", vitamins)); setType(XmlFactory.getTagValue("type", vitamins)); setSize(XmlFactory.getTagValue("id", vitamins)); - + String scriptyness=XmlFactory.getTagValue("id", vitamins); + if(scriptyness==null) { + isScript=false; + }else{ + setScript(Boolean.parseBoolean(scriptyness)); + } NodeList nodListofLinks = vitamins.getChildNodes(); TransformNR tf=null; for (int i = 0; i < nodListofLinks.getLength(); i++) { @@ -101,6 +107,7 @@ public String getXML() { "\t\t\t"+size+"\n"+ "\t\t\t"+location.getXml()+"\t\t\t\n"+ "\t\t\t"+getFrame().getText()+"\n"+ + "\t\t\t\n"+ "\t\t\n" ; } @@ -245,5 +252,12 @@ public void setFrame(VitaminFrame frame) { fireChangeEvent(); } + public boolean isScript() { + return isScript; + } + public void setScript(boolean isScript) { + this.isScript = isScript; + fireChangeEvent(); + } } diff --git a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml index 097ad488..4224c98e 100644 --- a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml +++ b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml @@ -55,6 +55,7 @@ -0.0 lastlink + @@ -71,6 +72,7 @@ -0.0 origin + @@ -137,6 +139,7 @@ -0.0 lastlink + @@ -153,6 +156,7 @@ -0.0 origin + @@ -219,6 +223,7 @@ -0.0 lastlink + @@ -235,6 +240,7 @@ -0.0 origin + @@ -301,6 +307,7 @@ -0.0 lastlink + @@ -317,6 +324,7 @@ -0.0 origin + @@ -420,6 +428,7 @@ -0.0 lastlink + @@ -436,6 +445,7 @@ -0.0 origin + @@ -502,6 +512,7 @@ -0.0 lastlink + @@ -518,6 +529,7 @@ -0.0 origin + @@ -621,6 +633,7 @@ -0.0 lastlink + @@ -637,6 +650,7 @@ -0.0 origin + @@ -723,6 +737,7 @@ -0.0 lastlink + @@ -739,6 +754,7 @@ -0.0 origin + @@ -884,6 +900,7 @@ -0.0 lastlink + @@ -900,6 +917,7 @@ -0.0 origin + @@ -966,6 +984,7 @@ -0.0 lastlink + @@ -982,6 +1001,7 @@ -0.0 origin + @@ -1085,6 +1105,7 @@ -0.0 lastlink + @@ -1101,6 +1122,7 @@ -0.0 origin + @@ -1187,6 +1209,7 @@ -0.0 lastlink + @@ -1203,6 +1226,7 @@ -0.0 origin + @@ -1348,6 +1372,7 @@ -0.0 lastlink + @@ -1364,6 +1389,7 @@ -0.0 origin + @@ -1430,6 +1456,7 @@ -0.0 lastlink + @@ -1446,6 +1473,7 @@ -0.0 origin + @@ -1549,6 +1577,7 @@ -0.0 lastlink + @@ -1565,6 +1594,7 @@ -0.0 origin + @@ -1631,6 +1661,7 @@ -0.0 lastlink + @@ -1647,6 +1678,7 @@ -0.0 origin + From c147d6b2d9f808a2e50c1d2cc0518d5a5b938cf5 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 10 Jul 2024 13:29:49 -0400 Subject: [PATCH 425/482] ensure all values are set when instantiating a vitamin --- .../sdk/addons/kinematics/LinkConfiguration.java | 4 ++-- .../sdk/addons/kinematics/VitaminLocation.java | 7 ++++--- .../addons/kinematics/xml/NASASuspensionTest.xml | 16 ++++++++++++++++ .../utilities/GsonVitaminLoad.java | 2 +- 4 files changed, 23 insertions(+), 6 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index b5ccfd63..0ccba290 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -961,7 +961,7 @@ public VitaminLocation getShaftVitamin(boolean makeNew) { if (loc.getName().contentEquals("shaft")) return loc; if (makeNew) { - VitaminLocation e = new VitaminLocation("shaft", "hobbyServoHorn", "standardMicro1", new TransformNR()); + VitaminLocation e = new VitaminLocation(false,"shaft", "hobbyServoHorn", "standardMicro1", new TransformNR()); e.setFrame(VitaminFrame.LinkOrigin); vitamins.add(e); return e; @@ -974,7 +974,7 @@ public VitaminLocation getElectroMechanicalVitamin(boolean makeNew) { if (loc.getName().contentEquals("electroMechanical")) return loc; if (makeNew) { - VitaminLocation e = new VitaminLocation("electroMechanical", "hobbyServo", "mg92b", new TransformNR()); + VitaminLocation e = new VitaminLocation(false,"electroMechanical", "hobbyServo", "mg92b", new TransformNR()); e.setFrame(VitaminFrame.previousLinkTip); vitamins.add(e); return e; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index eed6d242..20385baf 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -28,14 +28,15 @@ public class VitaminLocation implements ITransformNRChangeListener { // this.setSize("NO SIZE"); // this.setLocation(new TransformNR()); // } - public VitaminLocation(String name, String type, String size, TransformNR location) { + public VitaminLocation(boolean isScript,String name, String type, String size, TransformNR location) { this.setName(name); this.setType(type); this.setSize(size); this.setLocation(location); + setScript(isScript); } - public VitaminLocation(String name, String type, String size, TransformNR location,IVitaminHolder h) { - this(name,type,size,location); + public VitaminLocation(boolean isScript,String name, String type, String size, TransformNR location,IVitaminHolder h) { + this(isScript,name,type,size,location); try { h.addVitamin(this); }catch(Throwable t){ diff --git a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml index 4224c98e..9107e33b 100644 --- a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml +++ b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml @@ -1783,6 +1783,22 @@ + + script + https://github.com/madhephaestus/TestRepo.git + myFile.groovy + + 13.0 + -18.0 + 0.0 + 1.0 + -0.0 + -0.0 + -0.0 + + default + + diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java b/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java index f7a90e24..2b280f4f 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java @@ -24,7 +24,7 @@ public void test() { .disableHtmlEscaping() .setPrettyPrinting() .create(); - VitaminLocation src = new VitaminLocation("Tester", "hobbyServo","mg92b",new TransformNR()); + VitaminLocation src = new VitaminLocation(false,"Tester", "hobbyServo","mg92b",new TransformNR()); String content = gson.toJson(src); System.out.println(content); } From f35e1fa437b56f1a81b82363c91a553ebf1ceae2 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Wed, 10 Jul 2024 13:34:35 -0400 Subject: [PATCH 426/482] Fix the typo in the access to the script boolean id --- .../neuronrobotics/sdk/addons/kinematics/VitaminLocation.java | 2 +- .../sdk/addons/kinematics/xml/NASASuspensionTest.xml | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index 20385baf..f5db6c91 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -47,7 +47,7 @@ public VitaminLocation(Element vitamins) { setName(XmlFactory.getTagValue("name", vitamins)); setType(XmlFactory.getTagValue("type", vitamins)); setSize(XmlFactory.getTagValue("id", vitamins)); - String scriptyness=XmlFactory.getTagValue("id", vitamins); + String scriptyness=XmlFactory.getTagValue("script", vitamins); if(scriptyness==null) { isScript=false; }else{ diff --git a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml index 9107e33b..538678ee 100644 --- a/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml +++ b/src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml @@ -1799,6 +1799,7 @@ default + From 44bae57aca3358127ea721b7c2704a80c3b323f6 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 11 Jul 2024 15:48:56 -0400 Subject: [PATCH 427/482] Allow foe no script tags --- .../sdk/addons/kinematics/VitaminLocation.java | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index f5db6c91..e4475982 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -47,7 +47,10 @@ public VitaminLocation(Element vitamins) { setName(XmlFactory.getTagValue("name", vitamins)); setType(XmlFactory.getTagValue("type", vitamins)); setSize(XmlFactory.getTagValue("id", vitamins)); - String scriptyness=XmlFactory.getTagValue("script", vitamins); + String scriptyness=null; + try { + scriptyness=XmlFactory.getTagValue("script", vitamins); + }catch(Exception ex) {}//ignore if(scriptyness==null) { isScript=false; }else{ From 1379b93c00f79095c01d8d26f943f2ed0a9f1cc0 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 15 Jul 2024 14:09:48 -0400 Subject: [PATCH 428/482] compatibilit --- build.gradle | 33 +++++++++++++++++++-------------- 1 file changed, 19 insertions(+), 14 deletions(-) diff --git a/build.gradle b/build.gradle index 9d609d8f..f7dad150 100644 --- a/build.gradle +++ b/build.gradle @@ -1,6 +1,9 @@ apply plugin: 'java' apply plugin: 'eclipse' -apply plugin: 'maven' +if (project == rootProject) { + apply plugin: 'maven' +} +apply plugin: 'java-library' apply plugin: 'signing' [compileJava, compileTestJava]*.options*.encoding = 'UTF-8' @@ -31,7 +34,7 @@ manifest { ) } - +if (project == rootProject) jar.archiveName = "nrsdk-"+props."app.version"+"-jar-with-dependencies.jar" //apply from: 'http://gradle-plugins.mihosoft.eu/latest/vlicenseheader.gradle' @@ -44,23 +47,23 @@ repositories { dependencies { //TODO change as many of these as possible to Maven repositories - compile fileTree (dir: 'libs', includes: ['*.jar']) - testCompile 'junit:junit:4.12' - compile 'com.google.code.gson:gson:2.5' + api fileTree (dir: 'libs', includes: ['*.jar']) + testImplementation 'junit:junit:4.12' + implementation 'com.google.code.gson:gson:2.5' - compile 'gov.nist.math:jama:1.0.2' - compile 'com.miglayout:miglayout-swing:4.1' - compile 'org.igniterealtime.smack:smack:3.2.1' + api 'gov.nist.math:jama:1.0.2' + implementation 'com.miglayout:miglayout-swing:4.1' + implementation 'org.igniterealtime.smack:smack:3.2.1' - compile 'org.igniterealtime.smack:smackx:3.2.1' - compile 'org.apache.commons:commons-lang3:3.2.1' - compile 'org.usb4java:usb4java:1.2.0' - compile 'org.usb4java:usb4java-javax:1.2.0' + implementation 'org.igniterealtime.smack:smackx:3.2.1' + implementation 'org.apache.commons:commons-lang3:3.2.1' + api 'org.usb4java:usb4java:1.2.0' + api 'org.usb4java:usb4java-javax:1.2.0' //compile fileTree (dir: '../doychinNRJAVASERISL/nrjavaserial/build/libs', includes: ['*.jar']) - compile "com.neuronrobotics:nrjavaserial:5.1.1" + api "com.neuronrobotics:nrjavaserial:5.1.1" // https://mvnrepository.com/artifact/org.apache.commons/commons-math3 - compile group: 'org.apache.commons', name: 'commons-math3', version: '3.6.1' + api group: 'org.apache.commons', name: 'commons-math3', version: '3.6.1' @@ -75,11 +78,13 @@ archivesBaseName = "java-bowler" version = props."app.version" task javadocJar(type: Jar) { + if (project == rootProject) classifier = 'javadoc' from javadoc } task sourcesJar(type: Jar) { + if (project == rootProject) classifier = 'sources' from sourceSets.main.allSource } From 5862915551adec65bb3a11603e1a87bbe892688a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 16 Jul 2024 18:07:37 -0400 Subject: [PATCH 429/482] replace jars with gradle imports --- build.gradle | 4 +++- libs/bluecove-2.1.1.jar | Bin 663800 -> 0 bytes libs/bluecove-gpl-2.1.1.jar | Bin 66195 -> 0 bytes 3 files changed, 3 insertions(+), 1 deletion(-) delete mode 100644 libs/bluecove-2.1.1.jar delete mode 100644 libs/bluecove-gpl-2.1.1.jar diff --git a/build.gradle b/build.gradle index f7dad150..36b4a277 100644 --- a/build.gradle +++ b/build.gradle @@ -64,7 +64,9 @@ dependencies { api "com.neuronrobotics:nrjavaserial:5.1.1" // https://mvnrepository.com/artifact/org.apache.commons/commons-math3 api group: 'org.apache.commons', name: 'commons-math3', version: '3.6.1' - + // https://mvnrepository.com/artifact/net.sf.bluecove/bluecove-gpl + api group: 'net.sf.bluecove', name: 'bluecove-gpl', version: '2.1.0' + api group: 'io.ultreia', name: 'bluecove', version: '2.1.1' } diff --git a/libs/bluecove-2.1.1.jar b/libs/bluecove-2.1.1.jar deleted file mode 100644 index ce9ca6c56013633565f7028e5b791e262c96816a..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 663800 zcma&N1CVU%vaa2>ZQGjNJ=?Zz+s16$wr$(CZQHj0wQrn#{uBG$z4on$sxd0!dA}Ty zZ{`9lNK?K+j8({KnS`?+rzyFkcQEtoWiv*)ezMbv9jf4r1_;N zm5MOf?G<3=HjJw9(Vds)RH8T2gj}=H$gfVDoPMu

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zud>LK!Ys!HZ)T6ko-z;6DohD;{ktN{S;p_NVJSM7aF>SKpPdRDFwNf7UM^cOt(nO5=#d5?A6Z?rAbW z5lI=fZ-KHl#5W>uxoaLe6g~}nlE5$pqz=ld1g5!HQ7qdOC@H7sanr)bLAM1omsY5_-YZx<_9M|Fp1maI^d)I{2UM{^I(F zozH)=`y()Lb98jG`8NdQ|KPfPAka6X2Lrf5^-J9o$l>uaA`) z28K`_28QKNWaxKs;F{_G8vMV9{<|>vpXkMbTEYKo=zo_9|2y};Ya##TU?B8=?LhhO z%E*8B@^?Mozr0w6|F6B!{!`ue@8Eyeru+;1KIT95i+?Ir{$>APZ@xdG?SE{4^h}GZ zf4htRjJ^Nr)_=cq|A@Z-GEVrf#(xij|8GqGh{pc{oBn@;{n2&*(Bu4PZ2l+B|2{hZ z6T3K&==#63@$WSM6Y@V}^}ne9_mAVh9E1b^{~i4Ga8^}7K>Py>2l`@!Dne_3{wVz) DKK@GV From 12d9d0e5883a6da53da867691e1676d6f08e6a94 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 16 Jul 2024 18:10:52 -0400 Subject: [PATCH 430/482] replace jar with gradle import --- build.gradle | 4 +++- libs/motej.0.9.jar | Bin 130711 -> 0 bytes 2 files changed, 3 insertions(+), 1 deletion(-) delete mode 100644 libs/motej.0.9.jar diff --git a/build.gradle b/build.gradle index 36b4a277..1f7d74e7 100644 --- a/build.gradle +++ b/build.gradle @@ -67,7 +67,9 @@ dependencies { // https://mvnrepository.com/artifact/net.sf.bluecove/bluecove-gpl api group: 'net.sf.bluecove', name: 'bluecove-gpl', version: '2.1.0' api group: 'io.ultreia', name: 'bluecove', version: '2.1.1' - + // https://mvnrepository.com/artifact/motej/motej + api group: 'motej', name: 'motej', version: '0.9-2008.02.05-patched', ext: 'pom' + } diff --git a/libs/motej.0.9.jar b/libs/motej.0.9.jar deleted file mode 100644 index dff6a3d289f22d20538fca2bf049081579fc16f6..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 130711 zcmaI7b8u(fx-Fbe$4-8+Z9D1Mwr$(CJGO1x=-9Sx+sWzJQ1_A++7FOb?5tk96ljfHZ7ZFxeqLmi;8Uq5l zm!24xlBA)Xg_WeCoSK+!P@rF6+Bw`i1O}3m1c#{i1-`=i`zwsUL+;-jxcy%n;QU>+ zwskVLpyM}ibaK!)bP{%RGPZFvx3!@)w9ElEADyC6F1m!Q&lYR(^7t0s* zMPf)#&BevnYHdx7Ld_#FX7FI?_KVpWZ6E`{bNOBGVWB%~grV*0A7|M5bf;~4e|up4 zSP|F?5~=m*j?cQ|x6B3JEiKR_>GD7KB!v-ZC$bT0qv{;LbFU!6F(#A|i_-LwguK;W zc3kA)r>kaz7|PpDhCE3X?;AjNRnnHthV`VuSP-tDf=nyF4zm#iu^A!b7u0V1DbW2k 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zFmyJABN`LQD+#dfh0qLM=&i7uddETVg$kKomg@vUS%H$HfD%ds?5ZDhK?jxlzpZLG zlAV*NmM;JlFkCt^)w!;J0u8=+y$vI?sGz(c#{-~8QCbGjz+W9B9O**G9c$A8YXH1d z;QjsN8Nr6Z7p`7dN&%w6kaYxTHBK~!=0T>M|4fkW>_7xgQxiBss^FVCf;l|GJphL8 z4NXnqL*WbiWtU>E5OBA^d--?H!KVjcyZ3NKA6vqL58lt>+y?`91e;?5hnfEZ|B7gQ zY`xFX#q`z*v2p*GdMF0!ud__Y7FQ2$HbMnkJDSqr$g9x%R{?jAr*t^v6ztH! zNBM_?FhUzdHLv6R6Qa2ug&qz>2VFe5pf~-eIu8{Oq(c8|G{>VU9S+t7y+ZjT;N+Bk zbv$rO{%~v)=yMmsLH|P^I>>$E&M@q;&*2~v(!ccwe6o)GEBp}y4HYisXmK5OzYm?L zVa)$mqKBhZ98L7FcWe=;oF>Qp|0D{#To1d;h2AA_O8%?V;B@$hz0X4LIlfE(t2E$u z(}x|QLT}$pKZcdeuT7j^_U6F69KVZyw1N)%h=bPjhD>VTG z@CW&UUuK70C_$SZ*Mh%F?2ogJ!>)*+vsDe^zW;0F4%vrawR5c04pM@jt;23-Al{9B zKO-gZ68r6H=IH(Tqe^ht2MKh$xl#7tQuwo?9riK-xs&kwDSZJi4LH6{j%MSq!vUV( zeDI00>OUs&=X@N#1rL2JBcujaBL7=n`@IMT$GRN8Qx1KiP_OPk(%~!9;p@w9niY7*#4jS@XO`!$#>``u-ow;k~q>4|0!vR From abda742229190195c4883f68051b8db48a9d11f9 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 16 Jul 2024 18:17:56 -0400 Subject: [PATCH 431/482] adding repo for the new dep --- build.gradle | 3 +++ 1 file changed, 3 insertions(+) diff --git a/build.gradle b/build.gradle index 1f7d74e7..0677fc00 100644 --- a/build.gradle +++ b/build.gradle @@ -43,6 +43,9 @@ jar.archiveName = "nrsdk-"+props."app.version"+"-jar-with-dependencies.jar" repositories { mavenCentral() + maven { + url "https://repository.ow2.org/nexus/content/repositories/public/" + } } dependencies { From 86182bbcb4e07f1005f2d03e0278c249625692b9 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 16 Jul 2024 18:23:36 -0400 Subject: [PATCH 432/482] remove unused dep --- build.gradle | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/build.gradle b/build.gradle index 0677fc00..a49e271e 100644 --- a/build.gradle +++ b/build.gradle @@ -43,9 +43,9 @@ jar.archiveName = "nrsdk-"+props."app.version"+"-jar-with-dependencies.jar" repositories { mavenCentral() - maven { - url "https://repository.ow2.org/nexus/content/repositories/public/" - } +// maven { +// url "https://repository.ow2.org/nexus/content/repositories/public/" +// } } dependencies { @@ -71,7 +71,7 @@ dependencies { api group: 'net.sf.bluecove', name: 'bluecove-gpl', version: '2.1.0' api group: 'io.ultreia', name: 'bluecove', version: '2.1.1' // https://mvnrepository.com/artifact/motej/motej - api group: 'motej', name: 'motej', version: '0.9-2008.02.05-patched', ext: 'pom' + //api group: 'motej', name: 'motej', version: '0.9-2008.02.05-patched', ext: 'pom' } From f0c79d2083d993f5721d608b295e813ab5098c3f Mon Sep 17 00:00:00 2001 From: Kevin harrington Date: Fri, 19 Jul 2024 13:48:05 -0400 Subject: [PATCH 433/482] Adding the Depricated API back in to maintain compatibility with scripts. --- .../sdk/addons/kinematics/VitaminLocation.java | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index e4475982..7168c57f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -28,6 +28,16 @@ public class VitaminLocation implements ITransformNRChangeListener { // this.setSize("NO SIZE"); // this.setLocation(new TransformNR()); // } + @Deprecated + public VitaminLocation(String name, String type, String size, TransformNR location) { + this(false,name,type,size,location); + new RuntimeException("@Deprecated, please specifiy if this is a script, assuming it is not for now").printStackTrace(); + } + @Deprecated + public VitaminLocation(String name, String type, String size, TransformNR location,IVitaminHolder h) { + this(false,name,type,size,location,h); + new RuntimeException("@Deprecated, please specifiy if this is a script, assuming it is not for now").printStackTrace(); + } public VitaminLocation(boolean isScript,String name, String type, String size, TransformNR location) { this.setName(name); this.setType(type); From b30018f94c91ac52da0927910917e46b7a47a596 Mon Sep 17 00:00:00 2001 From: Kevin harrington Date: Thu, 25 Jul 2024 01:01:44 -0400 Subject: [PATCH 434/482] changing the storage type to be more compatible with json encoding --- .../addons/kinematics/math/RotationNR.java | 29 ++++++++++++++----- .../addons/kinematics/math/TransformNR.java | 7 +++++ 2 files changed, 28 insertions(+), 8 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 8b698fc1..85f34bd8 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -7,6 +7,7 @@ import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention; import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder; +import com.google.gson.annotations.Expose; import com.neuronrobotics.sdk.common.Log; // TODO: Auto-generated Javadoc @@ -22,7 +23,16 @@ public class RotationNR { /** The rotation matrix. */ // double[][] rotationMatrix = ; - private Rotation storage = new Rotation(1, 0, 0, 0, false); + +@Expose (serialize = true, deserialize = true) + double w=1; +@Expose (serialize = true, deserialize = true) + double x=0; +@Expose (serialize = true, deserialize = true) + double y=0; +@Expose (serialize = true, deserialize = true) + double z=0; + //private Rotation storage = new Rotation(1, 0, 0, 0, false); private static RotationOrder order = RotationOrder.ZYX; private static RotationConvention convention = RotationConvention.VECTOR_OPERATOR; @@ -42,7 +52,7 @@ public RotationNR() { * instance */ public RotationNR(Rotation store) { - storage = store; + setStorage(store); } /** @@ -387,7 +397,7 @@ private double getAngle(int index){ * @return the rotation matrix2 quaturnion w */ public double getRotationMatrix2QuaturnionW() { - return getStorage().getQ0(); + return w; } /** @@ -396,7 +406,7 @@ public double getRotationMatrix2QuaturnionW() { * @return the rotation matrix2 quaturnion x */ public double getRotationMatrix2QuaturnionX() { - return -getStorage().getQ1(); + return -x; } /** @@ -405,7 +415,7 @@ public double getRotationMatrix2QuaturnionX() { * @return the rotation matrix2 quaturnion y */ public double getRotationMatrix2QuaturnionY() { - return -getStorage().getQ2(); + return -y; } /** @@ -414,7 +424,7 @@ public double getRotationMatrix2QuaturnionY() { * @return the rotation matrix2 quaturnion z */ public double getRotationMatrix2QuaturnionZ() { - return -getStorage().getQ3(); + return -z; } public static RotationOrder getOrder() { @@ -434,11 +444,14 @@ public static void setConvention(RotationConvention convention) { } public Rotation getStorage() { - return storage; + return new Rotation(w,x,y,z,false); } public void setStorage(Rotation storage) { - this.storage = storage; + w=storage.getQ0(); + x=storage.getQ1(); + y=storage.getQ2(); + z=storage.getQ3(); } public void set(double[][] poseRot) { diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index ae45efc1..e1d38bc3 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -3,6 +3,8 @@ import java.math.BigDecimal; import java.text.DecimalFormat; import java.util.ArrayList; + +import com.google.gson.annotations.Expose; import com.neuronrobotics.sdk.common.Log; import Jama.Matrix; @@ -13,15 +15,20 @@ public class TransformNR { private ArrayList listeners=null; /** The x. */ +@Expose (serialize = true, deserialize = true) private double x; /** The y. */ +@Expose (serialize = true, deserialize = true) private double y; /** The z. */ +@Expose (serialize = true, deserialize = true) private double z; /** The rotation. */ + +@Expose (serialize = true, deserialize = true) private RotationNR rotation; From a7ddf0e9aa8ee33e6ca644284c49a83d51f9741e Mon Sep 17 00:00:00 2001 From: Kevin harrington Date: Thu, 25 Jul 2024 11:11:09 -0400 Subject: [PATCH 435/482] Adding helper methods for the transforms to allow pure rotation transform construction and more accurate API for getting rotations --- .../addons/kinematics/math/RotationNR.java | 81 ++++++++++++++++--- .../addons/kinematics/math/TransformNR.java | 12 +++ 2 files changed, 84 insertions(+), 9 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 85f34bd8..f5ad9e74 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -33,7 +33,9 @@ public class RotationNR { @Expose (serialize = true, deserialize = true) double z=0; //private Rotation storage = new Rotation(1, 0, 0, 0, false); +@Expose (serialize = false, deserialize = false) private static RotationOrder order = RotationOrder.ZYX; +@Expose (serialize = false, deserialize = false) private static RotationConvention convention = RotationConvention.VECTOR_OPERATOR; @@ -307,7 +309,10 @@ protected void quaternion2RotationMatrix(double w, double x, double y, double z) throw new RuntimeException("Value can not be NaN"); if (Double.isNaN(z)) throw new RuntimeException("Value can not be NaN"); - setStorage(new Rotation(w,- x, -y, -z, true)); + this.w=w; + this.x= -x; + this.y= -y; + this.z= -z; } /** @@ -329,33 +334,91 @@ private void loadFromAngles(double tilt, double azumeth, double elevation) { setStorage(new Rotation(getOrder(), getConvention(), Math.toRadians(azumeth), Math.toRadians(elevation), Math.toRadians(tilt))); } + /** + * Gets the rotation tilt. + * + * @return the rotation tilt in radians + */ + public double getRotationTiltRadians() { + return getAngle(2); + } + + /** + * Gets the rotation elevation. + * + * @return the rotation elevation in radians + */ + public double getRotationElevationRadians() { + return getAngle(1); + + } + /** + * Gets the rotation azimuth. + * + * @return the rotation azimuth in radians + */ + + public double getRotationAzimuthRadians() { + return getAngle(0); + } /** * Gets the rotation tilt. * - * @return the rotation tilt + * @return the rotation tilt in degrees */ + public double getRotationTiltDegrees() { + return Math.toDegrees(getRotationTiltRadians()); + } + + /** + * Gets the rotation elevation. + * + * @return the rotation elevation in degrees + */ + public double getRotationElevationDegrees() { + return Math.toDegrees(getRotationElevationRadians()); + + } + + /** + * Gets the rotation azimuth. + * + * @return the rotation azimuth in degrees + */ + + public double getRotationAzimuthDegrees() { + return Math.toDegrees( getRotationAzimuthRadians()); + } + /** + * Gets the rotation tilt. + * + * @return the rotation tilt in radians + */ + @Deprecated public double getRotationTilt() { - return getAngle(2); + return getRotationTiltRadians(); } /** * Gets the rotation elevation. * - * @return the rotation elevation + * @return the rotation elevation in radians */ + @Deprecated public double getRotationElevation() { - return getAngle(1); + return getRotationElevationRadians(); } /** * Gets the rotation azimuth. * - * @return the rotation azimuth + * @return the rotation azimuth in radians */ + @Deprecated public double getRotationAzimuth() { - return getAngle(0); + return getRotationAzimuthRadians(); } private void simpilfyAngles(double [] angles){ double epsilon=1.0E-7; @@ -443,11 +506,11 @@ public static void setConvention(RotationConvention convention) { RotationNR.convention = convention; } - public Rotation getStorage() { + private Rotation getStorage() { return new Rotation(w,x,y,z,false); } - public void setStorage(Rotation storage) { + private void setStorage(Rotation storage) { w=storage.getQ0(); x=storage.getQ1(); y=storage.getQ2(); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index e1d38bc3..de2b38ad 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -13,6 +13,7 @@ * The Class TransformNR. */ public class TransformNR { +@Expose (serialize = false, deserialize = false) private ArrayList listeners=null; /** The x. */ @Expose (serialize = true, deserialize = true) @@ -118,6 +119,17 @@ public TransformNR(double x, double y, double z) { this.setZ(z); this.setRotation(new RotationNR()); } + /** + * Instantiates a new transform nr. + * + * @param rot A pure rotation + */ + public TransformNR(RotationNR rot) { + this.setX(0); + this.setY(0); + this.setZ(0); + this.setRotation(rot); + } /** * Instantiates a new transform nr. * From da4cf322bd1e1953c408a2cf5924d9796aeecb21 Mon Sep 17 00:00:00 2001 From: Kevin harrington Date: Thu, 25 Jul 2024 11:12:40 -0400 Subject: [PATCH 436/482] rename variable to correct spelling --- .../sdk/addons/kinematics/math/RotationNR.java | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index f5ad9e74..fcf75581 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -62,27 +62,27 @@ public RotationNR(Rotation store) { * ** @param tilt * the tilt - * @param azumeth - * the azumeth + * @param azimuth + * the azimuth * @param elevation * the elevation */ // create a new object with the given simplified rotations - public RotationNR(double tilt, double azumeth, double elevation) { + public RotationNR(double tilt, double azimuth, double elevation) { if (Double.isNaN(tilt)) throw new RuntimeException("Value can not be NaN"); - if (Double.isNaN(azumeth)) + if (Double.isNaN(azimuth)) throw new RuntimeException("Value can not be NaN"); if (Double.isNaN(elevation)) throw new RuntimeException("Value can not be NaN"); if (elevation > 90 || elevation < -90) { throw new RuntimeException("Elevation can not be greater than 90 nor less than -90"); } - loadFromAngles(tilt, azumeth, elevation); + loadFromAngles(tilt, azimuth, elevation); if (Double.isNaN(getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotationMatrix2QuaturnionX()) || Double.isNaN(getRotationMatrix2QuaturnionY()) || Double.isNaN(getRotationMatrix2QuaturnionZ())) { Log.error("Failing to set proper angle, jittering"); - loadFromAngles(tilt + Math.random() * .02 + .001, azumeth + Math.random() * .02 + .001, + loadFromAngles(tilt + Math.random() * .02 + .001, azimuth + Math.random() * .02 + .001, elevation + Math.random() * .02 + .001); } @@ -330,8 +330,8 @@ public static boolean bound(double low, double high, double n) { return n >= low && n <= high; } - private void loadFromAngles(double tilt, double azumeth, double elevation) { - setStorage(new Rotation(getOrder(), getConvention(), Math.toRadians(azumeth), Math.toRadians(elevation), + private void loadFromAngles(double tilt, double azimuth, double elevation) { + setStorage(new Rotation(getOrder(), getConvention(), Math.toRadians(azimuth), Math.toRadians(elevation), Math.toRadians(tilt))); } /** From 79b257a3d7ee6bc45a1e54162849d0307d482490 Mon Sep 17 00:00:00 2001 From: Kevin harrington Date: Thu, 25 Jul 2024 11:14:25 -0400 Subject: [PATCH 437/482] adding to the comment to make the dataatype more explicate --- .../sdk/addons/kinematics/math/RotationNR.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index fcf75581..ab7506d7 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -61,11 +61,11 @@ public RotationNR(Rotation store) { * Instantiates a new rotation nr. * ** @param tilt - * the tilt + * the tilt in Degrees * @param azimuth - * the azimuth + * the azimuth in Degrees * @param elevation - * the elevation + * the elevation in Degrees */ // create a new object with the given simplified rotations public RotationNR(double tilt, double azimuth, double elevation) { From 188a01f344ecef4eb4c64664fc85c2440964a041 Mon Sep 17 00:00:00 2001 From: Kevin harrington Date: Thu, 15 Aug 2024 10:32:47 -0400 Subject: [PATCH 438/482] Allow construction using an axis and and angle --- .../sdk/addons/kinematics/math/EulerAxis.java | 7 +++++++ .../addons/kinematics/math/RotationNR.java | 15 ++++++++------ .../addons/kinematics/math/TransformNR.java | 20 +++++++++---------- 3 files changed, 26 insertions(+), 16 deletions(-) create mode 100644 src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/EulerAxis.java diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/EulerAxis.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/EulerAxis.java new file mode 100644 index 00000000..4bea9e3a --- /dev/null +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/EulerAxis.java @@ -0,0 +1,7 @@ +package com.neuronrobotics.sdk.addons.kinematics.math; + +public enum EulerAxis { + tilt, + azimuth, + elevation; +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index ab7506d7..ca56409b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -69,12 +69,12 @@ public RotationNR(Rotation store) { */ // create a new object with the given simplified rotations public RotationNR(double tilt, double azimuth, double elevation) { - if (Double.isNaN(tilt)) - throw new RuntimeException("Value can not be NaN"); - if (Double.isNaN(azimuth)) - throw new RuntimeException("Value can not be NaN"); - if (Double.isNaN(elevation)) - throw new RuntimeException("Value can not be NaN"); + if (!Double.isFinite(tilt)) + throw new RuntimeException("Value can not be "+tilt); + if (!Double.isFinite(azimuth)) + throw new RuntimeException("Value can not be "+azimuth); + if (!Double.isFinite(elevation)) + throw new RuntimeException("Value can not be "+elevation); if (elevation > 90 || elevation < -90) { throw new RuntimeException("Elevation can not be greater than 90 nor less than -90"); } @@ -87,6 +87,9 @@ public RotationNR(double tilt, double azimuth, double elevation) { } } + public RotationNR(EulerAxis axis, double rot) { + this(axis==EulerAxis.tilt?rot:0,axis==EulerAxis.azimuth?rot:0,axis==EulerAxis.elevation?rot:0); + } /** * Instantiates a new rotation nr. diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index de2b38ad..8505a040 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -441,13 +441,13 @@ public TransformNR translateZ(double translation) { } public TransformNR set(double tx, double ty, double tz, double[][] poseRot) { - if (Double.isNaN(tx)) + if (!Double.isFinite(tx)) throw new RuntimeException("Value can not be NaN"); x = tx; - if (Double.isNaN(ty)) + if (!Double.isFinite(ty)) throw new RuntimeException("Value can not be NaN"); y = ty; - if (Double.isNaN(tz)) + if (!Double.isFinite(tz)) throw new RuntimeException("Value can not be NaN"); z = tz; getRotation().set(poseRot); @@ -461,7 +461,7 @@ public TransformNR set(double tx, double ty, double tz, double[][] poseRot) { * @param tx the new x */ public TransformNR setX(double tx) { - if (Double.isNaN(tx)) + if (!Double.isFinite(tx)) throw new RuntimeException("Value can not be NaN"); x = tx; fireChangeEvent(); @@ -474,7 +474,7 @@ public TransformNR setX(double tx) { * @param ty the new y */ public TransformNR setY(double ty) { - if (Double.isNaN(ty)) + if (!Double.isFinite(ty)) throw new RuntimeException("Value can not be NaN"); y = ty; fireChangeEvent(); @@ -487,7 +487,7 @@ public TransformNR setY(double ty) { * @param tz the new z */ public TransformNR setZ(double tz) { - if (Double.isNaN(tz)) + if (!Double.isFinite(tz)) throw new RuntimeException("Value can not be NaN"); z = tz; fireChangeEvent(); @@ -506,10 +506,10 @@ public TransformNR setZ(double tz) { public String getXml() { String xml = "\n\t" + getX() + "\n" + "\t" + getY() + "\n" + "\t" + getZ() + "\n"; - if (Double.isNaN(getRotation().getRotationMatrix2QuaturnionW()) - || Double.isNaN(getRotation().getRotationMatrix2QuaturnionX()) - || Double.isNaN(getRotation().getRotationMatrix2QuaturnionY()) - || Double.isNaN(getRotation().getRotationMatrix2QuaturnionZ())) { + if (!Double.isFinite(getRotation().getRotationMatrix2QuaturnionW()) + || !Double.isFinite(getRotation().getRotationMatrix2QuaturnionX()) + || !Double.isFinite(getRotation().getRotationMatrix2QuaturnionY()) + || !Double.isFinite(getRotation().getRotationMatrix2QuaturnionZ())) { xml += "\n\t\n"; setRotation(new RotationNR()); } From b61304b79dc69418852dfcc8cb5362be32202b67 Mon Sep 17 00:00:00 2001 From: Kevin harrington Date: Sat, 7 Sep 2024 11:40:38 -0400 Subject: [PATCH 439/482] construct from other transform --- .../sdk/addons/kinematics/math/TransformNR.java | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 8505a040..bf85e606 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -45,6 +45,14 @@ public TransformNR(Matrix m) { this.setZ(m.get(2, 3)); this.setRotation(new RotationNR(m)); } + /** + * Instantiates a new transform nr. + * + * @param m the m + */ + public TransformNR(TransformNR in) { + this(in.getMatrixTransform()); + } /** * Instantiates a new transform nr. From af1c55a5f241389f6e074ed763b2ede020a5efda Mon Sep 17 00:00:00 2001 From: Kevin harrington Date: Sun, 27 Oct 2024 17:40:23 -0400 Subject: [PATCH 440/482] removing all print staatements from Java-Bowler --- .../test/nrdk/BluetoothConector.java | 8 +-- .../test/nrdk/ByteListTest.java | 4 +- .../test/nrdk/ConnectionDialogTest.java | 6 +-- .../test/nrdk/ExtendGenericPID.java | 4 +- .../test/nrdk/GenericPIDTest.java | 2 +- .../test/nrdk/PingSpeedTest.java | 6 +-- .../test/nrdk/SimpleConnection.java | 4 +- .../test/nrdk/network/NetworkServerTest.java | 2 +- .../test/nrdk/network/UDPClientTest.java | 10 ++-- .../application/xmpp/DyIOConversation.java | 14 ++--- .../xmpp/DyIOConversationFactory.java | 2 +- .../GoogleChat/GoogleChatConversation.java | 8 +-- .../xmpp/GoogleChat/GoogleChatEngine.java | 6 +-- .../driver/interpreter/GCodeInterpreter.java | 4 +- .../sdk/addons/irobot/CreateArm.java | 2 +- .../kinematics/AbstractKinematicsNR.java | 12 ++--- .../sdk/addons/kinematics/AbstractLink.java | 2 +- .../sdk/addons/kinematics/GradiantDecent.java | 2 +- .../addons/kinematics/GradiantDecentNode.java | 2 +- .../addons/kinematics/LinkConfiguration.java | 2 +- .../sdk/addons/kinematics/LinkFactory.java | 2 +- .../sdk/addons/kinematics/MobileBase.java | 14 ++--- .../sdk/addons/kinematics/MockRotoryLink.java | 6 +-- .../addons/kinematics/SearchTreeSolver.java | 6 +-- .../addons/kinematics/VitaminLocation.java | 2 +- .../kinematics/gcodebridge/GcodeDevice.java | 4 +- .../addons/kinematics/ik/DeltaIKModel.java | 34 ++++++------ .../kinematics/math/RotationNRLegacy.java | 6 +-- .../kinematics/parallel/ParallelGroup.java | 14 ++--- .../sdk/addons/kinematics/xml/XmlFactory.java | 4 +- .../neuronrobotics/sdk/bootloader/Core.java | 4 +- .../neuronrobotics/sdk/bootloader/Hexml.java | 8 +-- .../sdk/bootloader/IntelHexParser.java | 4 +- .../neuronrobotics/sdk/bootloader/NRBoot.java | 16 +++--- .../sdk/bootloader/NRBootLoader.java | 8 +-- .../sdk/bowlercam/device/BowlerCamDevice.java | 24 ++++----- .../sdk/commands/bcs/io/GetValueCommand.java | 4 +- .../bcs/io/SetUARTBaudrateCommand.java | 2 +- .../bootloader/ProgramSectionCommand.java | 2 +- .../sdk/common/BowlerAbstractCommand.java | 2 +- .../sdk/common/BowlerAbstractConnection.java | 16 +++--- .../sdk/common/BowlerAbstractDevice.java | 6 +-- .../sdk/common/BowlerDatagram.java | 2 +- .../sdk/common/DeviceManager.java | 4 +- .../com/neuronrobotics/sdk/common/Log.java | 6 +-- .../neuronrobotics/sdk/common/MACAddress.java | 2 +- .../neuronrobotics/sdk/common/TickToc.java | 6 +-- .../device/server/BowlerAbstractServer.java | 4 +- .../sdk/config/SDKBuildInfo.java | 2 +- .../com/neuronrobotics/sdk/dyio/DyIO.java | 16 +++--- .../neuronrobotics/sdk/dyio/DyIOChannel.java | 6 +-- .../sdk/dyio/DyIOOutputStream.java | 4 +- .../dyio/peripherals/PPMReaderChannel.java | 2 +- .../sdk/javaxusb/UsbCDCSerialConnection.java | 18 +++---- .../sdk/network/UDPBowlerConnection.java | 8 +-- .../sdk/pid/PIDConfiguration.java | 2 +- .../sdk/pid/VirtualGenericPIDDevice.java | 6 +-- .../sdk/serial/SerialConnection.java | 10 ++-- .../sdk/ui/TCPConnectionPanel.java | 2 +- .../sdk/ui/UDPConnectionPanel.java | 4 +- .../sdk/ui/UsbConnectionPanel.java | 2 +- .../neuronrobotics/sdk/util/OsInfoUtil.java | 4 +- .../wireless/bluetooth/BlueCoveManager.java | 12 ++--- .../bluetooth/BluetoothSerialConnection.java | 2 +- .../utilities/ApacheCommonsRotationTest.java | 4 +- .../utilities/BowlerDatagramFactoryTests.java | 4 +- .../utilities/ByteListTest.java | 10 ++-- .../utilities/ExternalLinkProviderTest.java | 8 +-- .../neuronrobotics/utilities/GCODETest.java | 10 ++-- .../utilities/GsonVitaminLoad.java | 2 +- .../utilities/LoadMassTest.java | 2 +- .../utilities/PacketValidationTest.java | 6 +-- .../utilities/ParallelArmTest.java | 4 +- .../utilities/RotationNRTest.java | 52 +++++++++---------- .../utilities/TestMobilBaseLoading.java | 2 +- .../neuronrobotics/utilities/TestTimer.java | 2 +- 76 files changed, 260 insertions(+), 260 deletions(-) diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/BluetoothConector.java b/examples/java/src/com/neuronrobotics/test/nrdk/BluetoothConector.java index f56e5479..6296ff72 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/BluetoothConector.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/BluetoothConector.java @@ -19,16 +19,16 @@ public static void main(String[] args) { DyIO dyio; BlueCoveManager manager = new BlueCoveManager(); String devices[] = manager.getAvailableSerialDevices(true); - System.out.println("Devices: "); + com.neuronrobotics.sdk.common.Log.error("Devices: "); for (String d: devices) { - System.out.println(d); + com.neuronrobotics.sdk.common.Log.error(d); } if (devices.length > 0) { - System.out.println("Connecting to : "+devices[0]); + com.neuronrobotics.sdk.common.Log.error("Connecting to : "+devices[0]); dyio = new DyIO(new BluetoothSerialConnection(manager, devices[0])); dyio.connect(); if(dyio.ping() ) - System.out.println("All OK!"); + com.neuronrobotics.sdk.common.Log.error("All OK!"); } System.exit(0); diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/ByteListTest.java b/examples/java/src/com/neuronrobotics/test/nrdk/ByteListTest.java index 962aff83..bed83712 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/ByteListTest.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/ByteListTest.java @@ -15,9 +15,9 @@ public class ByteListTest { */ public static void main(String [] args) { byte [] b = ByteList.convertTo16(526); - System.out.println(b[0] + " - " + b[1]); + com.neuronrobotics.sdk.common.Log.error(b[0] + " - " + b[1]); int i = ByteList.convertToInt(b); - System.out.println(i); + com.neuronrobotics.sdk.common.Log.error(i); } } diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/ConnectionDialogTest.java b/examples/java/src/com/neuronrobotics/test/nrdk/ConnectionDialogTest.java index 967fb8dd..3ac6658a 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/ConnectionDialogTest.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/ConnectionDialogTest.java @@ -16,16 +16,16 @@ public class ConnectionDialogTest { * @param args the arguments */ public static void main(String[] args) { - System.out.println("Starting"); + com.neuronrobotics.sdk.common.Log.error("Starting"); DyIO dyio=new DyIO(); if (!ConnectionDialog.getBowlerDevice(dyio)){ - System.err.println("Dialog failed"); + com.neuronrobotics.sdk.common.Log.error("Dialog failed"); System.exit(1); } Log.enableDebugPrint(); dyio.ping(); dyio.disconnect(); - System.out.println("Connection OK!"); + com.neuronrobotics.sdk.common.Log.error("Connection OK!"); System.exit(0); //while(true); } diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/ExtendGenericPID.java b/examples/java/src/com/neuronrobotics/test/nrdk/ExtendGenericPID.java index db874d73..8d3510d3 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/ExtendGenericPID.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/ExtendGenericPID.java @@ -24,11 +24,11 @@ private ExtendGenericPID(){ System.exit(1); } try { - System.out.println("Extended get position: "+pid.getExtendedValue(0)); + com.neuronrobotics.sdk.common.Log.error("Extended get position: "+pid.getExtendedValue(0)); pid.GetAllPIDPosition(); pid.GetPIDPosition(2); pid.disconnect(); - System.out.println("All OK!"); + com.neuronrobotics.sdk.common.Log.error("All OK!"); System.exit(0); } catch (Exception e) { // TODO Auto-generated catch block diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/GenericPIDTest.java b/examples/java/src/com/neuronrobotics/test/nrdk/GenericPIDTest.java index b1c169e8..579f0fc8 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/GenericPIDTest.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/GenericPIDTest.java @@ -32,7 +32,7 @@ public static void main(String[] args) { pid.GetAllPIDPosition(); pid.GetPIDPosition(2); pid.disconnect(); - System.out.println("All OK!"); + com.neuronrobotics.sdk.common.Log.error("All OK!"); System.exit(0); } catch (Exception e) { // TODO Auto-generated catch block diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/PingSpeedTest.java b/examples/java/src/com/neuronrobotics/test/nrdk/PingSpeedTest.java index 8f2a076d..647bceab 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/PingSpeedTest.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/PingSpeedTest.java @@ -36,7 +36,7 @@ public static void main(String[] args) { // } if(c==null) System.exit(1); - System.out.println("Starting test"); + com.neuronrobotics.sdk.common.Log.error("Starting test"); Log.enableInfoPrint(); GenericDevice dev = new GenericDevice(c); dev.connect(); @@ -51,10 +51,10 @@ public static void main(String[] args) { double ms=System.currentTimeMillis()-start; avg +=ms; - System.out.println("Average cycle time: "+(int)(avg/i)+"ms\t\t\t this loop was: "+ms); + com.neuronrobotics.sdk.common.Log.error("Average cycle time: "+(int)(avg/i)+"ms\t\t\t this loop was: "+ms); dev.getNamespaces(); } - System.out.println("Average cycle time for ping: "+(avg/i)+" ms"); + com.neuronrobotics.sdk.common.Log.error("Average cycle time for ping: "+(avg/i)+" ms"); dev.disconnect(); System.exit(0); } diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/SimpleConnection.java b/examples/java/src/com/neuronrobotics/test/nrdk/SimpleConnection.java index 393d8c80..cfe3b323 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/SimpleConnection.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/SimpleConnection.java @@ -16,7 +16,7 @@ public class SimpleConnection { */ public static void main(String[] args) { SerialConnection s = null; - System.out.println("Connecting and disconnecting"); + com.neuronrobotics.sdk.common.Log.error("Connecting and disconnecting"); //Windows //s=new SerialConnection("COM5"); @@ -41,7 +41,7 @@ public static void main(String[] args) { avg +=ms; start = System.currentTimeMillis(); } - System.out.println("Average cycle time for ping: "+(avg/i)+" ms"); + com.neuronrobotics.sdk.common.Log.error("Average cycle time for ping: "+(avg/i)+" ms"); dyio.disconnect(); System.exit(0); //while(true); diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/network/NetworkServerTest.java b/examples/java/src/com/neuronrobotics/test/nrdk/network/NetworkServerTest.java index b8251eda..5e5188ef 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/network/NetworkServerTest.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/network/NetworkServerTest.java @@ -43,7 +43,7 @@ public static void main(String [] args){ new NetworkServerTest(); }catch (Exception e){ e.printStackTrace(); - System.err.println("###SERVER Failed out!"); + com.neuronrobotics.sdk.common.Log.error("###SERVER Failed out!"); System.exit(1); } } diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/network/UDPClientTest.java b/examples/java/src/com/neuronrobotics/test/nrdk/network/UDPClientTest.java index 0a215ba4..bbf9c40a 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/network/UDPClientTest.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/network/UDPClientTest.java @@ -28,7 +28,7 @@ public UDPClientTest(){ clnt=new UDPBowlerConnection(); // ArrayList addrs = clnt.getAllAddresses(); -// System.out.println("Availiable servers: "+addrs); +// com.neuronrobotics.sdk.common.Log.error("Availiable servers: "+addrs); // if (addrs.size()==0) // throw new RuntimeException(); // clnt.setAddress(addrs.get(0)); @@ -42,15 +42,15 @@ public UDPClientTest(){ setConnection(clnt); connect(); - System.out.println("Pinging"); + com.neuronrobotics.sdk.common.Log.error("Pinging"); long start = System.currentTimeMillis(); int numPings=10; for(int i=0;i> "+ message.getBody()); } try { String ret =onMessage(message.getBody(),chat, message.getFrom()); msg.setBody(ret); - System.out.println("Sending: "+msg.getBody()); + com.neuronrobotics.sdk.common.Log.error("Sending: "+msg.getBody()); if(log!=null){ log.onLogEvent(""+message.getFrom()+"<< "+ ret); } chat.sendMessage(msg); } catch (XMPPException ex) { ex.printStackTrace(); - System.out.println("Failed to send message"); + com.neuronrobotics.sdk.common.Log.error("Failed to send message"); } } else { - System.out.println("I got a message I didn't understand\n\n"+message.getType()); + com.neuronrobotics.sdk.common.Log.error("I got a message I didn't understand\n\n"+message.getType()); } } @@ -146,11 +146,11 @@ private ChatAsyncListener getListener(Chat c,String from){ for(ChatAsyncListener l:listeners ){ if(l.getFrom().equals(from) && l.getChat()==c){ back = l; - System.out.println("Found old listener"); + com.neuronrobotics.sdk.common.Log.error("Found old listener"); } } if(back == null){ - System.out.println("Adding new listener"); + com.neuronrobotics.sdk.common.Log.error("Adding new listener"); back = new ChatAsyncListener(c, from); listeners.add(back); } @@ -203,7 +203,7 @@ public void onChannelEvent(DyIOChannelEvent e) { Message msg = new Message(getFrom(), Message.Type.chat); String body = "asyncData "+e.getChannel().getChannelNumber()+" "+e.getValue(); msg.setBody(body); - System.err.println("async: "+msg.getBody()); + com.neuronrobotics.sdk.common.Log.error("async: "+msg.getBody()); try { chat.sendMessage(msg); } catch (XMPPException e1) { diff --git a/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversationFactory.java b/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversationFactory.java index 5bea6a76..331dde14 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversationFactory.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversationFactory.java @@ -26,7 +26,7 @@ public DyIOConversationFactory(IChatLog mine) { */ @Override public IConversation getConversation() { - System.out.println("Getting DyIO conversation"); + com.neuronrobotics.sdk.common.Log.error("Getting DyIO conversation"); return new DyIOConversation(log); } } diff --git a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversation.java b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversation.java index fcb3efd0..b56e0d61 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversation.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversation.java @@ -42,17 +42,17 @@ public String onMessage(String input,Chat chat, String from) { public void processMessage(Chat chat, Message message) { Message msg = new Message(message.getFrom(), Message.Type.chat); if(message.getType().equals(Message.Type.chat) && message.getBody() != null) { - System.out.println("Received: " + message.getBody()); + com.neuronrobotics.sdk.common.Log.error("Received: " + message.getBody()); try { msg.setBody(onMessage(message.getBody(),chat, message.getFrom())); - System.out.println("Sending: "+msg.getBody()); + com.neuronrobotics.sdk.common.Log.error("Sending: "+msg.getBody()); chat.sendMessage(msg); } catch (XMPPException ex) { ex.printStackTrace(); - System.out.println("Failed to send message"); + com.neuronrobotics.sdk.common.Log.error("Failed to send message"); } } else { - System.out.println("I got a message I didn't understand\n\n"+message.getType()); + com.neuronrobotics.sdk.common.Log.error("I got a message I didn't understand\n\n"+message.getType()); } } diff --git a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatEngine.java b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatEngine.java index a3df5e94..ae91f14e 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatEngine.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatEngine.java @@ -136,10 +136,10 @@ private void setLoginInfo(InputStream config) { } catch (IOException e) { throw new RuntimeException(e); } - //System.out.println("Parsing File..."); + //com.neuronrobotics.sdk.common.Log.error("Parsing File..."); NodeList nList = doc.getElementsByTagName("login"); for (int temp = 0; temp < nList.getLength(); temp++) { - //System.out.println("Leg # "+temp); + //com.neuronrobotics.sdk.common.Log.error("Leg # "+temp); Element eElement = (Element)nList.item(temp); username = getTagValue("username",eElement); password = getTagValue("password",eElement); @@ -157,7 +157,7 @@ private void setLoginInfo(InputStream config) { public static String getTagValue(String sTag, Element eElement){ NodeList nlList= eElement.getElementsByTagName(sTag).item(0).getChildNodes(); Node nValue = (Node) nlList.item(0); - //System.out.println("\t\t"+sTag+" = "+nValue.getNodeValue()); + //com.neuronrobotics.sdk.common.Log.error("\t\t"+sTag+" = "+nValue.getNodeValue()); return nValue.getNodeValue(); } diff --git a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeInterpreter.java b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeInterpreter.java index 0a2ed7dd..2244a049 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeInterpreter.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeInterpreter.java @@ -143,7 +143,7 @@ public void processSingleGCODELine(String line) throws Exception{ nextLine.storeWord('G', 0); nextLine.storeWord('M', 0); nextLine.storeWord('P', lineNumber); - System.out.println("GCODE: "+line); + com.neuronrobotics.sdk.common.Log.error("GCODE: "+line); for(int i=0;i l1+l2) { - System.err.println("Hypotenus too long"+x+" "+y+"\r\n"); + com.neuronrobotics.sdk.common.Log.error("Hypotenus too long"+x+" "+y+"\r\n"); return; } double elbow = 0; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 8e88e252..627f6e05 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -278,7 +278,7 @@ protected ArrayList loadConfig(Element doc) { localConfigsFromXml.add(newLinkConf); NodeList dHParameters = linkNode.getChildNodes(); - // System.out.println("Link "+newLinkConf.getName()+" has "+dHParameters + // com.neuronrobotics.sdk.common.Log.error("Link "+newLinkConf.getName()+" has "+dHParameters // .getLength()+" children"); for (int x = 0; x < dHParameters.getLength(); x++) { Node nNode = dHParameters.item(x); @@ -309,9 +309,9 @@ public void onConnect(BowlerAbstractDevice source) { } else { if (nNode.getNodeType() == Node.ELEMENT_NODE && nNode.getNodeName().contentEquals("slaveLink")) { - // System.out.println("Slave link found: "); + // com.neuronrobotics.sdk.common.Log.error("Slave link found: "); LinkConfiguration jc = new LinkConfiguration((Element) nNode); - // System.out.println(jc); + // com.neuronrobotics.sdk.common.Log.error(jc); newLinkConf.getSlaveLinks().add(jc); } } @@ -341,7 +341,7 @@ public void onConnect(BowlerAbstractDevice source) { setRobotToFiducialTransform(new TransformNR()); } } else { - // System.err.println(linkNode.getNodeName()); + // com.neuronrobotics.sdk.common.Log.error(linkNode.getNodeName()); // Log.error("Node not known: "+linkNode.getNodeName()); } } @@ -977,9 +977,9 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { * @return the transform nr */ public TransformNR inverseOffset(TransformNR t) { - // System.out.println("RobotToFiducialTransform + // com.neuronrobotics.sdk.common.Log.error("RobotToFiducialTransform // "+getRobotToFiducialTransform()); - // System.out.println("FiducialToRASTransform "+getFiducialToRASTransform()); + // com.neuronrobotics.sdk.common.Log.error("FiducialToRASTransform "+getFiducialToRASTransform()); Matrix globalToFeducialInverse = getFiducialToGlobalTransform().getMatrixTransform().inverse(); Matrix feducialToLimbInverse = getRobotToFiducialTransform().getMatrixTransform().inverse(); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 95fdf2c1..3eff4627 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -125,7 +125,7 @@ public AbstractLink(LinkConfiguration conf){ this.conf=conf; slaveLinks = conf.getSlaveLinks(); if(slaveLinks.size()>0) - System.out.println(conf.getName()+" has slaves: "+slaveLinks.size()); + com.neuronrobotics.sdk.common.Log.error(conf.getName()+" has slaves: "+slaveLinks.size()); for(LinkConfiguration c:slaveLinks){ //generate the links getSlaveFactory().getLink(c); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecent.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecent.java index 68c1e92a..be62c8e1 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecent.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecent.java @@ -83,7 +83,7 @@ public double[] inverseKinematics(TransformNR target,double[] jointSpaceVector, } }while(++iter<200 && notArrived && stopped == false);//preincrement and check if(debug){ - System.out.println("Numer of iterations #"+iter+" \n\tStalled = "+stopped+" \n\tArrived = "+!notArrived+" \n\tFinal offset= "+vect+" \n\tFinal orent= "+orent); + com.neuronrobotics.sdk.common.Log.error("Numer of iterations #"+iter+" \n\tStalled = "+stopped+" \n\tArrived = "+!notArrived+" \n\tFinal offset= "+vect+" \n\tFinal orent= "+orent); } return inv; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecentNode.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecentNode.java index 85bc3378..55a04f64 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecentNode.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecentNode.java @@ -228,7 +228,7 @@ public boolean step() { public void jitter(){ double jitterAmmount = 10; double jitter=(Math.random()*jitterAmmount)-(jitterAmmount /2) ; - System.out.println("Jittering Link #"+getIndex()+" jitter:"+jitter+" current offset:"+offset); + com.neuronrobotics.sdk.common.Log.error("Jittering Link #"+getIndex()+" jitter:"+jitter+" current offset:"+offset); offset += jitter; jointSpaceVector[getIndex()] = myStart+offset; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 0ccba290..a5aeec65 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -250,7 +250,7 @@ public LinkConfiguration(Element eElement) { if (staticOffset > getUpperLimit() || staticOffset < getLowerLimit()) Log.error("PID group " + getHardwareIndex() + " staticOffset is " + staticOffset + " but needs to be between " + getUpperLimit() + " and " + getLowerLimit()); - // System.out.println("Interted"+ inverted); + // com.neuronrobotics.sdk.common.Log.error("Interted"+ inverted); } /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index f9e67764..35a85f5a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -302,7 +302,7 @@ public void flush(final double seconds) { // TickToc.tic("Done Checking "+name+" for flush "); } - // System.out.println("Flush Took "+(System.currentTimeMillis()-time)+"ms"); + // com.neuronrobotics.sdk.common.Log.error("Flush Took "+(System.currentTimeMillis()-time)+"ms"); } /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index eee4597b..63b3043a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -157,7 +157,7 @@ public MobileBase(InputStream configFile) { NodeList nodListofLinks = doc.getElementsByTagName("root"); if (nodListofLinks.getLength() != 1) { - // System.out.println("Found "+nodListofLinks.getLength()); + // com.neuronrobotics.sdk.common.Log.error("Found "+nodListofLinks.getLength()); throw new RuntimeException("one mobile base is needed per level"); } NodeList rootNode = nodListofLinks.item(0).getChildNodes(); @@ -370,7 +370,7 @@ private String getTag(Element e, String tagname) { String nameOfElement = findNameTag(e); if(tagname.contentEquals("name")) return nameOfElement; - //System.out.println("Searching for "+tagname+" in "+nameOfElement); + //com.neuronrobotics.sdk.common.Log.error("Searching for "+tagname+" in "+nameOfElement); NodeList nodListofLinks = e.getElementsByTagName(tagname); for (int i = 0; i < nodListofLinks.getLength(); i++) { boolean isDirectChild=true; @@ -407,7 +407,7 @@ private void loadLimb(Element doc, String tag, ArrayList if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals(tag)) { Element e = (Element) linkNode; final String name = getname(e); - // System.out.println("Loading arm "+name); + // com.neuronrobotics.sdk.common.Log.error("Loading arm "+name); DHParameterKinematics kin = (DHParameterKinematics) DeviceManager .getSpecificDevice(DHParameterKinematics.class, name); if (kin == null) { @@ -416,9 +416,9 @@ private void loadLimb(Element doc, String tag, ArrayList } kin.setScriptingName(name); String parallel = getParallelGroup(e); - // System.out.println("paralell "+parallel); + // com.neuronrobotics.sdk.common.Log.error("paralell "+parallel); if (parallel != null) { - System.out.println("Loading Paralell group " + parallel + " limb " + name); + com.neuronrobotics.sdk.common.Log.error("Loading Paralell group " + parallel + " limb " + name); TransformNR paraOffset = loadTransform("parallelGroupTipOffset", e); String relativeName = getTag(e, "relativeTo"); int index = 0; @@ -928,7 +928,7 @@ public double getMassKg() { } public void setMassKg(double mass) { - System.out.println("Mass of device " + getScriptingName() + " is " + mass); + com.neuronrobotics.sdk.common.Log.error("Mass of device " + getScriptingName() + " is " + mass); //new RuntimeException().printStackTrace(); this.mass = mass; fireConfigurationUpdate(); @@ -1046,7 +1046,7 @@ public static void main(String[] args) throws Exception { TransformNR TipOffset = group.getTipOffset().get(limb); TransformNR newTip = limb.getCurrentTaskSpaceTransform().times(TipOffset); - System.out.println("Expected tip to be " + Tip.getX() + " and got: " + newTip.getX()); + com.neuronrobotics.sdk.common.Log.error("Expected tip to be " + Tip.getX() + " and got: " + newTip.getX()); // assertTrue(!Double.isNaN(Tip.getX())); // assertEquals(Tip.getX(), newTip.getX(), .1); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java index 5e2fd4ea..f6c0683d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java @@ -33,7 +33,7 @@ public MockRotoryLink(LinkConfiguration conf) { @Override public void cacheTargetValueDevice() { val=getTargetValue(); - //System.out.println("Cacheing value="+val); + //com.neuronrobotics.sdk.common.Log.error("Cacheing value="+val); } /* (non-Javadoc) @@ -42,7 +42,7 @@ public void cacheTargetValueDevice() { @Override public void flushDevice(double time) { val=getTargetValue(); - //System.out.println("Flushing value="+val); + //com.neuronrobotics.sdk.common.Log.error("Flushing value="+val); } /* (non-Javadoc) @@ -61,7 +61,7 @@ public double getCurrentPosition() { public void flushAllDevice(double time) { // TODO Auto-generated method stub val=getTargetValue(); - //System.out.println("Flushing all Values"); + //com.neuronrobotics.sdk.common.Log.error("Flushing all Values"); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/SearchTreeSolver.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/SearchTreeSolver.java index 3fb6863a..87d71c38 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/SearchTreeSolver.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/SearchTreeSolver.java @@ -65,11 +65,11 @@ public double[] inverseKinematics(TransformNR target,double[] jointSpaceVector, if(vect<10 && orent< .05){ done = true; - System.out.println("SearchTreeSolver Success stats: \n\tIterations = "+i+" out of "+iter+"\n"+conf); + com.neuronrobotics.sdk.common.Log.error("SearchTreeSolver Success stats: \n\tIterations = "+i+" out of "+iter+"\n"+conf); } if(i++==iter){ done = true; - System.err.println("SearchTreeSolver FAILED stats: \n\tIterations = "+i+" out of "+iter+"\n"+conf); + com.neuronrobotics.sdk.common.Log.error("SearchTreeSolver FAILED stats: \n\tIterations = "+i+" out of "+iter+"\n"+conf); } }while(! done); @@ -213,7 +213,7 @@ public configuration getBest(double[] jointSpaceVector){ } i++; } - //System.out.println("Selecting "+best+" config"); + //com.neuronrobotics.sdk.common.Log.error("Selecting "+best+" config"); return configurations.get(best); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index 7168c57f..78068fd9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -50,7 +50,7 @@ public VitaminLocation(boolean isScript,String name, String type, String size, T try { h.addVitamin(this); }catch(Throwable t){ - System.out.println("Vitamin "+name+" exists in "+h); + com.neuronrobotics.sdk.common.Log.error("Vitamin "+name+" exists in "+h); } } public VitaminLocation(Element vitamins) { diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index c6baab1f..19db038f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -262,13 +262,13 @@ public void flush(double seconds) { public void loadCurrent(){ String m114 =runLine("M114"); String[] currentPosStr = m114.split("Count")[0].split(" ");// get the current position - //System.out.println("Fush with current = "+m114); + //com.neuronrobotics.sdk.common.Log.error("Fush with current = "+m114); for(String s:currentPosStr){ for(LinkConfiguration l:links.keySet()){ IGCodeChannel thisLink = links.get(l); if(s.contains(thisLink.getAxis())){ String [] parts = s.split(":"); - ///System.out.println("Found axis = "+s); + ///com.neuronrobotics.sdk.common.Log.error("Found axis = "+s); thisLink.setValue(Double.parseDouble(parts[1])); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java index 823a6f3e..5c55a71f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java @@ -49,13 +49,13 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec // Start by finding the IK to the wrist center if(linkNum>=6) { //offset for tool - //if(debug)System.out.println( "Offestting for tool" + //if(debug)com.neuronrobotics.sdk.common.Log.error( "Offestting for tool" TransformNR tool = new TransformNR(); if(linkNum==7) tool=linkOffset(links.get(6)); // compute the transform from tip to wrist center TransformNR wristCenterOffsetTransform = linkOffset(links.get(5)).times(tool); - //System.out.println( wristCenterOffsetTransform + //com.neuronrobotics.sdk.common.Log.error( wristCenterOffsetTransform // take off the tool from the target to get the center of the wrist newCenter = target.times(wristCenterOffsetTransform.inverse()); } @@ -68,17 +68,17 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec // Compute the xy plane projection of the tip // this is the angle of the tipto the base link if(x==0&&y==0) { - System.out.println( "Singularity! try something else"); + com.neuronrobotics.sdk.common.Log.error( "Singularity! try something else"); return inverseKinematics6dof(target.copy().translateX(0.01),jointSpaceVector,chain); } - if(debug)System.out.println( "Wrist center for IK "+x+","+y+","+z); + if(debug)com.neuronrobotics.sdk.common.Log.error( "Wrist center for IK "+x+","+y+","+z); double baseVectorAngle = Math.toDegrees(Math.atan2(y , x)); double elbowLink1CompositeLength = length(l1Offset); double elbowLink2CompositeLength=length(l3Offset); double wristVect = length(newCenter); - if(debug)System.out.println( "elbowLink1CompositeLength "+elbowLink1CompositeLength); - if(debug)System.out.println( "elbowLink2CompositeLength "+elbowLink2CompositeLength); - if(debug)System.out.println( "Elbo Hypotinuse "+wristVect); + if(debug)com.neuronrobotics.sdk.common.Log.error( "elbowLink1CompositeLength "+elbowLink1CompositeLength); + if(debug)com.neuronrobotics.sdk.common.Log.error( "elbowLink2CompositeLength "+elbowLink2CompositeLength); + if(debug)com.neuronrobotics.sdk.common.Log.error( "Elbo Hypotinuse "+wristVect); double elbowTiltAngle =-( Math.toDegrees( Math.acos( ( @@ -90,7 +90,7 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec (2*elbowLink2CompositeLength*elbowLink1CompositeLength) ) )); - if(debug)System.out.println( "Elbow angle "+elbowTiltAngle); + if(debug)com.neuronrobotics.sdk.common.Log.error( "Elbow angle "+elbowTiltAngle); jointSpaceVector[2]=elbowTiltAngle - Math.toDegrees(links.get(2).getTheta()); TransformNR local = new TransformNR(0,0,0,new RotationNR(0, -baseVectorAngle, 0)); @@ -100,7 +100,7 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec double L1 = length(l1Offset); double L2 = length(l3Offset); - if(debug)System.out.println( "L1 "+L1+" l2 "+L2+" z "+elZ+" x "+elX); + if(debug)com.neuronrobotics.sdk.common.Log.error( "L1 "+L1+" l2 "+L2+" z "+elZ+" x "+elX); /** * System of equasions * Theta2 = asin(z/wristVect) @@ -139,10 +139,10 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec ); } TransformNR sphericalElbowTartget = reorent.times(newCenter); - //System.out.println( newCenter - //System.out.println( sphericalElbowTartget + //com.neuronrobotics.sdk.common.Log.error( newCenter + //com.neuronrobotics.sdk.common.Log.error( sphericalElbowTartget sphericalElbowTartget = new TransformNR(0.0,-sphericalElbowTartget.getY(),0.0, new RotationNR()).times(sphericalElbowTartget); - //System.out.println( sphericalElbowTartget + //com.neuronrobotics.sdk.common.Log.error( sphericalElbowTartget double theta3 = Math.atan2(sphericalElbowTartget.getZ(), sphericalElbowTartget.getX()); jointSpaceVector[1]=-Math.toDegrees(theta3) ; @@ -167,10 +167,10 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec TransformNR wristMOvedToCenter0 =startOfWristSet .inverse()// move back from base ot wrist to world home .times(virtualcenter);// move forward to target, leaving the angle between the tip and the start of the rotation - //if(debug)System.out.println( wristMOvedToCenter0 + //if(debug)com.neuronrobotics.sdk.common.Log.error( wristMOvedToCenter0 RotationNR qWrist=wristMOvedToCenter0.getRotation(); if(wristMOvedToCenter0.getX()==0&&wristMOvedToCenter0.getY()==0) { - System.out.println( "Singularity! try something else"); + com.neuronrobotics.sdk.common.Log.error( "Singularity! try something else"); return inverseKinematics6dof(target.copy().translateX(0.01),jointSpaceVector,chain); } double closest= (Math.toDegrees(Math.atan2(wristMOvedToCenter0.getY(), wristMOvedToCenter0.getX()))-Math.toDegrees(links.get(3).getTheta())); @@ -192,10 +192,10 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec TransformNR wristMOvedToCenter1 =startOfWristSet2 .inverse()// move back from base ot wrist to world home .times(virtualcenter);// move forward to target, leaving the angle between the tip and the start of the rotation - //if(debug)System.out.println( " Middle link =" +wristMOvedToCenter1 + //if(debug)com.neuronrobotics.sdk.common.Log.error( " Middle link =" +wristMOvedToCenter1 RotationNR qWrist2=wristMOvedToCenter1.getRotation(); if(wristMOvedToCenter1.getX()==0&&wristMOvedToCenter1.getY()==0) { - System.out.println( "Singularity! try something else"); + com.neuronrobotics.sdk.common.Log.error( "Singularity! try something else"); return inverseKinematics6dof(target.copy().translateX(0.01),jointSpaceVector,chain); } jointSpaceVector[4]=(Math.toDegrees(Math.atan2(wristMOvedToCenter1.getY(), wristMOvedToCenter1.getX()))- @@ -217,7 +217,7 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec TransformNR wristMOvedToCenter2 =startOfWristSet3 .inverse()// move back from base ot wrist to world home .times(target.times(tool.inverse()));// move forward to target, leaving the angle between the tip and the start of the rotation - //if(debug)System.out.println( "\n\nLastLink " +wristMOvedToCenter2 + //if(debug)com.neuronrobotics.sdk.common.Log.error( "\n\nLastLink " +wristMOvedToCenter2 RotationNR qWrist3=wristMOvedToCenter2.getRotation(); jointSpaceVector[5]=(Math.toDegrees(qWrist3.getRotationAzimuth())-Math.toDegrees(links.get(5).getTheta())); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java index d4f15caf..62ec6ebd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java @@ -47,7 +47,7 @@ public RotationNRLegacy(double tilt, double elevation, double azumeth) { loadFromAngles(tilt, azumeth, elevation); if (Double.isNaN(getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotationMatrix2QuaturnionX()) || Double.isNaN(getRotationMatrix2QuaturnionY()) || Double.isNaN(getRotationMatrix2QuaturnionZ())) { - // System.err.println("Failing to set proper angle, jittering"); + // com.neuronrobotics.sdk.common.Log.error("Failing to set proper angle, jittering"); loadFromAngles(tilt + Math.random() * .02 + .001, azumeth + Math.random() * .02 + .001, elevation + Math.random() * .02 + .001); } @@ -70,13 +70,13 @@ private void loadFromAngles(double tilt, double azumeth, double elevation) { double s3 = Math.sin(bank / 2); double c1c2 = c1 * c2; double s1s2 = s1 * s2; - // System.out.println("C1 ="+c1+" S1 ="+s1+" |C2 ="+c2+" S2 ="+s2+" |C3 + // com.neuronrobotics.sdk.common.Log.error("C1 ="+c1+" S1 ="+s1+" |C2 ="+c2+" S2 ="+s2+" |C3 // ="+c3+" S3 ="+s3); w = c1c2 * c3 - s1s2 * s3; x = c1c2 * s3 + s1s2 * c3; y = s1 * c2 * c3 + c1 * s2 * s3; z = c1 * s2 * c3 - s1 * c2 * s3; - // System.out.println("W ="+w+" x ="+x+" y ="+y+" z ="+z); + // com.neuronrobotics.sdk.common.Log.error("W ="+w+" x ="+x+" y ="+y+" z ="+z); quaternion2RotationMatrix(w, x, y, z); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index 2db1dda4..c3b5851c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -90,7 +90,7 @@ public void setupReferencedLimbStartup(DHParameterKinematics limb, TransformNR t tipOffsetRelativeToName.put(limb, name); tipOffsetRelativeIndex.put(limb, index); getTipOffset().put(limb, tip); - System.out.println("Limb "+limb.getScriptingName()+" set relative to "+name); + com.neuronrobotics.sdk.common.Log.error("Limb "+limb.getScriptingName()+" set relative to "+name); } else { clearReferencedLimb(limb); DHParameterKinematics fk=getFKLimb(); @@ -106,9 +106,9 @@ public void setupReferencedLimbStartup(DHParameterKinematics limb, TransformNR t // for (DHParameterKinematics d : getConstituantLimbs()) { // if (getTipOffset(d) != null) { // try { -// //System.out.println("Setting Kinematics for follower "+d.getScriptingName()); +// //com.neuronrobotics.sdk.common.Log.error("Setting Kinematics for follower "+d.getScriptingName()); // double[] jointSpaceVect = compute(d, IKvalues, pose); -// //System.out.println(fk.getScriptingName()+" is Setting sublimb target "+d.getScriptingName()); +// //com.neuronrobotics.sdk.common.Log.error(fk.getScriptingName()+" is Setting sublimb target "+d.getScriptingName()); // d.throwExceptionOnJointLimit(false); // d.setDesiredJointSpaceVector(jointSpaceVect, 0); // } catch (Exception e) { @@ -149,7 +149,7 @@ private double[] compute(DHParameterKinematics ldh, HashMap IK TransformNR taskSpaceTransform) throws Exception { String scriptingName = ldh.getScriptingName(); if (IKvalues.get(scriptingName) == null) { - //System.out.println("Perform IK "+ldh.getScriptingName()); + //com.neuronrobotics.sdk.common.Log.error("Perform IK "+ldh.getScriptingName()); if (getTipOffset().get(ldh) == null) { // no offset, compute as normal double[] jointSpaceVect = ldh.inverseKinematics(ldh.inverseOffset(taskSpaceTransform)); @@ -180,7 +180,7 @@ private DHParameterKinematics findReferencedLimb(String refLimbName) { // FOund the referenced limb referencedLimb = lm; }else { - //System.out.println("Searching for "+refLimbName+" no match with "+lm.getScriptingName()); + //com.neuronrobotics.sdk.common.Log.error("Searching for "+refLimbName+" no match with "+lm.getScriptingName()); } } return referencedLimb; @@ -195,7 +195,7 @@ private DHParameterKinematics findReferencedLimb(String refLimbName) { public void setCurrentPoseTarget(TransformNR currentPoseTarget) { if (checkTaskSpaceTransform(currentPoseTarget)) { super.setCurrentPoseTarget(currentPoseTarget); - //System.out.println("Paralell set to " + currentPoseTarget); + //com.neuronrobotics.sdk.common.Log.error("Paralell set to " + currentPoseTarget); } } public double[] getCurrentJointSpaceVector(DHParameterKinematics k) { @@ -227,7 +227,7 @@ public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Excepti } public void printError(TransformNR taskSpaceTransform) throws Exception { printError(taskSpaceTransform,t -> { - System.out.println(t); + com.neuronrobotics.sdk.common.Log.error(t); }); } public void printError(TransformNR taskSpaceTransform, Consumer printer) throws Exception { diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java index 6e73e2b3..1011ff88 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java @@ -92,7 +92,7 @@ public static String getTagValue(String sTag, Element eElement){ NodeList nlList= eElement.getElementsByTagName(sTag).item(0).getChildNodes(); Node nValue = (Node) nlList.item(0); - // System.out.println("\t\t"+sTag+" = "+nValue.getNodeValue()); + // com.neuronrobotics.sdk.common.Log.error("\t\t"+sTag+" = "+nValue.getNodeValue()); return nValue.getNodeValue(); } @@ -106,7 +106,7 @@ public static String getTagValue(String sTag, Element eElement){ public static Double getTagValueDouble(String sTag, Element eElement){ NodeList nlList= eElement.getElementsByTagName(sTag).item(0).getChildNodes(); Node nValue = (Node) nlList.item(0); - // System.out.println("\t\t"+sTag+" = "+nValue.getNodeValue()); + // com.neuronrobotics.sdk.common.Log.error("\t\t"+sTag+" = "+nValue.getNodeValue()); return Double.parseDouble(nValue.getNodeValue()); } } diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/Core.java b/src/main/java/com/neuronrobotics/sdk/bootloader/Core.java index 3c043280..f0ac71f0 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/Core.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/Core.java @@ -55,14 +55,14 @@ public Core(int core,String file, NRBootCoreType type){ try { tmp.add(new hexLine(strLine)); } catch (Exception e) { - System.err.println("This is not a valid hex file"); + com.neuronrobotics.sdk.common.Log.error("This is not a valid hex file"); } } //Close the input stream in.close(); setLines(tmp); }catch (Exception e) { - ////System.out.println("File not found!!"); + ////com.neuronrobotics.sdk.common.Log.error("File not found!!"); } } diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/Hexml.java b/src/main/java/com/neuronrobotics/sdk/bootloader/Hexml.java index 870d5934..4acd5460 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/Hexml.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/Hexml.java @@ -48,11 +48,11 @@ public Hexml(File hexml) throws ParserConfigurationException, SAXException, IOEx doc = dBuilder.parse(hexml); doc.getDocumentElement().normalize(); - ////System.out.println("Root element :" + doc.getDocumentElement().getNodeName()); + ////com.neuronrobotics.sdk.common.Log.error("Root element :" + doc.getDocumentElement().getNodeName()); loadRevision(doc); //NodeList nList = doc.getElementsByTagName("revision"); //revision = getTagValue("revision",(Element)nList.item(0)); - ////System.out.println("Revision is:"+revision); + ////com.neuronrobotics.sdk.common.Log.error("Revision is:"+revision); NodeList nList = doc.getElementsByTagName("core"); for (int temp = 0; temp < nList.getLength(); temp++) { Node nNode = nList.item(temp); @@ -62,7 +62,7 @@ public Hexml(File hexml) throws ParserConfigurationException, SAXException, IOEx //int word = Integer.parseInt(getTagValue("wordSize",eElement)); NRBootCoreType type = NRBootCoreType.find(getTagValue("type",eElement)); if (type == null) { - System.err.println("Failed to get a core type for: "+getTagValue("type",eElement)); + com.neuronrobotics.sdk.common.Log.error("Failed to get a core type for: "+getTagValue("type",eElement)); continue; } String hexFile = getTagValue("hex",eElement); @@ -77,7 +77,7 @@ public Hexml(File hexml) throws ParserConfigurationException, SAXException, IOEx } } Core tmp = new Core(index, lines, type); - ////System.out.println("Adding new core: "+tmp); + ////com.neuronrobotics.sdk.common.Log.error("Adding new core: "+tmp); cores.add(tmp); } } diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java b/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java index f9e6a5ff..3e00ebd9 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java @@ -77,11 +77,11 @@ public IntelHexParser(ArrayList lines, NRBootCoreType type) throws IOEx if (l.getRecordType()==4){ byte[] haddr=l.getDataBytes(); highAddress = ByteList.convertToInt(haddr, false)*65536; - ////System.out.println("High Address :" + highAddress); + ////com.neuronrobotics.sdk.common.Log.error("High Address :" + highAddress); } if (l.getRecordType()==0){ l.setHighAddress(highAddress); - ////System.out.println(l); + ////com.neuronrobotics.sdk.common.Log.error(l); currentAddress=l.getStartAddress(); checkAddressValidity(currentAddress,type); diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBoot.java b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBoot.java index e3d4569b..b5dc0e74 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBoot.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBoot.java @@ -42,7 +42,7 @@ public NRBoot(BowlerAbstractDevice pm){ //JOptionPane.showMessageDialog(null, message, message, JOptionPane.ERROR_MESSAGE); throw e; } - //System.out.println("Connection to bowler device ready"); + //com.neuronrobotics.sdk.common.Log.error("Connection to bowler device ready"); } /** @@ -54,10 +54,10 @@ public NRBoot(String serialPort){ this.boot=new NRBootLoader(new SerialConnection(serialPort)); boot.connect(); if (boot.ping()){ - //System.out.println("Connection to bowler device ready"); + //com.neuronrobotics.sdk.common.Log.error("Connection to bowler device ready"); return; } - //System.out.println("Not a Bowler Device"); + //com.neuronrobotics.sdk.common.Log.error("Not a Bowler Device"); boot.disconnect(); boot=null; } @@ -72,12 +72,12 @@ public boolean load(Core core) { String id = getDevice().getBootloaderID(); if (id==null){ - System.err.println("Device is not a bootloader"); + com.neuronrobotics.sdk.common.Log.error("Device is not a bootloader"); return false; }else if (id.contains(core.getType().getReadableName())) { - //System.out.println("Bootloader ID:"+core.getType().getReadableName()); + //com.neuronrobotics.sdk.common.Log.error("Bootloader ID:"+core.getType().getReadableName()); }else{ - System.err.println("##core is Invalid##\nExpected:"+core.getType().getReadableName()+" got: "+id); + com.neuronrobotics.sdk.common.Log.error("##core is Invalid##\nExpected:"+core.getType().getReadableName()+" got: "+id); return false; } @@ -110,13 +110,13 @@ private IntelHexParser getParser(Core core) { */ private void send(IntelHexParser parse,int core){ boot.erase(core); - //System.out.println("Writing to flash"); + //com.neuronrobotics.sdk.common.Log.error("Writing to flash"); int printLine=0; ByteData line = parse.getNext(); while (line != null){ if(!boot.write(core, line)){ - //System.out.println("Failed to write, is the device in bootloader mode?"); + //com.neuronrobotics.sdk.common.Log.error("Failed to write, is the device in bootloader mode?"); return; } diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootLoader.java b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootLoader.java index ba868781..e7471a2b 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootLoader.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootLoader.java @@ -44,11 +44,11 @@ public NRBootLoader(BowlerAbstractConnection serialConnection) { @Override public boolean connect() { if(super.connect()) { - //System.out.println("Connect OK"); + //com.neuronrobotics.sdk.common.Log.error("Connect OK"); try { getBootloaderID(); }catch (Exception e) { - //System.out.println("Failed bootloader test"); + //com.neuronrobotics.sdk.common.Log.error("Failed bootloader test"); disconnect(); } } @@ -95,7 +95,7 @@ public boolean write(int core, ByteData flashData){ return true; } } - System.err.println("\nFailed to send 10 times!\n"); + com.neuronrobotics.sdk.common.Log.error("\nFailed to send 10 times!\n"); return false; } @@ -132,7 +132,7 @@ public void reset(){ */ public void onAllResponse(BowlerDatagram data) { // TODO Auto-generated method stub - ////System.out.println(data); + ////com.neuronrobotics.sdk.common.Log.error(data); } /* (non-Javadoc) diff --git a/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java b/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java index 9ad69fb9..6a6d7e61 100644 --- a/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java @@ -89,7 +89,7 @@ public void onAllResponse(BowlerDatagram data) { * @throws IOException Signals that an I/O exception has occurred. */ public BufferedImage getHighSpeedImage(int cam) throws MalformedURLException, IOException { - //System.out.println("Getting HighSpeedImage"); + //com.neuronrobotics.sdk.common.Log.error("Getting HighSpeedImage"); while(urls.size()<(cam+1) && isAvailable()){ Log.info("Adding dummy url: "+urls.size()); urls.add(null); @@ -99,11 +99,11 @@ public BufferedImage getHighSpeedImage(int cam) throws MalformedURLException, IO images.add(null); } if(urls.get(cam) == null){ - //System.out.println("URL List element is empty: "+urls); + //com.neuronrobotics.sdk.common.Log.error("URL List element is empty: "+urls); urls.set(cam,getImageServerURL(cam)); } try { - //System.out.println("Reading: "+urls.get(cam) ); + //com.neuronrobotics.sdk.common.Log.error("Reading: "+urls.get(cam) ); ImageReader ir = new ImageReader(cam); ir.start(); long start = currentTimeMillis(); @@ -175,7 +175,7 @@ public void onAsyncResponse(BowlerDatagram data) { tmp.add(imgData); } if(index == (total)){ - ////System.out.println("Making image"); + ////com.neuronrobotics.sdk.common.Log.error("Making image"); BufferedImage image=null; try { synchronized(tmp) { @@ -191,7 +191,7 @@ public void onAsyncResponse(BowlerDatagram data) { } images.set(camera, image); fireIWebcamImageListenerEvent(camera,images.get(camera)); - //System.out.println("Image OK"); + //com.neuronrobotics.sdk.common.Log.error("Image OK"); } } @@ -345,27 +345,27 @@ public highSpeedAutoCapture(int cam,double scale,int fps){ return; } mspf = (int)(1000.0/((double)fps)); - //System.out.println("MS/frame: "+mspf); + //com.neuronrobotics.sdk.common.Log.error("MS/frame: "+mspf); } /* (non-Javadoc) * @see java.lang.Thread#run() */ public void run() { - //System.out.println("Starting auto capture on: "+getImageServerURL(cam)); + //com.neuronrobotics.sdk.common.Log.error("Starting auto capture on: "+getImageServerURL(cam)); long st = currentTimeMillis(); while(running && isAvailable()) { - //System.out.println("Getting image from: "+getImageServerURL(cam)); + //com.neuronrobotics.sdk.common.Log.error("Getting image from: "+getImageServerURL(cam)); try { - //System.out.println("Capturing"); + //com.neuronrobotics.sdk.common.Log.error("Capturing"); BufferedImage im =getHighSpeedImage(cam); if(scale>1.01||scale<.99) im = resize(im, scale); if(im!=null){ - //System.out.println("Fireing"); + //com.neuronrobotics.sdk.common.Log.error("Fireing"); fireIWebcamImageListenerEvent(cam,im); } - //System.out.println("ok"); + //com.neuronrobotics.sdk.common.Log.error("ok"); } catch (Exception e) { e.printStackTrace(); } @@ -388,7 +388,7 @@ public void run() { * Kill. */ public void kill() { - //System.out.println("Killing auto capture on cam: "+cam); + //com.neuronrobotics.sdk.common.Log.error("Killing auto capture on cam: "+cam); running = false; } } diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetValueCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetValueCommand.java index e5f1e28e..8f56c790 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetValueCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetValueCommand.java @@ -55,11 +55,11 @@ public byte[] getCallingData() { public BowlerDatagram validate(BowlerDatagram data) throws InvalidResponseException { super.validate(data); if (data == null){ - //System.err.println("No response to Get Value Command\n"+data); + //com.neuronrobotics.sdk.common.Log.error("No response to Get Value Command\n"+data); throw new InvalidResponseException("Get Channel Value did not respond."); } if(!data.getRPC().equals(getOpCode())) { - //System.err.println("Wrong response to Get Value Command, expected:"+getOpCode()+", got:\n"+data); + //com.neuronrobotics.sdk.common.Log.error("Wrong response to Get Value Command, expected:"+getOpCode()+", got:\n"+data); throw new InvalidResponseException("Get Channel Value did not return with 'gchv'.\n"+data); } diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetUARTBaudrateCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetUARTBaudrateCommand.java index 4d75c607..ef5b13e7 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetUARTBaudrateCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetUARTBaudrateCommand.java @@ -49,7 +49,7 @@ public BowlerDatagram validate(BowlerDatagram data) throws InvalidResponseExcept if(!data.getRPC().equals("_rdy")) { throw new InvalidResponseException("Could not set the UART passthough baudrate."); } - //System.out.println("Baudrate set return: \n"+data); + //com.neuronrobotics.sdk.common.Log.error("Baudrate set return: \n"+data); return data; } } diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/ProgramSectionCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/ProgramSectionCommand.java index 41c3f1e1..8e651d04 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/ProgramSectionCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/ProgramSectionCommand.java @@ -32,7 +32,7 @@ public static String hex(long n) { */ public ProgramSectionCommand(int channel, int address, ByteList byteData) { setOpCode("prog"); - System.out.println("Sending to address "+hex(address)+" size = "+byteData.size()); + com.neuronrobotics.sdk.common.Log.error("Sending to address "+hex(address)+" size = "+byteData.size()); setMethod(BowlerMethod.CRITICAL); getCallingDataStorage().add(channel); getCallingDataStorage().addAs32(address); diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractCommand.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractCommand.java index becd6c7a..d9a0a008 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractCommand.java @@ -129,7 +129,7 @@ public BowlerDatagram validate(BowlerDatagram data) throws InvalidResponseExcept if( data.getRPC().equals("_err")) { Integer zone=Integer.valueOf(data.getData().getByte(0)); Integer section=Integer.valueOf(data.getData().getByte(1)); - //System.err.println("Failed!!\n"+data); + //com.neuronrobotics.sdk.common.Log.error("Failed!!\n"+data); switch(zone) { default: throw new InvalidResponseException("Unknown error. (" + zone + " " + section + ")"); diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractConnection.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractConnection.java index b9100408..4efe00d2 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractConnection.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractConnection.java @@ -343,7 +343,7 @@ public synchronized void setConnected(boolean c) { @Override public void run() { if(isConnected()){ - //System.out.println("WARNING: Bowler devices should be shut down before exit"); + //com.neuronrobotics.sdk.common.Log.error("WARNING: Bowler devices should be shut down before exit"); disconnect(); } } @@ -867,7 +867,7 @@ public ArrayList getNamespaces(MACAddress addr){ if(tmpNs.length() == namespacePacket.getData().size()){ //Done with the packet BowlerDatagramFactory.freePacket(namespacePacket); - //System.out.println("Ns = "+tmpNs+" len = "+tmpNs.length()+" data = "+b.getData().size()); + //com.neuronrobotics.sdk.common.Log.error("Ns = "+tmpNs+" len = "+tmpNs.length()+" data = "+b.getData().size()); namespacePacket = send(new NamespaceCommand(),addr,5); num= namespacePacket.getData().getByte(0); @@ -995,7 +995,7 @@ public ArrayList getRpcList(String namespace,MACAddress addr) BowlerDatagram b = send(new RpcCommand(namespaceIndex),addr,5); if(!b.getRPC().contains("_rpc")){ - System.err.println(b); + com.neuronrobotics.sdk.common.Log.error(b); throw new RuntimeException("This RPC index request has failed"); } //int ns = b.getData().getByte(0);// gets the index of the namespace @@ -1017,7 +1017,7 @@ public ArrayList getRpcList(String namespace,MACAddress addr) for (int i=0;i getRpcList(String namespace,MACAddress addr) BowlerDatagramFactory.freePacket(b); b = send(new RpcArgumentsCommand(namespaceIndex,i),addr,5); if(!b.getRPC().contains("args")){ - System.err.println(b); + com.neuronrobotics.sdk.common.Log.error(b); throw new RuntimeException("This RPC section failed"); } byte []data = b.getData().getBytes(2); @@ -1096,7 +1096,7 @@ public BowlerDatagram send(BowlerAbstractCommand command,MACAddress addr, int re BowlerDatagram ret; try{ ret = send( command,addr,switchParser); - //System.out.println(ret); + //com.neuronrobotics.sdk.common.Log.error(ret); if(ret != null){ addr.setValues(ret.getAddress()); //if(!ret.getRPC().contains("_err")) @@ -1249,7 +1249,7 @@ public void stopHeartBeat(){ */ private void runHeartBeat(){ if((msSinceLastSend())>heartBeatTime){ - //System.out.println("Heartbeat"); + //com.neuronrobotics.sdk.common.Log.error("Heartbeat"); try{ if(!ping(new MACAddress())){ Log.debug("Ping failed, disconnecting"); @@ -1549,7 +1549,7 @@ public void write(byte[] data) throws IOException { while(outgoing.size()>0){ byte[] b =outgoing.popList(getChunkSize()); - //System.out.println("Writing "+new ByteList(data)); + //com.neuronrobotics.sdk.common.Log.error("Writing "+new ByteList(data)); getDataOuts().write( b ); getDataOuts().flush(); } diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java index 5847bf33..51b2131f 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java @@ -110,7 +110,7 @@ public void addConnectionEventListener(final IDeviceConnectionEventListener l ) if(!getDisconnectListeners().contains(l)) { getDisconnectListeners().add(l); } -// System.err.println(getScriptingName()+" Adding listener "+l.getClass()); +// com.neuronrobotics.sdk.common.Log.error(getScriptingName()+" Adding listener "+l.getClass()); // l.trace.printStackTrace(); // new Exception().printStackTrace(); BowlerAbstractDevice bad = this; @@ -239,7 +239,7 @@ public void setAddress(MACAddress address) { * @return the device's address */ public MACAddress getAddress() { - //System.out.println(); + //com.neuronrobotics.sdk.common.Log.error(); return address; } @@ -427,7 +427,7 @@ public void loadRpcList() { ArrayList names = getNamespaces(); for (String s:names){ - System.out.println(getRpcList(s)); + com.neuronrobotics.sdk.common.Log.error(getRpcList(s)); } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java index eddc8927..93cfc971 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java @@ -244,7 +244,7 @@ public void parse(ByteList raw) { setMethod(BowlerMethod.get(raw.getByte(7))); if(getMethod() == null){ setMethod(BowlerMethod.STATUS); - System.err.println("Method was invalid!! Value="+raw.getUnsigned(7)); + com.neuronrobotics.sdk.common.Log.error("Method was invalid!! Value="+raw.getUnsigned(7)); Log.error("Method was invalid!! Value="+raw.getUnsigned(7)); } diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java index 06a1dab1..0f7d639c 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java @@ -58,7 +58,7 @@ public static void addConnection(final Object newDevice, String name) { */ private static void addConnectionBAD(final BowlerAbstractDevice newDevice, String name) { if (DeviceManager.getSpecificDevice(name) == newDevice) { - System.out.println("Device " + name + " is already in the manager"); + com.neuronrobotics.sdk.common.Log.error("Device " + name + " is already in the manager"); return; } if ( DMDevice.class.isInstance(newDevice)) { @@ -68,7 +68,7 @@ private static void addConnectionBAD(final BowlerAbstractDevice newDevice, Strin if(DMDevice.class.isInstance(sDev)) { DMDevice inside = (DMDevice) sDev; if (inside.getWrapped() == incoming.getWrapped()) { - System.out.println("Wrapped Device " + name + " is already in the manager"); + com.neuronrobotics.sdk.common.Log.error("Wrapped Device " + name + " is already in the manager"); return; } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index 51f3cc9b..5276cd0a 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -89,8 +89,8 @@ private Log() { * * @param message the message to log as an error */ - public static void error(String message) { - instance().add(message, ERROR); + public static void error(Object message) { + instance().add(message.toString(), ERROR); } /** @@ -165,7 +165,7 @@ private void add(String message, int importance) { if(debugprint&& systemprint) { outStream.println("# " + message); if(outStream != System.out) - System.out.println(m); + System.err.println(m); } diff --git a/src/main/java/com/neuronrobotics/sdk/common/MACAddress.java b/src/main/java/com/neuronrobotics/sdk/common/MACAddress.java index 949553bf..93a50430 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/MACAddress.java +++ b/src/main/java/com/neuronrobotics/sdk/common/MACAddress.java @@ -162,7 +162,7 @@ public void increment(){ * @param address2 the new values */ public void setValues(MACAddress address2) { - //System.out.println("Setting new values: "+address2); + //com.neuronrobotics.sdk.common.Log.error("Setting new values: "+address2); for(int i=0; i<6; i++) { address[i] = address2.address[i]; } diff --git a/src/main/java/com/neuronrobotics/sdk/common/TickToc.java b/src/main/java/com/neuronrobotics/sdk/common/TickToc.java index 9ce2198d..cef0e325 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/TickToc.java +++ b/src/main/java/com/neuronrobotics/sdk/common/TickToc.java @@ -23,7 +23,7 @@ public void print(Pair start,Pair previous) { m=m+" from last event "+df.format(diffms/1000.0)+" seconds "; } m=m+" "+message; - System.out.println(m); + com.neuronrobotics.sdk.common.Log.error(m); } } @@ -45,7 +45,7 @@ public static void toc() { events.add(new Pair(System.currentTimeMillis(), "Toc end event")); Pair start = events.remove(0); Pair previous=null; - System.out.println("\n\n"); + com.neuronrobotics.sdk.common.Log.error("\n\n"); for (int i = 0; i < events.size(); i++) { Pair p = events.get(i); p.print(start,previous); @@ -65,7 +65,7 @@ public static void setEnabled(boolean enabled) { if(!enabled) clear(); else { - System.out.println("Start TickToc"); + com.neuronrobotics.sdk.common.Log.error("Start TickToc"); tic("Tick Tock start"); } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractServer.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractServer.java index 4e54abab..955ce06d 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractServer.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractServer.java @@ -129,7 +129,7 @@ private BowlerDatagram processLocal(BowlerDatagram data) { throw new RuntimeException("No namespaces defined"); } for (BowlerAbstractDeviceServerNamespace n : getNamespaces()) { - // System.out.println("Checking "+n.getNamespaces().get(0)); + // com.neuronrobotics.sdk.common.Log.error("Checking "+n.getNamespaces().get(0)); if (n.checkRpc(data)) { BowlerDatagram d = n.process(data); if (d != null) { @@ -329,7 +329,7 @@ public synchronized void pushAsyncPacket(BowlerDatagram data) { run = true; } if (localServers.get(i).getClass() != BowlerUDPServer.class) { - // System.out.println("Sending packet to "+getServers().get(i).getClass()); + // com.neuronrobotics.sdk.common.Log.error("Sending packet to "+getServers().get(i).getClass()); if (run && localServers.get(i).isConnected()) { // Log.warning("ASYNC<<\r\n"+data ); String classString = localServers.get(i).getClass() diff --git a/src/main/java/com/neuronrobotics/sdk/config/SDKBuildInfo.java b/src/main/java/com/neuronrobotics/sdk/config/SDKBuildInfo.java index 8c36eaab..b9bb914d 100644 --- a/src/main/java/com/neuronrobotics/sdk/config/SDKBuildInfo.java +++ b/src/main/java/com/neuronrobotics/sdk/config/SDKBuildInfo.java @@ -117,7 +117,7 @@ public static String getBuildDate() { } } catch (IOException e) { } - // System.out.println("Manifest:\n"+s); + // com.neuronrobotics.sdk.common.Log.error("Manifest:\n"+s); return ""; } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java index dd2cf441..b9213685 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java @@ -311,7 +311,7 @@ public String getFirmwareRevString(){ public ArrayList getChannels() { ArrayList c = new ArrayList(); for(DyIOChannel chan:getInternalChannels() ) { - //System.out.println(this.getClass()+" Adding channel: "+chan.getChannelNumber()+" as mode: "+chan.getMode()); + //com.neuronrobotics.sdk.common.Log.error(this.getClass()+" Adding channel: "+chan.getChannelNumber()+" as mode: "+chan.getMode()); c.add(chan); } return c; @@ -501,7 +501,7 @@ public boolean resync() { Log.info("\n\nUpdating channel: "+i); getInternalChannels().get(i).update(this, i, cm, editable); }catch(IndexOutOfBoundsException e){ - //System.out.println("New channel "+i); + //com.neuronrobotics.sdk.common.Log.error("New channel "+i); getInternalChannels().add(new DyIOChannel(this, i, cm, editable)); DyIOChannel dc =getInternalChannels().get(i); dc.fireModeChangeEvent(dc.getCurrentMode()); @@ -576,7 +576,7 @@ public void removeAllDyIOEventListeners() { * - the event to fire to all listeners */ public void fireDyIOEvent(IDyIOEvent e) { - //System.out.println("DyIO Event: "+e); + //com.neuronrobotics.sdk.common.Log.error("DyIO Event: "+e); for(IDyIOEventListener l : listeners) { l.onDyIOEvent(e); } @@ -646,12 +646,12 @@ public void setCachedMode(boolean mode) { * @param seconds the seconds */ public void flushCache(double seconds) { - //System.out.println("Updating all channels"); + //com.neuronrobotics.sdk.common.Log.error("Updating all channels"); Integer [] values = new Integer[getInternalChannels().size()]; int i=0; for(DyIOChannel d:getInternalChannels()) { values[i++]=d.getCachedValue(); - //System.out.println("Flushing chan "+d+" to "+d.getCachedValue()); + //com.neuronrobotics.sdk.common.Log.error("Flushing chan "+d+" to "+d.getCachedValue()); } if(isLegacyParser()){ for(int j=0;j<5;j++) { @@ -659,7 +659,7 @@ public void flushCache(double seconds) { send(new SetAllChannelValuesCommand(seconds,values)); return; }catch (InvalidResponseException e1) { - System.err.println("Failed to update all, retrying"); + com.neuronrobotics.sdk.common.Log.error("Failed to update all, retrying"); } } }else{ @@ -1096,7 +1096,7 @@ public void startHeartBeat(long msHeartBeatTime){ if(b== null) checkFirmwareRev(); }catch(Exception e){ - System.err.println("DyIO is out of date"); + com.neuronrobotics.sdk.common.Log.error("DyIO is out of date"); checkFirmwareRev(); } } @@ -1124,7 +1124,7 @@ public void stopHeartBeat(){ if(b== null) checkFirmwareRev(); }catch(Exception e){ - System.err.println("DyIO is out of date"); + com.neuronrobotics.sdk.common.Log.error("DyIO is out of date"); checkFirmwareRev(); } } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannel.java index d3a193f8..374f5805 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannel.java @@ -262,7 +262,7 @@ public void resync(boolean all) { return; } BowlerDatagram bd = getDevice().send(new GetChannelModeCommand(number)); - //System.out.println(bd); + //com.neuronrobotics.sdk.common.Log.error(bd); fireModeChangeEvent(DyIOChannelMode.get(bd.getData().getByte(1))); throw new RuntimeException(); } @@ -526,11 +526,11 @@ public boolean setMode(DyIOChannelMode mode, boolean async) { "schm", new Object[]{getChannelNumber(),mode.getValue(),async?1:0}); ByteList currentModes = (ByteList) args[0]; - //System.out.println("Setting # "+getChannelNumber()+" to "+mode); + //com.neuronrobotics.sdk.common.Log.error("Setting # "+getChannelNumber()+" to "+mode); for (int j=0;j0){ ByteList b; if(bl.size()>20){ @@ -60,7 +60,7 @@ public void write(ByteList bl) throws IOException { }else{ b = new ByteList(bl.popList(bl.size())); } - //System.out.println("Sending ByteList: "+b.asString()); + //com.neuronrobotics.sdk.common.Log.error("Sending ByteList: "+b.asString()); chan.setValue(b); } } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PPMReaderChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PPMReaderChannel.java index e572c773..20a70eb6 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PPMReaderChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PPMReaderChannel.java @@ -133,7 +133,7 @@ public void setCrossLink(int [] links){ private void updateValues() { if(getChannel().getDevice().isLegacyParser()){ BowlerDatagram b=null; - //System.out.println("Updating value map"); + //com.neuronrobotics.sdk.common.Log.error("Updating value map"); try { b= getChannel().getDevice().send(new GetValueCommand(23)); }catch (Exception e) { diff --git a/src/main/java/com/neuronrobotics/sdk/javaxusb/UsbCDCSerialConnection.java b/src/main/java/com/neuronrobotics/sdk/javaxusb/UsbCDCSerialConnection.java index 57555527..5d646790 100644 --- a/src/main/java/com/neuronrobotics/sdk/javaxusb/UsbCDCSerialConnection.java +++ b/src/main/java/com/neuronrobotics/sdk/javaxusb/UsbCDCSerialConnection.java @@ -321,14 +321,14 @@ private static void dumpDevice(final UsbDevice device, // robotics // devices // Dump information about the device itself - // System.out.println("Device: "+device.getProductString()); + // com.neuronrobotics.sdk.common.Log.error("Device: "+device.getProductString()); addrs.add(device); // Dump device descriptor - // System.out.println(device.getUsbDeviceDescriptor()); + // com.neuronrobotics.sdk.common.Log.error(device.getUsbDeviceDescriptor()); } - // System.out.println(); + // com.neuronrobotics.sdk.common.Log.error(); // Dump child devices if device is a hub if (device.isUsbHub()) { @@ -434,9 +434,9 @@ public boolean connect() { e.printStackTrace(); } - // System.out.println(mDevice); + // com.neuronrobotics.sdk.common.Log.error(mDevice); // Dump device descriptor - // System.out.println(mDevice.getUsbDeviceDescriptor()); + // com.neuronrobotics.sdk.common.Log.error(mDevice.getUsbDeviceDescriptor()); // Process all configurations for (UsbConfiguration configuration : (List) mDevice @@ -445,7 +445,7 @@ public boolean connect() { for (UsbInterface iface : (List) configuration .getUsbInterfaces()) { // Dump the interface descriptor - // System.out.println(iface.getUsbInterfaceDescriptor()); + // com.neuronrobotics.sdk.common.Log.error(iface.getUsbInterfaceDescriptor()); if (iface.getUsbInterfaceDescriptor().bInterfaceClass() == 2) { // controlInterface = iface; @@ -470,11 +470,11 @@ public boolean connect() { .getUsbEndpoints()) { if (endpoint.getUsbEndpointDescriptor() .bEndpointAddress() == 0x03) { - // System.out.println("Data out Endpipe"); + // com.neuronrobotics.sdk.common.Log.error("Data out Endpipe"); dataOutEndpoint = endpoint; } else { - // System.out.println("Data in Endpipe"); + // com.neuronrobotics.sdk.common.Log.error("Data in Endpipe"); dataInEndpoint = endpoint; } } @@ -590,7 +590,7 @@ private void kernelDetatch(UsbDevice mDevice){ if (r != LibUsb.SUCCESS && r != LibUsb.ERROR_NOT_SUPPORTED && r != LibUsb.ERROR_NOT_FOUND) throw new LibUsbException("Unable to detach kernel driver", r); - // System.out.println("Kernel detatched for device "+mDevice); + // com.neuronrobotics.sdk.common.Log.error("Kernel detatched for device "+mDevice); //} } diff --git a/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java b/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java index 78e4a1af..f8597068 100644 --- a/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java +++ b/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java @@ -161,7 +161,7 @@ public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) throws Nul long start = System.currentTimeMillis(); //Log.info("Waiting for UDP packet"); udpSock.setSoTimeout(1);// Timeout the socket after 1 ms - //System.err.println("Timeout set "+(System.currentTimeMillis()-start)); + //com.neuronrobotics.sdk.common.Log.error("Timeout set "+(System.currentTimeMillis()-start)); start = System.currentTimeMillis(); try{ udpSock.receive(receivePacket); @@ -174,7 +174,7 @@ public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) throws Nul ex.printStackTrace(); return null; } - //System.err.println("Recv "+(System.currentTimeMillis()-start)); + //com.neuronrobotics.sdk.common.Log.error("Recv "+(System.currentTimeMillis()-start)); start = System.currentTimeMillis(); Log.info("Got UDP packet"); if(addrs== null) @@ -186,10 +186,10 @@ public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) throws Nul for (int i=0;i -0.1) { - // System.out.println("Setting virtual velocity="+unitsPerSecond); + // com.neuronrobotics.sdk.common.Log.error("Setting virtual velocity="+unitsPerSecond); getDriveThread(group).SetVelocity(unitsPerSecond); } else { SetPIDInterpolatedVelocity(group, unitsPerSecond, seconds); @@ -266,7 +266,7 @@ private InterpolationEngine getDriveThread(int i) { } } for (PIDConfiguration c : interpolationEngines.keySet()) { - System.err.println(c); + com.neuronrobotics.sdk.common.Log.error(c.toString()); } throw new RuntimeException("Device is missing, id " + i); @@ -392,7 +392,7 @@ public void run() { toUpdate[updateIndex++]=key; } } else { - //System.err.println("Virtual Device " + key.getGroup() + " is disabled"); + //com.neuronrobotics.sdk.common.Log.error("Virtual Device " + key.getGroup() + " is disabled"); } } } diff --git a/src/main/java/com/neuronrobotics/sdk/serial/SerialConnection.java b/src/main/java/com/neuronrobotics/sdk/serial/SerialConnection.java index d2a5a043..3b93d64a 100644 --- a/src/main/java/com/neuronrobotics/sdk/serial/SerialConnection.java +++ b/src/main/java/com/neuronrobotics/sdk/serial/SerialConnection.java @@ -219,27 +219,27 @@ public static SerialConnection getConnectionByMacAddress(MACAddress mac){ List ports = SerialConnection.getAvailableSerialPorts(); //Start by searching through all available serial connections for DyIOs connected to the system for(String s: ports){ - System.out.println("Searching "+s); + com.neuronrobotics.sdk.common.Log.error("Searching "+s); } for(String s: ports){ try{ SerialConnection connection = new SerialConnection(s); GenericDevice d = new GenericDevice(connection); d.connect(); - System.out.println("Pinging port: "+connection+" "); + com.neuronrobotics.sdk.common.Log.error("Pinging port: "+connection+" "); if(d.ping()){ String addr = d.getAddress().toString(); if(addr.equalsIgnoreCase(mac.toString())){ connection.disconnect(); - System.out.println("Device FOUND on port: "+connection+" "+addr); + com.neuronrobotics.sdk.common.Log.error("Device FOUND on port: "+connection+" "+addr); return connection; } - System.err.println("Device not on port: "+connection+" "+addr); + com.neuronrobotics.sdk.common.Log.error("Device not on port: "+connection+" "+addr); } connection.disconnect(); }catch(Exception EX){ EX.printStackTrace(); - System.err.println("Serial port "+s+" is not a DyIO"); + com.neuronrobotics.sdk.common.Log.error("Serial port "+s+" is not a DyIO"); } } diff --git a/src/main/java/com/neuronrobotics/sdk/ui/TCPConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/TCPConnectionPanel.java index 65d66d6e..93e1a252 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/TCPConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/TCPConnectionPanel.java @@ -75,7 +75,7 @@ public TCPConnectionPanel(ConnectionDialog connectionDialog) { // try { // s = new Socket("google.com", 80); // connectionCbo.addItem(s.getLocalAddress().getHostAddress()); -// //System.out.println(s.getLocalAddress().getHostAddress()); +// //com.neuronrobotics.sdk.common.Log.error(s.getLocalAddress().getHostAddress()); // s.close(); // } catch (UnknownHostException e) { // // TODO Auto-generated catch block diff --git a/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java index b23a7b06..dd933df4 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java @@ -169,7 +169,7 @@ private class NetworkSearchProcess extends Thread implements IMonitorable { public void run() { setName("Bowler Platform UDP searcher"); isRunning = true; - //System.out.println("Searching for UDP devices, please wait..."); + //com.neuronrobotics.sdk.common.Log.error("Searching for UDP devices, please wait..."); int prt; try { prt=new Integer(port.getText()); @@ -180,7 +180,7 @@ public void run() { clnt=new UDPBowlerConnection(prt); ArrayList addrs = clnt.getAllAddresses(); // if (addrs.size()>0) -// System.out.println("Bowler servers: "+addrs); +// com.neuronrobotics.sdk.common.Log.error("Bowler servers: "+addrs); connectionCbo.removeAllItems(); for (InetAddress i:addrs) { connectionCbo.addItem(i.getHostAddress()); diff --git a/src/main/java/com/neuronrobotics/sdk/ui/UsbConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/UsbConnectionPanel.java index a8fe9ed5..f14e2bb1 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/UsbConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/UsbConnectionPanel.java @@ -121,7 +121,7 @@ public BowlerAbstractConnection getConnection() { * @see com.neuronrobotics.sdk.ui.AbstractConnectionPanel#refresh() */ public void refresh() { - //System.err.println("Refreshing USB"); + //com.neuronrobotics.sdk.common.Log.error("Refreshing USB"); connectionCbo.removeAllItems(); List prts=null; diff --git a/src/main/java/com/neuronrobotics/sdk/util/OsInfoUtil.java b/src/main/java/com/neuronrobotics/sdk/util/OsInfoUtil.java index 78d38cba..88c70b6b 100644 --- a/src/main/java/com/neuronrobotics/sdk/util/OsInfoUtil.java +++ b/src/main/java/com/neuronrobotics/sdk/util/OsInfoUtil.java @@ -12,7 +12,7 @@ public class OsInfoUtil { * @return true, if is 64 bit */ public static boolean is64Bit() { - // //System.out.println("Arch: "+getOsArch()); + // //com.neuronrobotics.sdk.common.Log.error("Arch: "+getOsArch()); return getOsArch().startsWith("x86_64") || getOsArch().startsWith("amd64"); } @@ -54,7 +54,7 @@ public static boolean isCortexA8() { * @return true, if is windows */ public static boolean isWindows() { - // //System.out.println("OS name: "+getOsName()); + // //com.neuronrobotics.sdk.common.Log.error("OS name: "+getOsName()); return getOsName().toLowerCase().startsWith("windows") || getOsName().toLowerCase().startsWith("microsoft") || getOsName().toLowerCase().startsWith("ms"); diff --git a/src/main/java/com/neuronrobotics/sdk/wireless/bluetooth/BlueCoveManager.java b/src/main/java/com/neuronrobotics/sdk/wireless/bluetooth/BlueCoveManager.java index f34921de..8601b716 100644 --- a/src/main/java/com/neuronrobotics/sdk/wireless/bluetooth/BlueCoveManager.java +++ b/src/main/java/com/neuronrobotics/sdk/wireless/bluetooth/BlueCoveManager.java @@ -174,19 +174,19 @@ public synchronized void serviceSearchCompleted(int transID, int respCode) { */ public synchronized RemoteDevice getDevice(String name){ String addr = name.substring(name.indexOf('_')+1); - //System.out.println("Getting device with address: "+addr); + //com.neuronrobotics.sdk.common.Log.error("Getting device with address: "+addr); String [] s=getAvailableSerialDevices(false); for (int i=0;i 0) - System.out.println("Gcode line run: " + response); + com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); else { fail("No response"); } @@ -140,7 +140,7 @@ public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector, // was // created } - System.out.println("Moving using the kinematics"); + com.neuronrobotics.sdk.common.Log.error("Moving using the kinematics"); try { arm.setDesiredTaskSpaceTransform(new TransformNR(10, 10, 0, new RotationNR()), 1); arm.setDesiredTaskSpaceTransform(new TransformNR(), 1); @@ -266,19 +266,19 @@ public void G1() { GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); String response = device.runLine("G90");// Absolute mode if (response.length() > 0) - System.out.println("Gcode line run: " + response); + com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); else { fail("No response"); } response = device.runLine("G1 X100.2 Y100.2 Z0 E10 F6000"); if (response.length() > 0) - System.out.println("Gcode line run: " + response); + com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); else { fail("No response"); } response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); if (response.length() > 0) - System.out.println("Gcode line run: " + response); + com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); else { fail("No response"); } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java b/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java index 2b280f4f..49bf3d45 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GsonVitaminLoad.java @@ -26,7 +26,7 @@ public void test() { .create(); VitaminLocation src = new VitaminLocation(false,"Tester", "hobbyServo","mg92b",new TransformNR()); String content = gson.toJson(src); - System.out.println(content); + com.neuronrobotics.sdk.common.Log.error(content); } } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java b/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java index c5fdefb0..a57a319c 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java @@ -18,7 +18,7 @@ public void test() throws FileNotFoundException { File f = new File("carlRobot.xml"); if (f.exists()) { MobileBase pArm = new MobileBase(new FileInputStream(f)); - System.out.println("Mass = "+pArm.getMassKg()); + com.neuronrobotics.sdk.common.Log.error("Mass = "+pArm.getMassKg()); assertEquals(99, pArm.getMassKg(),0.1); assertEquals(pArm.getLegs().get(0).getScriptingName(),"Carl_One"); } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/PacketValidationTest.java b/test/java/src/junit/test/neuronrobotics/utilities/PacketValidationTest.java index de5ff6f9..bb46ea0e 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/PacketValidationTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/PacketValidationTest.java @@ -24,15 +24,15 @@ public class PacketValidationTest { public void packetTest() { Log.enableInfoPrint(); BowlerDatagram bd = BowlerDatagramFactory.build(new MACAddress(), new PingCommand()); - System.out.println(bd); + com.neuronrobotics.sdk.common.Log.error(bd.toString()); ByteList data = new ByteList(bd.getBytes()); - System.out.println(data); + com.neuronrobotics.sdk.common.Log.error(data.toString()); BowlerDatagram back = BowlerDatagramFactory.build(data); if (back == null) fail(); - System.out.println(back); + com.neuronrobotics.sdk.common.Log.error(back.toString()); } } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java index 4cd7202c..e06096be 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java @@ -53,7 +53,7 @@ public static void main(String[] args) throws Exception { kin.setDesiredJointSpaceVector(new double[]{0,0,0}, 0); kin.setDesiredTaskSpaceTransform(Tip, 0); - System.out.println("Arm "+kin.getScriptingName()+"setting to : "+Tip); + com.neuronrobotics.sdk.common.Log.error("Arm "+kin.getScriptingName()+"setting to : "+Tip); } assertEquals(Tip.getX(), group.getCurrentTaskSpaceTransform().getX(), 1); group.setDesiredTaskSpaceTransform(Tip.copy(), 0); @@ -61,7 +61,7 @@ public static void main(String[] args) throws Exception { TransformNR TipOffset = group.getTipOffset().get(limb); TransformNR newTip = limb.getCurrentTaskSpaceTransform().times(TipOffset); - System.out.println("Expected tip to be " + Tip.getX() + " and got: " + newTip.getX()); + com.neuronrobotics.sdk.common.Log.error("Expected tip to be " + Tip.getX() + " and got: " + newTip.getX()); assertTrue(!Double.isNaN(Tip.getX())); assertEquals(Tip.getX(), newTip.getX(), 1); } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index 7e984f06..8444d2a5 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -52,10 +52,10 @@ public void test() throws FileNotFoundException { for (RotationConvention conv : conventions) { RotationNR.setConvention(conv); - System.out.println("\n\nUsing convention " + conv.toString()); + com.neuronrobotics.sdk.common.Log.error("\n\nUsing convention " + conv.toString()); for (RotationOrder ro : list) { RotationNR.setOrder(ro); - System.out.println("\n\nUsing rotationOrder " + ro.toString()); + com.neuronrobotics.sdk.common.Log.error("\n\nUsing rotationOrder " + ro.toString()); // for (int i = 0; i < iterations; i++) { @@ -65,22 +65,22 @@ public void test() throws FileNotFoundException { try { RotationNR rotTest = new RotationNR(Math.toDegrees(tilt), Math.toDegrees(azumus), Math.toDegrees(elevation)); - System.out.println("\n\nTest #" + i); - System.out.println("Testing Az=" + Math.toDegrees(azumus) + " El=" + Math.toDegrees(elevation) + com.neuronrobotics.sdk.common.Log.error("\n\nTest #" + i); + com.neuronrobotics.sdk.common.Log.error("Testing Az=" + Math.toDegrees(azumus) + " El=" + Math.toDegrees(elevation) + " Tl=" + Math.toDegrees(tilt)); - System.out.println("Got Az=" + Math.toDegrees(rotTest.getRotationAzimuth()) + " El=" + com.neuronrobotics.sdk.common.Log.error("Got Az=" + Math.toDegrees(rotTest.getRotationAzimuth()) + " El=" + Math.toDegrees(rotTest.getRotationElevation()) + " Tl=" + Math.toDegrees(rotTest.getRotationTilt())); if (!RotationNR.bound(tilt - .01, tilt + .01, rotTest.getRotationTilt())) { failCount++; - System.err.println("Rotation Tilt is not consistant. expected " + Math.toDegrees(tilt) + com.neuronrobotics.sdk.common.Log.error("Rotation Tilt is not consistant. expected " + Math.toDegrees(tilt) + " got " + Math.toDegrees(rotTest.getRotationTilt()) + " \t\tOff By " + (Math.toDegrees(tilt) - Math.toDegrees(rotTest.getRotationTilt()))); } if (!RotationNR.bound(elevation - .01, elevation + .01, rotTest.getRotationElevation())) { failCount++; - System.err.println("Rotation Elevation is not consistant. expected " + com.neuronrobotics.sdk.common.Log.error("Rotation Elevation is not consistant. expected " + Math.toDegrees(elevation) + " got " + Math.toDegrees(rotTest.getRotationElevation()) + " \t\tOff By " + (Math.toDegrees(elevation) + Math.toDegrees(rotTest.getRotationElevation())) @@ -89,14 +89,14 @@ public void test() throws FileNotFoundException { } if (!RotationNR.bound(azumus - .01, azumus + .01, rotTest.getRotationAzimuth())) { failCount++; - System.err.println("Rotation azumus is not consistant. expected " + Math.toDegrees(azumus) + com.neuronrobotics.sdk.common.Log.error("Rotation azumus is not consistant. expected " + Math.toDegrees(azumus) + " got " + Math.toDegrees(rotTest.getRotationAzimuth()) + " \t\tOff By " + (Math.toDegrees(azumus) - Math.toDegrees(rotTest.getRotationAzimuth()))); } ThreadUtil.wait(20); } catch (NumberFormatException ex) { if (elevation >= Math.PI / 2 || elevation <= -Math.PI / 2) { - System.out.println("Invalid numbers rejected ok"); + com.neuronrobotics.sdk.common.Log.error("Invalid numbers rejected ok"); } } @@ -104,7 +104,7 @@ public void test() throws FileNotFoundException { // frame(); // frame2(); - System.out.println("Frame test passed with " + ro); + com.neuronrobotics.sdk.common.Log.error("Frame test passed with " + ro); // return; } } @@ -126,10 +126,10 @@ public void compareAzemuth() throws FileNotFoundException { Log.enableDebugPrint(); for (RotationConvention conv : conventions) { RotationNR.setConvention(conv); - System.out.println("\n\nUsing convention " + conv.toString()); + com.neuronrobotics.sdk.common.Log.error("\n\nUsing convention " + conv.toString()); for (RotationOrder ro : list) { RotationNR.setOrder(ro); - System.out.println("\n\nUsing rotationOrder " + ro.toString()); + com.neuronrobotics.sdk.common.Log.error("\n\nUsing rotationOrder " + ro.toString()); failCount = 0; for (int i = 0; i < iterations; i++) { @@ -154,7 +154,7 @@ public void compareAzemuth() throws FileNotFoundException { RotationNR newRot = new RotationNR(rotation); RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); - System.out.println("Testing pure azumeth \nrotation " + rotationAngleDegrees + "\n as radian " + com.neuronrobotics.sdk.common.Log.error("Testing pure azumeth \nrotation " + rotationAngleDegrees + "\n as radian " + Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuth() + "\n El " + oldRot.getRotationElevation() + "\n Tl " + oldRot.getRotationTilt() + "\n New Az " + newRot.getRotationAzimuth() + "\n New El " + newRot.getRotationElevation() @@ -163,7 +163,7 @@ public void compareAzemuth() throws FileNotFoundException { assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); assertArrayEquals(rotation[2], rotationMatrix[2], 0.001); - System.out.println( + com.neuronrobotics.sdk.common.Log.error( "Testing Quaturnion \nrotation " + "\n qw " + oldRot.getRotationMatrix2QuaturnionW() + "\n qx " + oldRot.getRotationMatrix2QuaturnionX() + "\n qy " + oldRot.getRotationMatrix2QuaturnionY() + "\n qz " @@ -197,7 +197,7 @@ public void compareAzemuth() throws FileNotFoundException { oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), oldRot.getRotationTilt() }, 0.001); } else { - System.err.println("Legacy angle would fail here " + rotationAngleDegrees); + com.neuronrobotics.sdk.common.Log.error("Legacy angle would fail here " + rotationAngleDegrees); } // Check the new rotation against the known value assertArrayEquals(new double[] { Math.toRadians(rotationAngleDegrees), 0, 0 }, new double[] { @@ -206,7 +206,7 @@ public void compareAzemuth() throws FileNotFoundException { } // frame(); // frame2(); - System.out.println("Frame test passed with " + ro); + com.neuronrobotics.sdk.common.Log.error("Frame test passed with " + ro); // return; } } @@ -223,10 +223,10 @@ public void compareElevation() throws FileNotFoundException { int iterations = 100; for (RotationConvention conv : conventions) { RotationNR.setConvention(conv); - System.out.println("\n\nUsing convention " + conv.toString()); + com.neuronrobotics.sdk.common.Log.error("\n\nUsing convention " + conv.toString()); for (RotationOrder ro : list) { RotationNR.setOrder(ro); - System.out.println("\n\nUsing rotationOrder " + ro.toString()); + com.neuronrobotics.sdk.common.Log.error("\n\nUsing rotationOrder " + ro.toString()); failCount = 0; for (int i = 0; i < iterations; i++) { @@ -251,7 +251,7 @@ public void compareElevation() throws FileNotFoundException { RotationNR newRot = new RotationNR(rotation); RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); - System.out.println("Testing pure elevation \nrotation " + rotationAngleDegrees + "\n as radian " + com.neuronrobotics.sdk.common.Log.error("Testing pure elevation \nrotation " + rotationAngleDegrees + "\n as radian " + Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuth() + "\n El " + oldRot.getRotationElevation() + "\n Tl " + oldRot.getRotationTilt() + "\n New Az " + newRot.getRotationAzimuth() + "\n New El " + newRot.getRotationElevation() @@ -260,7 +260,7 @@ public void compareElevation() throws FileNotFoundException { assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); assertArrayEquals(rotation[2], rotationMatrix[2], 0.001); - System.out.println( + com.neuronrobotics.sdk.common.Log.error( "Testing Quaturnion \nrotation " + "\n qw " + oldRot.getRotationMatrix2QuaturnionW() + "\n qx " + oldRot.getRotationMatrix2QuaturnionX() + "\n qy " + oldRot.getRotationMatrix2QuaturnionY() + "\n qz " @@ -300,7 +300,7 @@ public void compareElevation() throws FileNotFoundException { } // frame(); // frame2(); - System.out.println("Frame test passed with " + ro); + com.neuronrobotics.sdk.common.Log.error("Frame test passed with " + ro); // return; } } @@ -317,10 +317,10 @@ public void compareTilt() throws FileNotFoundException { int iterations = 100; for (RotationConvention conv : conventions) { RotationNR.setConvention(conv); - System.out.println("\n\nUsing convention " + conv.toString()); + com.neuronrobotics.sdk.common.Log.error("\n\nUsing convention " + conv.toString()); for (RotationOrder ro : list) { RotationNR.setOrder(ro); - System.out.println("\n\nUsing rotationOrder " + ro.toString()); + com.neuronrobotics.sdk.common.Log.error("\n\nUsing rotationOrder " + ro.toString()); failCount = 0; for (int i = 0; i < iterations; i++) { @@ -345,7 +345,7 @@ public void compareTilt() throws FileNotFoundException { RotationNR newRot = new RotationNR(rotation); RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); - System.out.println("Testing pure tilt \nrotation " + rotationAngleDegrees + "\n as radian " + com.neuronrobotics.sdk.common.Log.error("Testing pure tilt \nrotation " + rotationAngleDegrees + "\n as radian " + Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuth() + "\n El " + oldRot.getRotationElevation() + "\n Tl " + oldRot.getRotationTilt() + "\n New Az " + newRot.getRotationAzimuth() + "\n New El " + newRot.getRotationElevation() @@ -354,7 +354,7 @@ public void compareTilt() throws FileNotFoundException { assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); assertArrayEquals(rotation[2], rotationMatrix[2], 0.001); - System.out.println( + com.neuronrobotics.sdk.common.Log.error( "Testing Quaturnion \nrotation " + "\n qw " + oldRot.getRotationMatrix2QuaturnionW() + "\n qx " + oldRot.getRotationMatrix2QuaturnionX() + "\n qy " + oldRot.getRotationMatrix2QuaturnionY() + "\n qz " @@ -391,7 +391,7 @@ public void compareTilt() throws FileNotFoundException { } // frame(); // frame2(); - System.out.println("Frame test passed with " + ro); + com.neuronrobotics.sdk.common.Log.error("Frame test passed with " + ro); // return; } } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java b/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java index 9b42f51b..f553e5f4 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java @@ -37,7 +37,7 @@ public void test() throws IOException { if(!content.contentEquals(read)) { File out = new File("src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTestOUTPUT.xml"); Files.write( Paths.get(out.getAbsolutePath()), read.getBytes()); - System.out.println("diff "+file.getAbsolutePath()+" "+out.getAbsolutePath()); + com.neuronrobotics.sdk.common.Log.error("diff "+file.getAbsolutePath()+" "+out.getAbsolutePath()); fail("What was loaded failed to match the source"); } } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/TestTimer.java b/test/java/src/junit/test/neuronrobotics/utilities/TestTimer.java index d557a005..a654bcc1 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/TestTimer.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/TestTimer.java @@ -37,7 +37,7 @@ public void test() { t.initialize(500+(i++), new IthreadedTimoutListener() { @Override public void onTimeout(String message) { - System.out.println(message); + com.neuronrobotics.sdk.common.Log.error(message); timerTimedOut++; } }); From 1e178525a0c87c912e2936d9108a4b894cd6d9f3 Mon Sep 17 00:00:00 2001 From: Kevin harrington Date: Sun, 1 Dec 2024 20:43:29 -0500 Subject: [PATCH 441/482] make sure the vitamin location is serialized --- .../sdk/addons/kinematics/VitaminLocation.java | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index 78068fd9..63fc0fd3 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -14,11 +14,15 @@ public class VitaminLocation implements ITransformNRChangeListener { @Expose (serialize = false, deserialize = false) ArrayList listeners=new ArrayList<>(); - + @Expose(serialize = true, deserialize = true) private String name; + @Expose(serialize = true, deserialize = true) private String type; + @Expose(serialize = true, deserialize = true) private String size; + @Expose(serialize = true, deserialize = true) private TransformNR location=null; + @Expose(serialize = true, deserialize = true) private boolean isScript =false; private VitaminFrame frame=VitaminFrame.DefaultFrame; From cf9ccba176094f6a58a1d5a80b34b923d7afe6b2 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 3 Dec 2024 10:42:29 -0500 Subject: [PATCH 442/482] Add constructor for copy a vitamin --- .../sdk/addons/kinematics/VitaminLocation.java | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index 63fc0fd3..e1a38d50 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -49,6 +49,13 @@ public VitaminLocation(boolean isScript,String name, String type, String size, T this.setLocation(location); setScript(isScript); } + public VitaminLocation(VitaminLocation loc, String name2) { + this.setName(name2); + this.setType(loc.type); + this.setSize(loc.size); + this.setLocation(loc.location); + setScript(loc.isScript); + } public VitaminLocation(boolean isScript,String name, String type, String size, TransformNR location,IVitaminHolder h) { this(isScript,name,type,size,location); try { @@ -96,6 +103,7 @@ public VitaminLocation(Element vitamins) { } } + public void addChangeListener(Runnable r) { if(listeners.contains(r)) return; From a359eb822352ab2697f152ec513a93f461e35fca Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 8 Dec 2024 13:47:57 -0500 Subject: [PATCH 443/482] Add a to string to the VitaminLocation --- .../neuronrobotics/sdk/addons/kinematics/VitaminLocation.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index e1a38d50..534c4535 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -163,6 +163,9 @@ public static String getAllXML(ArrayList list) { return vitamins+"\n\t\n"; } + public String toString() { + return getXML(); + } /** * @return the name From 90f84a6c23e99eeb112e216c6d167ce92f6b06d9 Mon Sep 17 00:00:00 2001 From: Kevin harrington Date: Tue, 24 Dec 2024 11:32:52 -0500 Subject: [PATCH 444/482] give a value if there are the correct number of links availible --- .../sdk/addons/kinematics/DHParameterKinematics.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 15d00d7d..d891cc40 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -847,7 +847,10 @@ public TransformNR getLinkTip(int linkIndex) { return getChain().getCachedChain().get(linkIndex); } public MobileBase getFollowerMobileBase(int linkIndex) { + if(getDhChain().getLinks().size()<=linkIndex) + return null; return getDhLink(linkIndex).getSlaveMobileBase(); + } public MobileBase getFollowerMobileBase(AbstractLink myLink) { return getDhLink(myLink).getSlaveMobileBase(); From c25c1fe14d0f7a6a64ad138bca6c15d82af685d1 Mon Sep 17 00:00:00 2001 From: Kevin harrington Date: Fri, 27 Dec 2024 11:23:28 -0500 Subject: [PATCH 445/482] remove generated TODO's --- .../test/nrdk/BluetoothConector.java | 2 +- .../test/nrdk/ByteListTest.java | 2 +- .../test/nrdk/ConnectionDialogTest.java | 2 +- .../test/nrdk/ExtendGenericPID.java | 4 +- .../test/nrdk/GenericPIDTest.java | 6 +- .../test/nrdk/PingSpeedTest.java | 4 +- .../test/nrdk/SimpleConnection.java | 2 +- .../test/nrdk/network/NetworkServerTest.java | 2 +- .../test/nrdk/network/UDPClientTest.java | 10 +-- .../application/xmpp/DyIOConversation.java | 6 +- .../xmpp/DyIOConversationFactory.java | 2 +- .../xmpp/GoogleChat/GoogleChat.java | 2 +- .../GoogleChat/GoogleChatConversation.java | 2 +- .../GoogleChatConversationFactory.java | 2 +- .../xmpp/GoogleChat/GoogleChatEngine.java | 4 +- .../application/xmpp/GoogleChat/IChatLog.java | 2 +- .../application/xmpp/IConversation.java | 2 +- .../xmpp/IConversationFactory.java | 2 +- .../driver/delta/DeltaJointAngles.java | 2 +- .../driver/delta/DeltaRobotConfig.java | 2 +- .../driver/delta/DeltaRobotKinematics.java | 2 +- .../driver/interpreter/CodeHandler.java | 2 +- .../driver/interpreter/EmptyCodeHandler.java | 2 +- .../driver/interpreter/GCodeInterpreter.java | 2 +- .../driver/interpreter/GCodeLineData.java | 2 +- .../sdk/addons/irobot/Create.java | 2 +- .../sdk/addons/irobot/CreateArm.java | 2 +- .../addons/irobot/CreateSensorRequest.java | 2 +- .../sdk/addons/irobot/CreateSensors.java | 2 +- .../addons/irobot/ICreateSensorListener.java | 2 +- .../kinematics/AbstractKinematicsNR.java | 4 +- .../sdk/addons/kinematics/AbstractLink.java | 2 +- .../kinematics/AbstractPrismaticLink.java | 4 +- .../addons/kinematics/AbstractRotoryLink.java | 4 +- .../kinematics/AnalogPrismaticLink.java | 2 +- .../addons/kinematics/AnalogRotoryLink.java | 2 +- .../kinematics/ComputedGeometricModel.java | 2 +- .../sdk/addons/kinematics/DHChain.java | 6 +- .../sdk/addons/kinematics/DHLink.java | 2 +- .../kinematics/DHParameterKinematics.java | 14 ++-- .../addons/kinematics/DhInverseSolver.java | 2 +- .../sdk/addons/kinematics/DrivingType.java | 2 +- .../kinematics/GenericKinematicsModelNR.java | 6 +- .../sdk/addons/kinematics/GradiantDecent.java | 4 +- .../addons/kinematics/GradiantDecentNode.java | 2 +- .../kinematics/IDhLinkPositionListener.java | 2 +- .../IJointSpaceUpdateListenerNR.java | 2 +- .../sdk/addons/kinematics/ILinkListener.java | 2 +- .../kinematics/IRegistrationListenerNR.java | 2 +- .../ITaskSpaceUpdateListenerNR.java | 2 +- .../sdk/addons/kinematics/JointLimit.java | 2 +- .../addons/kinematics/LinkConfiguration.java | 2 +- .../sdk/addons/kinematics/LinkFactory.java | 4 +- .../sdk/addons/kinematics/LinkType.java | 2 +- .../sdk/addons/kinematics/MobileBase.java | 16 ++--- .../sdk/addons/kinematics/MockRotoryLink.java | 6 +- .../addons/kinematics/PidPrismaticLink.java | 2 +- .../sdk/addons/kinematics/PidRotoryLink.java | 2 +- .../addons/kinematics/SearchTreeSolver.java | 2 +- .../addons/kinematics/WalkingDriveEngine.java | 10 +-- .../addons/kinematics/WheeledDriveEngine.java | 8 +-- .../kinematics/gcodebridge/GCodeHeater.java | 8 +-- .../kinematics/gcodebridge/GcodeDevice.java | 14 ++-- .../gcodebridge/GcodePrismatic.java | 2 +- .../kinematics/gcodebridge/GcodeRotory.java | 2 +- .../addons/kinematics/math/RotationNR.java | 2 +- .../kinematics/math/RotationNRLegacy.java | 2 +- .../addons/kinematics/math/TransformNR.java | 2 +- .../kinematics/parallel/ParallelGroup.java | 8 +-- .../sdk/addons/kinematics/xml/XmlFactory.java | 2 +- .../sdk/bootloader/ByteData.java | 2 +- .../neuronrobotics/sdk/bootloader/Core.java | 2 +- .../neuronrobotics/sdk/bootloader/Hexml.java | 4 +- .../sdk/bootloader/IntelHexParser.java | 2 +- .../neuronrobotics/sdk/bootloader/NRBoot.java | 4 +- .../sdk/bootloader/NRBootCoreType.java | 2 +- .../sdk/bootloader/NRBootLoader.java | 8 +-- .../sdk/bootloader/hexLine.java | 2 +- .../sdk/bowlercam/device/BowlerCamDevice.java | 8 +-- .../device/IWebcamImageListener.java | 2 +- .../sdk/bowlercam/device/ItemMarker.java | 2 +- .../sdk/commands/bcs/core/ErrorCommand.java | 2 +- .../commands/bcs/core/NamespaceCommand.java | 2 +- .../sdk/commands/bcs/core/PingCommand.java | 2 +- .../sdk/commands/bcs/core/ReadyCommand.java | 2 +- .../bcs/core/RpcArgumentsCommand.java | 2 +- .../sdk/commands/bcs/core/RpcCommand.java | 2 +- .../sdk/commands/bcs/io/AsyncCommand.java | 2 +- .../sdk/commands/bcs/io/AsyncMode.java | 2 +- .../bcs/io/AsyncThreshholdEdgeType.java | 2 +- .../commands/bcs/io/ConfigAsyncCommand.java | 2 +- .../bcs/io/GetChannelModeCommand.java | 2 +- .../bcs/io/GetChannelModeListCommand.java | 2 +- .../bcs/io/GetDyIOChannelCountCommand.java | 2 +- .../sdk/commands/bcs/io/GetValueCommand.java | 2 +- .../bcs/io/SetAllChannelValuesCommand.java | 2 +- .../bcs/io/SetChannelValueCommand.java | 2 +- .../bcs/io/SetUARTBaudrateCommand.java | 2 +- .../bcs/io/setmode/SetChannelModeCommand.java | 2 +- .../bcs/pid/ConfigurePDVelocityCommand.java | 2 +- .../commands/bcs/pid/ConfigurePIDCommand.java | 2 +- .../bcs/pid/ControlAllPIDCommand.java | 2 +- .../commands/bcs/pid/ControlPIDCommand.java | 2 +- .../pid/DyPID/ConfigureDynamicPIDCommand.java | 2 +- .../bcs/pid/GetPIDChannelCountCommand.java | 2 +- .../commands/bcs/pid/KillAllPIDCommand.java | 2 +- .../commands/bcs/pid/PDVelocityCommand.java | 2 +- .../sdk/commands/bcs/pid/ResetPIDCommand.java | 2 +- .../commands/bcs/safe/SafeModeCommand.java | 2 +- .../cartesian/CancelPrintCommand.java | 2 +- .../cartesian/LinearInterpolationCommand.java | 2 +- .../bootloader/BootloaderIDCommand.java | 2 +- .../bootloader/EraseFlashCommand.java | 2 +- .../bootloader/ProgramSectionCommand.java | 2 +- .../bootloader/ResetChipCommand.java | 2 +- .../neuronrobotics/bowlercam/BlobCommand.java | 2 +- .../bowlercam/ImageCommand.java | 2 +- .../bowlercam/ImageURLCommand.java | 2 +- .../dyio/GetAllChannelValuesCommand.java | 2 +- .../dyio/InfoFirmwareRevisionCommand.java | 2 +- .../neuronrobotics/dyio/PowerCommand.java | 2 +- .../neuronrobotics/dyio/ProvisionCommand.java | 2 +- .../sdk/common/BowlerAbstractCommand.java | 2 +- .../sdk/common/BowlerAbstractConnection.java | 6 +- .../sdk/common/BowlerAbstractDevice.java | 6 +- .../sdk/common/BowlerDataType.java | 2 +- .../sdk/common/BowlerDatagram.java | 4 +- .../sdk/common/BowlerDatagramFactory.java | 2 +- .../common/BowlerDocumentationFactory.java | 2 +- .../sdk/common/BowlerMethod.java | 2 +- .../sdk/common/BowlerRuntimeException.java | 2 +- .../neuronrobotics/sdk/common/ByteList.java | 6 +- .../sdk/common/ConfigManager.java | 2 +- .../ConnectionUnavailableException.java | 2 +- .../neuronrobotics/sdk/common/DMDevice.java | 6 +- .../sdk/common/DeviceConnectionException.java | 2 +- .../sdk/common/DeviceManager.java | 2 +- .../sdk/common/IBowlerDatagramListener.java | 2 +- .../sdk/common/IConnectionEventListener.java | 2 +- .../sdk/common/IDeviceAddedListener.java | 2 +- .../IDeviceConnectionEventListener.java | 2 +- .../neuronrobotics/sdk/common/ISendable.java | 2 +- .../common/ISynchronousDatagramListener.java | 2 +- .../common/InvalidConnectionException.java | 2 +- .../common/InvalidDataLengthException.java | 2 +- .../common/InvalidMACAddressException.java | 2 +- .../sdk/common/InvalidResponseException.java | 2 +- .../sdk/common/IthreadedTimoutListener.java | 2 +- .../com/neuronrobotics/sdk/common/Log.java | 4 +- .../neuronrobotics/sdk/common/MACAddress.java | 2 +- .../sdk/common/MalformattedDatagram.java | 2 +- .../common/MissingNativeLibraryException.java | 2 +- .../sdk/common/NamespaceEncapsulation.java | 2 +- .../NoConnectionAvailableException.java | 2 +- .../sdk/common/NonBowlerDevice.java | 4 +- .../sdk/common/ResponseTimeoutException.java | 2 +- .../sdk/common/RpcEncapsulation.java | 2 +- .../neuronrobotics/sdk/common/SDKInfo.java | 2 +- .../sdk/common/ThreadedTimeout.java | 2 +- .../com/neuronrobotics/sdk/common/Tracer.java | 2 +- .../server/BowlerAbstractDeviceServer.java | 4 +- .../BowlerAbstractDeviceServerNamespace.java | 2 +- .../device/server/BowlerAbstractServer.java | 6 +- .../server/BowlerDeviceReServerNamespace.java | 2 +- .../server/IBowlerCommandProcessor.java | 2 +- .../server/bcs/core/BcsCoreNamespaceImp.java | 2 +- .../server/bcs/rpc/BcsRpcArgsCommand.java | 2 +- .../device/server/bcs/rpc/BcsRpcCommand.java | 2 +- .../server/bcs/rpc/BcsRpcNamespaceImp.java | 2 +- .../sdk/config/SDKBuildInfo.java | 2 +- .../com/neuronrobotics/sdk/dyio/DyIO.java | 8 +-- .../sdk/dyio/DyIOAsyncEvent.java | 2 +- .../neuronrobotics/sdk/dyio/DyIOChannel.java | 2 +- .../sdk/dyio/DyIOChannelEvent.java | 4 +- .../sdk/dyio/DyIOChannelEventType.java | 2 +- .../sdk/dyio/DyIOChannelMode.java | 2 +- .../sdk/dyio/DyIOCommunicationException.java | 2 +- .../dyio/DyIOFirmwareOutOfDateException.java | 2 +- .../sdk/dyio/DyIOInputStream.java | 2 +- .../sdk/dyio/DyIOOutputStream.java | 2 +- .../sdk/dyio/DyIOPowerEvent.java | 2 +- .../sdk/dyio/DyIOPowerState.java | 2 +- .../sdk/dyio/IChannelEventListener.java | 2 +- .../neuronrobotics/sdk/dyio/IDyIOChannel.java | 2 +- .../dyio/IDyIOChannelModeChangeListener.java | 2 +- .../sdk/dyio/IDyIOEventListener.java | 2 +- .../sdk/dyio/IDyIOStateChangeListener.java | 2 +- .../sdk/dyio/InvalidChannelException.java | 2 +- .../InvalidChannelOperationException.java | 2 +- .../sdk/dyio/dypid/DyPIDConfiguration.java | 2 +- .../dyio/peripherals/AnalogInputChannel.java | 2 +- .../dyio/peripherals/CounterInputChannel.java | 2 +- .../peripherals/CounterOutputChannel.java | 2 +- .../peripherals/DCMotorOutputChannel.java | 2 +- .../dyio/peripherals/DigitalInputChannel.java | 2 +- .../peripherals/DigitalOutputChannel.java | 2 +- .../peripherals/DyIOAbstractPeripheral.java | 4 +- .../peripherals/DyIOPeripheralException.java | 2 +- .../peripherals/IAnalogInputListener.java | 2 +- .../peripherals/ICounterInputListener.java | 2 +- .../peripherals/ICounterOutputListener.java | 2 +- .../peripherals/IDigitalInputListener.java | 2 +- .../dyio/peripherals/IPPMReaderListener.java | 2 +- .../IServoPositionUpdateListener.java | 2 +- .../dyio/peripherals/PPMReaderChannel.java | 2 +- .../dyio/peripherals/PWMOutputChannel.java | 2 +- .../sdk/dyio/peripherals/SPIChannel.java | 2 +- .../sdk/dyio/peripherals/ServoChannel.java | 2 +- .../sdk/dyio/peripherals/UARTChannel.java | 6 +- .../sdk/genericdevice/GenericDevice.java | 6 +- .../sdk/javaxusb/IUsbDeviceEventListener.java | 2 +- .../sdk/javaxusb/UsbCDCSerialConnection.java | 68 +++++++++---------- .../bcs/pid/AbstractPidNamespaceImp.java | 2 +- .../bcs/pid/IExtendedPIDControl.java | 2 +- .../bcs/pid/IPidControlNamespace.java | 2 +- .../bcs/pid/LegacyPidNamespaceImp.java | 4 +- .../namespace/bcs/pid/PidDeviceServer.java | 4 +- .../bcs/pid/PidDeviceServerNamespace.java | 4 +- .../namespace/bcs/pid/PidNamespaceImp.java | 2 +- .../network/AbstractNetworkDeviceServer.java | 2 +- .../sdk/network/AvailibleSocket.java | 2 +- .../sdk/network/BowlerTCPClient.java | 10 +-- .../sdk/network/BowlerTCPServer.java | 6 +- .../sdk/network/BowlerUDPServer.java | 4 +- .../sdk/network/UDPBowlerConnection.java | 10 +-- .../sdk/pid/GenericPIDDevice.java | 2 +- .../sdk/pid/ILinkFactoryProvider.java | 2 +- .../sdk/pid/IPIDEventListener.java | 2 +- .../sdk/pid/InterpolationEngine.java | 2 +- .../sdk/pid/PDVelocityConfiguration.java | 2 +- .../neuronrobotics/sdk/pid/PIDChannel.java | 6 +- .../sdk/pid/PIDCommandException.java | 2 +- .../sdk/pid/PIDConfiguration.java | 2 +- .../com/neuronrobotics/sdk/pid/PIDEvent.java | 2 +- .../neuronrobotics/sdk/pid/PIDLimitEvent.java | 2 +- .../sdk/pid/PIDLimitEventType.java | 2 +- .../sdk/pid/VirtualGenericPIDDevice.java | 6 +- .../VirtualGenericPidDeviceConnection.java | 8 +-- .../sdk/serial/SerialConnection.java | 4 +- .../sdk/ui/AbstractConnectionPanel.java | 2 +- .../sdk/ui/BluetoothConnectionPanel.java | 4 +- .../sdk/ui/ConnectionDialog.java | 2 +- .../sdk/ui/ConnectionImageIconFactory.java | 2 +- .../sdk/ui/SerialConnectionPanel.java | 2 +- .../sdk/ui/TCPConnectionPanel.java | 6 +- .../sdk/ui/UDPConnectionPanel.java | 4 +- .../sdk/ui/UsbConnectionPanel.java | 8 +-- .../neuronrobotics/sdk/util/IMonitorable.java | 2 +- .../sdk/util/IProgressMonitorListener.java | 2 +- .../sdk/util/IThreadedNsTimerListener.java | 2 +- .../neuronrobotics/sdk/util/OsInfoUtil.java | 2 +- .../sdk/util/ProcessMonitor.java | 2 +- .../sdk/util/RollingAverageFilter.java | 2 +- .../neuronrobotics/sdk/util/ThreadUtil.java | 2 +- .../sdk/util/ThreadedNsTimer.java | 2 +- .../wireless/bluetooth/BlueCoveManager.java | 2 +- .../bluetooth/BluetoothSerialConnection.java | 4 +- .../utilities/BowlerDatagramFactoryTests.java | 2 +- .../utilities/ByteListTest.java | 2 +- .../neuronrobotics/utilities/GCODETest.java | 2 +- .../utilities/PacketValidationTest.java | 2 +- .../utilities/RotationNRTest.java | 2 +- .../neuronrobotics/utilities/TestTimer.java | 2 +- 263 files changed, 411 insertions(+), 411 deletions(-) diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/BluetoothConector.java b/examples/java/src/com/neuronrobotics/test/nrdk/BluetoothConector.java index 6296ff72..d635c40b 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/BluetoothConector.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/BluetoothConector.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.wireless.bluetooth.BlueCoveManager; import com.neuronrobotics.sdk.wireless.bluetooth.BluetoothSerialConnection; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BluetoothConector. */ diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/ByteListTest.java b/examples/java/src/com/neuronrobotics/test/nrdk/ByteListTest.java index bed83712..3b6d9775 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/ByteListTest.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/ByteListTest.java @@ -2,7 +2,7 @@ import com.neuronrobotics.sdk.common.ByteList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ByteListTest. */ diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/ConnectionDialogTest.java b/examples/java/src/com/neuronrobotics/test/nrdk/ConnectionDialogTest.java index 3ac6658a..d49ac8ad 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/ConnectionDialogTest.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/ConnectionDialogTest.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.dyio.DyIO; import com.neuronrobotics.sdk.ui.ConnectionDialog; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ConnectionDialogTest. */ diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/ExtendGenericPID.java b/examples/java/src/com/neuronrobotics/test/nrdk/ExtendGenericPID.java index 8d3510d3..0656b5bc 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/ExtendGenericPID.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/ExtendGenericPID.java @@ -8,7 +8,7 @@ import com.neuronrobotics.sdk.pid.GenericPIDDevice; import com.neuronrobotics.sdk.ui.ConnectionDialog; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ExtendGenericPID. */ @@ -31,7 +31,7 @@ private ExtendGenericPID(){ com.neuronrobotics.sdk.common.Log.error("All OK!"); System.exit(0); } catch (Exception e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); pid.disconnect(); System.exit(1); diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/GenericPIDTest.java b/examples/java/src/com/neuronrobotics/test/nrdk/GenericPIDTest.java index 579f0fc8..0c1edef5 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/GenericPIDTest.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/GenericPIDTest.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.network.BowlerTCPClient; import com.neuronrobotics.sdk.pid.GenericPIDDevice; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class GenericPIDTest. */ @@ -25,7 +25,7 @@ public static void main(String[] args) { try { pid.setConnection(new BowlerTCPClient("cortex.wpi.edu", 1965)); } catch (Exception e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } //pid.setConnection(new BowlerTCPClient("192.168.0.134", 1965)); @@ -35,7 +35,7 @@ public static void main(String[] args) { com.neuronrobotics.sdk.common.Log.error("All OK!"); System.exit(0); } catch (Exception e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); pid.disconnect(); System.exit(1); diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/PingSpeedTest.java b/examples/java/src/com/neuronrobotics/test/nrdk/PingSpeedTest.java index 647bceab..d71d4837 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/PingSpeedTest.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/PingSpeedTest.java @@ -9,7 +9,7 @@ import com.neuronrobotics.sdk.serial.SerialConnection; import com.neuronrobotics.sdk.ui.ConnectionDialog; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PingSpeedTest. */ @@ -30,7 +30,7 @@ public static void main(String[] args) { // //c = new BowlerTCPClient("192.168.1.10", 1866); // c = new UDPBowlerConnection(InetAddress.getByName("130.215.49.37"), 1865); // } catch (Exception e) { -// // TODO Auto-generated catch block +// // Auto-generated catch block // e.printStackTrace(); // System.exit(1); // } diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/SimpleConnection.java b/examples/java/src/com/neuronrobotics/test/nrdk/SimpleConnection.java index cfe3b323..f73714ea 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/SimpleConnection.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/SimpleConnection.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.genericdevice.GenericDevice; import com.neuronrobotics.sdk.serial.SerialConnection; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class SimpleConnection. */ diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/network/NetworkServerTest.java b/examples/java/src/com/neuronrobotics/test/nrdk/network/NetworkServerTest.java index 5e5188ef..e232b997 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/network/NetworkServerTest.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/network/NetworkServerTest.java @@ -8,7 +8,7 @@ import com.neuronrobotics.sdk.network.BowlerUDPServer; import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class NetworkServerTest. */ diff --git a/examples/java/src/com/neuronrobotics/test/nrdk/network/UDPClientTest.java b/examples/java/src/com/neuronrobotics/test/nrdk/network/UDPClientTest.java index bbf9c40a..9a51b67a 100644 --- a/examples/java/src/com/neuronrobotics/test/nrdk/network/UDPClientTest.java +++ b/examples/java/src/com/neuronrobotics/test/nrdk/network/UDPClientTest.java @@ -11,7 +11,7 @@ //import com.neuronrobotics.sdk.network.BowlerTCPServer; import com.neuronrobotics.sdk.network.UDPBowlerConnection; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class UDPClientTest. */ @@ -35,7 +35,7 @@ public UDPClientTest(){ try { clnt.setAddress(InetAddress.getByName("192.168.1.10")); } catch (UnknownHostException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); System.exit(0); } @@ -59,7 +59,7 @@ public UDPClientTest(){ */ @Override public void onAllResponse(BowlerDatagram data) { - // TODO Auto-generated method stub + // Auto-generated method stub } @@ -68,7 +68,7 @@ public void onAllResponse(BowlerDatagram data) { */ @Override public void onAsyncResponse(BowlerDatagram data) { - // TODO Auto-generated method stub + // Auto-generated method stub } @@ -92,7 +92,7 @@ public static void main(String [] args){ */ @Override public boolean isAvailable() throws InvalidConnectionException { - // TODO Auto-generated method stub + // Auto-generated method stub return clnt.isConnected(); } } diff --git a/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversation.java b/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversation.java index 0b06254b..fdf89de0 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversation.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversation.java @@ -16,7 +16,7 @@ import com.neuronrobotics.sdk.dyio.IChannelEventListener; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DyIOConversation. */ @@ -207,7 +207,7 @@ public void onChannelEvent(DyIOChannelEvent e) { try { chat.sendMessage(msg); } catch (XMPPException e1) { - // TODO Auto-generated catch block + // Auto-generated catch block e1.printStackTrace(); } } @@ -268,7 +268,7 @@ private String help(){ */ @Override public void onChannelEvent(DyIOChannelEvent e) { - // TODO Auto-generated method stub + // Auto-generated method stub } diff --git a/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversationFactory.java b/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversationFactory.java index 331dde14..07cafb79 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversationFactory.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversationFactory.java @@ -3,7 +3,7 @@ import com.neuronrobotics.application.xmpp.GoogleChat.IChatLog; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * A factory for creating DyIOConversation objects. */ diff --git a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChat.java b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChat.java index 7e163f07..f78504cc 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChat.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChat.java @@ -5,7 +5,7 @@ import org.jivesoftware.smack.XMPPException; import org.jivesoftware.smack.packet.Message; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class GoogleChat. */ diff --git a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversation.java b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversation.java index b56e0d61..55e6f515 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversation.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversation.java @@ -8,7 +8,7 @@ import com.neuronrobotics.application.xmpp.IConversation; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class GoogleChatConversation. */ diff --git a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversationFactory.java b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversationFactory.java index 3002553f..3e6dd13b 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversationFactory.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversationFactory.java @@ -4,7 +4,7 @@ import com.neuronrobotics.application.xmpp.IConversationFactory; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * A factory for creating GoogleChatConversation objects. */ diff --git a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatEngine.java b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatEngine.java index ae91f14e..0b8965fc 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatEngine.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatEngine.java @@ -29,7 +29,7 @@ -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class GoogleChatEngine. */ @@ -175,7 +175,7 @@ private MessageListener getNewMessageListener(){ */ @Override public void chatCreated(Chat arg0, boolean arg1) { - // TODO Auto-generated method stub + // Auto-generated method stub arg0.addMessageListener( getNewMessageListener()); googleChats.add(new GoogleChat(arg0)); } diff --git a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/IChatLog.java b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/IChatLog.java index e9899739..e1cb2cce 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/IChatLog.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/IChatLog.java @@ -1,6 +1,6 @@ package com.neuronrobotics.application.xmpp.GoogleChat; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Interface IChatLog. */ diff --git a/src/main/java/com/neuronrobotics/application/xmpp/IConversation.java b/src/main/java/com/neuronrobotics/application/xmpp/IConversation.java index 99deddf0..a71c210a 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/IConversation.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/IConversation.java @@ -2,7 +2,7 @@ import org.jivesoftware.smack.Chat; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Interface IConversation. */ diff --git a/src/main/java/com/neuronrobotics/application/xmpp/IConversationFactory.java b/src/main/java/com/neuronrobotics/application/xmpp/IConversationFactory.java index 6d3502be..3397ef47 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/IConversationFactory.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/IConversationFactory.java @@ -1,6 +1,6 @@ package com.neuronrobotics.application.xmpp; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * A factory for creating IConversation objects. */ diff --git a/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaJointAngles.java b/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaJointAngles.java index 35704e7d..29788b18 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaJointAngles.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaJointAngles.java @@ -1,6 +1,6 @@ package com.neuronrobotics.replicator.driver.delta; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DeltaJointAngles. */ diff --git a/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotConfig.java b/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotConfig.java index 2ad6f73f..6276a8fe 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotConfig.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotConfig.java @@ -1,6 +1,6 @@ package com.neuronrobotics.replicator.driver.delta; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DeltaRobotConfig. */ diff --git a/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotKinematics.java b/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotKinematics.java index f9574549..b3e3cdca 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotKinematics.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotKinematics.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DeltaRobotKinematics. */ diff --git a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/CodeHandler.java b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/CodeHandler.java index 8426c290..74a5acce 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/CodeHandler.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/CodeHandler.java @@ -2,7 +2,7 @@ import java.util.List; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * Encapsulates a handler for a particular G or M code. * diff --git a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/EmptyCodeHandler.java b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/EmptyCodeHandler.java index 4801f723..30ee42bb 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/EmptyCodeHandler.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/EmptyCodeHandler.java @@ -1,6 +1,6 @@ package com.neuronrobotics.replicator.driver.interpreter; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * An empty code handler, for noting that "do nothing" is the correct action. * Presently used for absolute positioning and programming in mm, because those are the internal representations. diff --git a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeInterpreter.java b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeInterpreter.java index 2244a049..513f17fa 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeInterpreter.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeInterpreter.java @@ -11,7 +11,7 @@ import com.neuronrobotics.sdk.common.Log; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * An extensible G-code interpreter. Parses a stream containing G-code commands, * stores register values, and executes handlers. The default handler set diff --git a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeLineData.java b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeLineData.java index 911ea538..7834f58a 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeLineData.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeLineData.java @@ -2,7 +2,7 @@ import java.util.Arrays; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * Encapsulates the register information in a line of G code, stored as double-precision floating point values. * diff --git a/src/main/java/com/neuronrobotics/sdk/addons/irobot/Create.java b/src/main/java/com/neuronrobotics/sdk/addons/irobot/Create.java index a160fea9..6f60af8b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/irobot/Create.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/irobot/Create.java @@ -22,7 +22,7 @@ import com.neuronrobotics.sdk.dyio.peripherals.DyIOPeripheralException; import com.neuronrobotics.sdk.dyio.peripherals.IUARTStreamListener; import com.neuronrobotics.sdk.dyio.peripherals.UARTChannel; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class Create. diff --git a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateArm.java b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateArm.java index 8a0c3c59..20fd2e95 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateArm.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateArm.java @@ -18,7 +18,7 @@ import com.neuronrobotics.sdk.dyio.peripherals.DyIOPeripheralException; import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class CreateArm. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensorRequest.java b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensorRequest.java index 2d0fd4eb..0fb6d8c6 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensorRequest.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensorRequest.java @@ -17,7 +17,7 @@ import java.util.HashMap; import java.util.Map; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Enum CreateSensorRequest. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensors.java b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensors.java index 8582326e..262f4f5b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensors.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensors.java @@ -16,7 +16,7 @@ import com.neuronrobotics.sdk.common.ByteList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class CreateSensors. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/irobot/ICreateSensorListener.java b/src/main/java/com/neuronrobotics/sdk/addons/irobot/ICreateSensorListener.java index 035ce2f8..a7ed7660 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/irobot/ICreateSensorListener.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/irobot/ICreateSensorListener.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.addons.irobot; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving ICreateSensor events. * The class that is interested in processing a ICreateSensor diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 627f6e05..2233dada 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -37,7 +37,7 @@ import com.neuronrobotics.sdk.pid.PIDEvent; import com.neuronrobotics.sdk.pid.PIDLimitEvent; import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc //import javax.swing.JFrame; //import javax.swing.JOptionPane; @@ -170,7 +170,7 @@ public void setRootListener(Object listener) { */ @Override public ArrayList getNamespacesImp() { - // TODO Auto-generated method stub + // Auto-generated method stub ArrayList back = new ArrayList(); back.add("bcs.cartesian.*"); return back; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 3eff4627..bb18b95b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -16,7 +16,7 @@ import javafx.scene.transform.Affine; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class AbstractLink. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractPrismaticLink.java index 15eae770..8471e71e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractPrismaticLink.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.addons.kinematics; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class AbstractPrismaticLink. */ @@ -13,7 +13,7 @@ public abstract class AbstractPrismaticLink extends AbstractLink { */ public AbstractPrismaticLink(LinkConfiguration conf) { super(conf); - // TODO Auto-generated constructor stub + // Auto-generated constructor stub } /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractRotoryLink.java index 23af16c7..1c369b7a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractRotoryLink.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.addons.kinematics; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class AbstractRotoryLink. */ @@ -13,7 +13,7 @@ public abstract class AbstractRotoryLink extends AbstractLink { */ public AbstractRotoryLink(LinkConfiguration conf) { super(conf); - // TODO Auto-generated constructor stub + // Auto-generated constructor stub } /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogPrismaticLink.java index f8726440..a959f737 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogPrismaticLink.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class AnalogPrismaticLink. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogRotoryLink.java index d44b816a..cd262ac2 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogRotoryLink.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class AnalogRotoryLink. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ComputedGeometricModel.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ComputedGeometricModel.java index 7e63289a..585a8713 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ComputedGeometricModel.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ComputedGeometricModel.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ComputedGeometricModel. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 23f43f9d..8c9f0db5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -16,7 +16,7 @@ import com.neuronrobotics.sdk.addons.kinematics.time.TimeKeeper; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.Log; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DHChain. @@ -282,7 +282,7 @@ public ArrayList getCachedChain() { * @return the upper limits */ public double[] getUpperLimits() { - // TODO Auto-generated method stub + // Auto-generated method stub return upperLimits; } @@ -292,7 +292,7 @@ public double[] getUpperLimits() { * @return the lower limits */ public double[] getlowerLimits() { - // TODO Auto-generated method stub + // Auto-generated method stub return lowerLimits; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java index cf206fca..36dc4e81 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java @@ -10,7 +10,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DHLink. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index d891cc40..12a91bfe 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -17,7 +17,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractDevice; import com.neuronrobotics.sdk.common.IDeviceConnectionEventListener; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DHParameterKinematics. */ @@ -83,7 +83,7 @@ public void onDisconnect(BowlerAbstractDevice source) { @Override public void onConnect(BowlerAbstractDevice source) { - // TODO Auto-generated method stub + // Auto-generated method stub } }); @@ -507,7 +507,7 @@ public String getEmbedableXml() { */ @Override public void disconnectDevice() { - // TODO Auto-generated method stub + // Auto-generated method stub removePoseUpdateListener(this); removeJointSpaceUpdateListener(this); } @@ -520,7 +520,7 @@ public void disconnectDevice() { */ @Override public boolean connectDevice() { - // TODO Auto-generated method stub + // Auto-generated method stub return true; } @@ -547,7 +547,7 @@ public void onTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) { */ @Override public void onTargetTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) { - // TODO Auto-generated method stub + // Auto-generated method stub // TransformFactory.getTransform(pose, getCurrentTargetObject()); } @@ -692,7 +692,7 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { */ @Override public void onJointSpaceTargetUpdate(AbstractKinematicsNR source, double[] joints) { - // TODO Auto-generated method stub + // Auto-generated method stub } @@ -706,7 +706,7 @@ public void onJointSpaceTargetUpdate(AbstractKinematicsNR source, double[] joint */ @Override public void onJointSpaceLimit(AbstractKinematicsNR source, int axis, JointLimit event) { - // TODO Auto-generated method stub + // Auto-generated method stub } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DhInverseSolver.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DhInverseSolver.java index 577cb9d5..42f04944 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DhInverseSolver.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DhInverseSolver.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Interface DhInverseSolver. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DrivingType.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DrivingType.java index 5d5a516d..3f4eeef3 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DrivingType.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DrivingType.java @@ -4,7 +4,7 @@ import java.util.Map; import java.util.NoSuchElementException; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Enum DrivingType. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GenericKinematicsModelNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GenericKinematicsModelNR.java index e3fb043a..6f39b076 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GenericKinematicsModelNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GenericKinematicsModelNR.java @@ -11,7 +11,7 @@ import com.neuronrobotics.sdk.namespace.bcs.pid.IExtendedPIDControl; import com.neuronrobotics.sdk.pid.GenericPIDDevice; import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc //import com.neuronrobotics.sdk.pid.IPIDControl; /** @@ -92,7 +92,7 @@ public double[] inverseKinematics(TransformNR cartesianSpaceVector)throws Except */ @Override public void disconnectDevice() { - // TODO Auto-generated method stub + // Auto-generated method stub } @@ -101,7 +101,7 @@ public void disconnectDevice() { */ @Override public boolean connectDevice() { - // TODO Auto-generated method stub + // Auto-generated method stub return false; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecent.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecent.java index be62c8e1..c1fe49e9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecent.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecent.java @@ -5,7 +5,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class GradiantDecent. */ @@ -25,7 +25,7 @@ public class GradiantDecent implements DhInverseSolver{ */ public GradiantDecent(DHChain dhChain, boolean debug) { this.dhChain = dhChain; - // TODO Auto-generated constructor stub + // Auto-generated constructor stub this.debug = debug; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecentNode.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecentNode.java index 55a04f64..9df51a52 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecentNode.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecentNode.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class GradiantDecentNode. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDhLinkPositionListener.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDhLinkPositionListener.java index bd4bc925..c07b65ad 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDhLinkPositionListener.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IDhLinkPositionListener.java @@ -2,7 +2,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IDhLinkPosition events. * The class that is interested in processing a IDhLinkPosition diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IJointSpaceUpdateListenerNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IJointSpaceUpdateListenerNR.java index 9fa14c12..2799613e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IJointSpaceUpdateListenerNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IJointSpaceUpdateListenerNR.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.addons.kinematics; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc //import com.neuronrobotics.sdk.pid.PIDLimitEvent; /** diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ILinkListener.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ILinkListener.java index 9245eb1d..5563d365 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ILinkListener.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ILinkListener.java @@ -2,7 +2,7 @@ import com.neuronrobotics.sdk.pid.PIDLimitEvent; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving ILink events. * The class that is interested in processing a ILink diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IRegistrationListenerNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IRegistrationListenerNR.java index 04f75aa5..b8bbc2ee 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IRegistrationListenerNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IRegistrationListenerNR.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Interface IRegistrationListenerNR. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ITaskSpaceUpdateListenerNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ITaskSpaceUpdateListenerNR.java index 9360a478..2a01abc0 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ITaskSpaceUpdateListenerNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ITaskSpaceUpdateListenerNR.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Interface ITaskSpaceUpdateListenerNR. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JointLimit.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JointLimit.java index 4abc7f9c..55ab2904 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JointLimit.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JointLimit.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.pid.PIDLimitEvent; import com.neuronrobotics.sdk.pid.PIDLimitEventType; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class JointLimit. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index a5aeec65..7ad52272 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -18,7 +18,7 @@ import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; import com.neuronrobotics.sdk.pid.PIDConfiguration; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class LinkConfiguration. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index 35a85f5a..f5de8ca2 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -20,7 +20,7 @@ import com.neuronrobotics.sdk.pid.ILinkFactoryProvider; import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * A factory for creating Link objects. */ @@ -393,7 +393,7 @@ public ArrayList getLinkConfigurations() { * @param l the l */ public void removeLinkListener(AbstractKinematicsNR l) { - // TODO Auto-generated method stub + // Auto-generated method stub for (AbstractLink lin : links) { lin.removeLinkListener(l); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java index c4043ae1..cafe7641 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java @@ -5,7 +5,7 @@ import java.util.Map; import java.util.NoSuchElementException; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Enum LinkType. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 63b3043a..1be362a3 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -22,7 +22,7 @@ import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.common.Log; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class MobileBase. */ @@ -480,7 +480,7 @@ public boolean connectDevice() { */ @Override public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Exception { - // TODO Auto-generated method stub + // Auto-generated method stub return new double[getNumberOfLinks()]; } @@ -492,7 +492,7 @@ public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Excepti */ @Override public TransformNR forwardKinematics(double[] jointSpaceVector) { - // TODO Auto-generated method stub + // Auto-generated method stub return new TransformNR(); } @@ -1083,32 +1083,32 @@ public void clearIOnMobileBaseRenderChange() { @Override public void event(LinkConfiguration newConf) { - // TODO Auto-generated method stub + // Auto-generated method stub fireIOnMobileBaseRenderChange(); fireConfigurationUpdate(); } @Override public void onIOnMobileBaseRenderChange() { - // TODO Auto-generated method stub + // Auto-generated method stub fireIOnMobileBaseRenderChange(); } @Override public void onJointSpaceUpdate(AbstractKinematicsNR source, double[] joints) { - // TODO Auto-generated method stub + // Auto-generated method stub fireIOnMobileBaseRenderChange(); } @Override public void onJointSpaceTargetUpdate(AbstractKinematicsNR source, double[] joints) { - // TODO Auto-generated method stub + // Auto-generated method stub } @Override public void onJointSpaceLimit(AbstractKinematicsNR source, int axis, JointLimit event) { - // TODO Auto-generated method stub + // Auto-generated method stub } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java index f6c0683d..f0bd4bea 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MockRotoryLink.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.addons.kinematics; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class MockRotoryLink. */ @@ -50,7 +50,7 @@ public void flushDevice(double time) { */ @Override public double getCurrentPosition() { - // TODO Auto-generated method stub + // Auto-generated method stub return 35; } @@ -59,7 +59,7 @@ public double getCurrentPosition() { */ @Override public void flushAllDevice(double time) { - // TODO Auto-generated method stub + // Auto-generated method stub val=getTargetValue(); //com.neuronrobotics.sdk.common.Log.error("Flushing all Values"); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java index a6b980b3..cc4fea51 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidPrismaticLink.java @@ -5,7 +5,7 @@ import com.neuronrobotics.sdk.pid.PIDEvent; import com.neuronrobotics.sdk.pid.PIDLimitEvent; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PidPrismaticLink. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java index 5befe574..54e2a99b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/PidRotoryLink.java @@ -5,7 +5,7 @@ import com.neuronrobotics.sdk.pid.PIDEvent; import com.neuronrobotics.sdk.pid.PIDLimitEvent; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PidRotoryLink. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/SearchTreeSolver.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/SearchTreeSolver.java index 87d71c38..0b367186 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/SearchTreeSolver.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/SearchTreeSolver.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class SearchTreeSolver. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java index 93257ad9..38574917 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java @@ -6,7 +6,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class WalkingDriveEngine. */ @@ -64,7 +64,7 @@ public void DriveArc(MobileBase source, TransformNR newPose, double seconds) { feetLocations[i].translateX(newPose.getX()); feetLocations[i].translateY(newPose.getY()); } catch (Exception e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } @@ -76,7 +76,7 @@ public void DriveArc(MobileBase source, TransformNR newPose, double seconds) { try { legs.get(i).setDesiredTaskSpaceTransform(feetLocations[i], seconds); } catch (Exception e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } } @@ -89,7 +89,7 @@ public void DriveArc(MobileBase source, TransformNR newPose, double seconds) { */ @Override public void DriveVelocityStraight(MobileBase source, double cmPerSecond) { - // TODO Auto-generated method stub + // Auto-generated method stub } @@ -99,7 +99,7 @@ public void DriveVelocityStraight(MobileBase source, double cmPerSecond) { @Override public void DriveVelocityArc(MobileBase source, double degreesPerSecond, double cmRadius) { - // TODO Auto-generated method stub + // Auto-generated method stub } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WheeledDriveEngine.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WheeledDriveEngine.java index f949b221..49e5089f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WheeledDriveEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WheeledDriveEngine.java @@ -2,7 +2,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class WheeledDriveEngine. */ @@ -13,7 +13,7 @@ public class WheeledDriveEngine implements IDriveEngine { */ @Override public void DriveArc(MobileBase source, TransformNR newPose, double seconds) { - // TODO Auto-generated method stub + // Auto-generated method stub } @@ -22,7 +22,7 @@ public void DriveArc(MobileBase source, TransformNR newPose, double seconds) { */ @Override public void DriveVelocityStraight(MobileBase source, double cmPerSecond) { - // TODO Auto-generated method stub + // Auto-generated method stub } @@ -32,7 +32,7 @@ public void DriveVelocityStraight(MobileBase source, double cmPerSecond) { @Override public void DriveVelocityArc(MobileBase source, double degreesPerSecond, double cmRadius) { - // TODO Auto-generated method stub + // Auto-generated method stub } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeHeater.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeHeater.java index ffbb3bd1..8499a5ba 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeHeater.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeHeater.java @@ -10,14 +10,14 @@ public class GCodeHeater extends AbstractLink implements IGCodeChannel { private double value =0; public GCodeHeater(LinkConfiguration conf, String gcodeAxis,GcodeDevice device) { super(conf); - // TODO Auto-generated constructor stub + // Auto-generated constructor stub this.axis = gcodeAxis; this.device = device; } @Override public void cacheTargetValueDevice() { - // TODO Auto-generated method stub + // Auto-generated method stub } @@ -38,13 +38,13 @@ public void flushAllDevice(double time) { @Override public double getCurrentPosition() { - // TODO Auto-generated method stub + // Auto-generated method stub return value; } @Override public String getAxis() { - // TODO Auto-generated method stub + // Auto-generated method stub return axis; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 19db038f..3b74c239 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -133,13 +133,13 @@ public void disconnectDeviceImp() { try { outs.flush(); } catch (IOException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } try { outs.close(); } catch (IOException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } } @@ -147,7 +147,7 @@ public void disconnectDeviceImp() { try { ins.close(); } catch (IOException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } outs=null; @@ -170,7 +170,7 @@ public boolean connectDeviceImp() { @Override public ArrayList getNamespacesImp() { - // TODO Auto-generated method stub + // Auto-generated method stub return new ArrayList(); } @SuppressWarnings("resource") @@ -183,7 +183,7 @@ private String getLine(){ ret =s.hasNext() ? s.next() : ""; } } catch (IOException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } return ret; @@ -200,7 +200,7 @@ public String runLine(String line) { outs.flush(); //} } catch (IOException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } long start = currentTimeMillis(); @@ -221,7 +221,7 @@ public String runLine(String line) { @Override public void runFile(File gcode) { - // TODO Auto-generated method stub + // Auto-generated method stub } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java index 757c70ad..f510d489 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java @@ -9,7 +9,7 @@ public class GcodePrismatic extends AbstractPrismaticLink implements IGCodeChann private double value =0; public GcodePrismatic(LinkConfiguration conf, GcodeDevice device, String linkAxis) { super(conf); - // TODO Auto-generated constructor stub + // Auto-generated constructor stub this.device = device; axis=linkAxis; //loadCurrent(); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java index d096536a..289dc70e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java @@ -10,7 +10,7 @@ public class GcodeRotory extends AbstractRotoryLink implements IGCodeChannel { private double value =0; public GcodeRotory(LinkConfiguration conf, GcodeDevice device, String linkAxis) { super(conf); - // TODO Auto-generated constructor stub + // Auto-generated constructor stub this.device = device; axis=linkAxis; //loadCurrent(); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index ca56409b..4c1cd562 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -10,7 +10,7 @@ import com.google.gson.annotations.Expose; import com.neuronrobotics.sdk.common.Log; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This class is to represent a 3x3 rotation sub-matrix This class also contains * static methods for dealing with 3x3 rotations. diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java index 62ec6ebd..c159a582 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java @@ -4,7 +4,7 @@ import Jama.Matrix; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This class is to represent a 3x3 rotation sub-matrix This class also contains * static methods for dealing with 3x3 rotations. diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index bf85e606..8406eecf 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -8,7 +8,7 @@ import com.neuronrobotics.sdk.common.Log; import Jama.Matrix; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class TransformNR. */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java index c3b5851c..8a54f3b0 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/parallel/ParallelGroup.java @@ -112,7 +112,7 @@ public void setupReferencedLimbStartup(DHParameterKinematics limb, TransformNR t // d.throwExceptionOnJointLimit(false); // d.setDesiredJointSpaceVector(jointSpaceVect, 0); // } catch (Exception e) { -// // TODO Auto-generated catch block +// // Auto-generated catch block // e.printStackTrace(); // } // } @@ -131,7 +131,7 @@ public void clearReferencedLimb(DHParameterKinematics limb) { @Override public void disconnectDevice() { - // TODO Auto-generated method stub + // Auto-generated method stub for (DHParameterKinematics l : getConstituantLimbs()) { l.disconnect(); } @@ -141,7 +141,7 @@ public void disconnectDevice() { @Override public boolean connectDevice() { - // TODO Auto-generated method stub + // Auto-generated method stub return true; } @@ -199,7 +199,7 @@ public void setCurrentPoseTarget(TransformNR currentPoseTarget) { } } public double[] getCurrentJointSpaceVector(DHParameterKinematics k) { - // TODO Auto-generated method stub + // Auto-generated method stub return null; } @Override diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java index 1011ff88..d8106b8a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/xml/XmlFactory.java @@ -15,7 +15,7 @@ import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * A factory for creating Xml objects. */ diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/ByteData.java b/src/main/java/com/neuronrobotics/sdk/bootloader/ByteData.java index ee5100b7..5f9fbee0 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/ByteData.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/ByteData.java @@ -2,7 +2,7 @@ import java.util.ArrayList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ByteData. */ diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/Core.java b/src/main/java/com/neuronrobotics/sdk/bootloader/Core.java index f0ac71f0..7988363b 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/Core.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/Core.java @@ -6,7 +6,7 @@ import java.io.InputStreamReader; import java.util.ArrayList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class Core. */ diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/Hexml.java b/src/main/java/com/neuronrobotics/sdk/bootloader/Hexml.java index 4acd5460..cd62f8a8 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/Hexml.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/Hexml.java @@ -15,7 +15,7 @@ import org.xml.sax.SAXException; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class Hexml. */ @@ -72,7 +72,7 @@ public Hexml(File hexml) throws ParserConfigurationException, SAXException, IOEx try { lines.add(new hexLine(tokens[i])); } catch (Exception e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } } diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java b/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java index 3e00ebd9..a8566b6d 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java @@ -8,7 +8,7 @@ import com.neuronrobotics.sdk.common.ByteList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class IntelHexParser. * diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBoot.java b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBoot.java index b5dc0e74..6bbe8fec 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBoot.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBoot.java @@ -10,7 +10,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractDevice; import com.neuronrobotics.sdk.serial.SerialConnection; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class NRBoot. */ @@ -225,7 +225,7 @@ public void run() { * @return the progress max */ public int getProgressMax() { - // TODO Auto-generated method stub + // Auto-generated method stub return progressMax; } diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootCoreType.java b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootCoreType.java index 5389fcab..5a83839b 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootCoreType.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootCoreType.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.bootloader; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Enum NRBootCoreType. */ diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootLoader.java b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootLoader.java index e7471a2b..15912f3a 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootLoader.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootLoader.java @@ -15,7 +15,7 @@ import com.neuronrobotics.sdk.common.BowlerDatagramFactory; import com.neuronrobotics.sdk.common.ByteList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class NRBootLoader. * @@ -121,7 +121,7 @@ public void reset(){ getConnection().sendAsync(bd); getConnection().getDataOuts().flush(); } catch (IOException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } disconnect(); @@ -131,7 +131,7 @@ public void reset(){ * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAllResponse(com.neuronrobotics.sdk.common.BowlerDatagram) */ public void onAllResponse(BowlerDatagram data) { - // TODO Auto-generated method stub + // Auto-generated method stub ////com.neuronrobotics.sdk.common.Log.error(data); } @@ -139,7 +139,7 @@ public void onAllResponse(BowlerDatagram data) { * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com.neuronrobotics.sdk.common.BowlerDatagram) */ public void onAsyncResponse(BowlerDatagram data) { - // TODO Auto-generated method stub + // Auto-generated method stub } } diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/hexLine.java b/src/main/java/com/neuronrobotics/sdk/bootloader/hexLine.java index 68df3bf7..80ca8289 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/hexLine.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/hexLine.java @@ -3,7 +3,7 @@ //import java.util.Queue; import java.util.ArrayList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class hexLine. */ diff --git a/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java b/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java index 6a6d7e61..f80338ed 100644 --- a/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java @@ -21,7 +21,7 @@ import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BowlerCamDevice. */ @@ -76,7 +76,7 @@ private void fireIWebcamImageListenerEvent(int camera,BufferedImage im){ * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#onAllResponse(com.neuronrobotics.sdk.common.BowlerDatagram) */ public void onAllResponse(BowlerDatagram data) { - // TODO Auto-generated method stub + // Auto-generated method stub } @@ -182,7 +182,7 @@ public void onAsyncResponse(BowlerDatagram data) { image = ByteArrayToImage(tmp.getBytes()); } } catch (IOException e1) { - // TODO Auto-generated catch block + // Auto-generated catch block e1.printStackTrace(); image=null; } @@ -306,7 +306,7 @@ public ArrayList getBlobs(){ try { sleep(10); } catch (InterruptedException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } } diff --git a/src/main/java/com/neuronrobotics/sdk/bowlercam/device/IWebcamImageListener.java b/src/main/java/com/neuronrobotics/sdk/bowlercam/device/IWebcamImageListener.java index 573474ca..046ee18d 100644 --- a/src/main/java/com/neuronrobotics/sdk/bowlercam/device/IWebcamImageListener.java +++ b/src/main/java/com/neuronrobotics/sdk/bowlercam/device/IWebcamImageListener.java @@ -2,7 +2,7 @@ import java.awt.image.BufferedImage; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IWebcamImage events. * The class that is interested in processing a IWebcamImage diff --git a/src/main/java/com/neuronrobotics/sdk/bowlercam/device/ItemMarker.java b/src/main/java/com/neuronrobotics/sdk/bowlercam/device/ItemMarker.java index 712cf490..fdf01d50 100644 --- a/src/main/java/com/neuronrobotics/sdk/bowlercam/device/ItemMarker.java +++ b/src/main/java/com/neuronrobotics/sdk/bowlercam/device/ItemMarker.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.bowlercam.device; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ItemMarker. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/ErrorCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/ErrorCommand.java index 64bae5d4..db19d117 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/ErrorCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/ErrorCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ErrorCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/NamespaceCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/NamespaceCommand.java index a9e8c2ef..57680314 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/NamespaceCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/NamespaceCommand.java @@ -19,7 +19,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; import com.neuronrobotics.sdk.common.InvalidResponseException; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class NamespaceCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/PingCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/PingCommand.java index fb8298e6..21242a96 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/PingCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/PingCommand.java @@ -17,7 +17,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This is a Ping Command used to ask the device to respond. * @author rbreznak diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/ReadyCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/ReadyCommand.java index 52e47e01..b85f1cc6 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/ReadyCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/ReadyCommand.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ReadyCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/RpcArgumentsCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/RpcArgumentsCommand.java index c247a474..2be2570c 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/RpcArgumentsCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/RpcArgumentsCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class RpcArgumentsCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/RpcCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/RpcCommand.java index fe275f15..1055ce47 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/RpcCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/core/RpcCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class RpcCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncCommand.java index d87fdace..17d2aa28 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class AsyncCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncMode.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncMode.java index e4e518cd..33c3df2b 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncMode.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncMode.java @@ -6,7 +6,7 @@ import com.neuronrobotics.sdk.common.ISendable; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Enum AsyncMode. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncThreshholdEdgeType.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncThreshholdEdgeType.java index 815f82fb..1250a084 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncThreshholdEdgeType.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncThreshholdEdgeType.java @@ -6,7 +6,7 @@ import com.neuronrobotics.sdk.common.ISendable; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Enum AsyncThreshholdEdgeType. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/ConfigAsyncCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/ConfigAsyncCommand.java index 91836b44..2d15e384 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/ConfigAsyncCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/ConfigAsyncCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ConfigAsyncCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeCommand.java index e40b3603..c77ccffb 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeCommand.java @@ -20,7 +20,7 @@ import com.neuronrobotics.sdk.common.InvalidResponseException; import com.neuronrobotics.sdk.common.Log; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class GetChannelModeCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeListCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeListCommand.java index 4a9d85af..2db333cb 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeListCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeListCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class GetChannelModeListCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetDyIOChannelCountCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetDyIOChannelCountCommand.java index 48fe6d07..4d31e10c 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetDyIOChannelCountCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetDyIOChannelCountCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class GetDyIOChannelCountCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetValueCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetValueCommand.java index 8f56c790..2b804006 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetValueCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetValueCommand.java @@ -20,7 +20,7 @@ import com.neuronrobotics.sdk.common.ByteList; import com.neuronrobotics.sdk.common.InvalidResponseException; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class GetValueCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetAllChannelValuesCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetAllChannelValuesCommand.java index a68cd631..22a5aae7 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetAllChannelValuesCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetAllChannelValuesCommand.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class SetAllChannelValuesCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetChannelValueCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetChannelValueCommand.java index edde8568..c4d627fe 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetChannelValueCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetChannelValueCommand.java @@ -22,7 +22,7 @@ import com.neuronrobotics.sdk.dyio.DyIOChannelMode; import com.neuronrobotics.sdk.dyio.InvalidChannelOperationException; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class SetChannelValueCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetUARTBaudrateCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetUARTBaudrateCommand.java index ef5b13e7..88b4ee59 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetUARTBaudrateCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetUARTBaudrateCommand.java @@ -20,7 +20,7 @@ import com.neuronrobotics.sdk.common.ByteList; import com.neuronrobotics.sdk.common.InvalidResponseException; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class SetUARTBaudrateCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/setmode/SetChannelModeCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/setmode/SetChannelModeCommand.java index 6cca47bb..c2233e1d 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/setmode/SetChannelModeCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/setmode/SetChannelModeCommand.java @@ -20,7 +20,7 @@ import com.neuronrobotics.sdk.common.InvalidResponseException; import com.neuronrobotics.sdk.dyio.DyIOChannelMode; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class SetChannelModeCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ConfigurePDVelocityCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ConfigurePDVelocityCommand.java index 6ac4eb27..5970a8fe 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ConfigurePDVelocityCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ConfigurePDVelocityCommand.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; import com.neuronrobotics.sdk.pid.PDVelocityConfiguration; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ConfigurePDVelocityCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ConfigurePIDCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ConfigurePIDCommand.java index 47d40c60..c0df99bd 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ConfigurePIDCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ConfigurePIDCommand.java @@ -5,7 +5,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; import com.neuronrobotics.sdk.pid.PIDConfiguration; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ConfigurePIDCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ControlAllPIDCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ControlAllPIDCommand.java index 516bdb9a..1ac6d149 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ControlAllPIDCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ControlAllPIDCommand.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ControlAllPIDCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ControlPIDCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ControlPIDCommand.java index debf5fdd..993efed9 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ControlPIDCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ControlPIDCommand.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ControlPIDCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/DyPID/ConfigureDynamicPIDCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/DyPID/ConfigureDynamicPIDCommand.java index 8b773389..dd7ea1ee 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/DyPID/ConfigureDynamicPIDCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/DyPID/ConfigureDynamicPIDCommand.java @@ -5,7 +5,7 @@ import com.neuronrobotics.sdk.dyio.DyIOChannelMode; import com.neuronrobotics.sdk.dyio.dypid.DyPIDConfiguration; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ConfigureDynamicPIDCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/GetPIDChannelCountCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/GetPIDChannelCountCommand.java index b6beaf79..f052df3d 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/GetPIDChannelCountCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/GetPIDChannelCountCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class GetPIDChannelCountCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/KillAllPIDCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/KillAllPIDCommand.java index 18bb7d3a..b5edf468 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/KillAllPIDCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/KillAllPIDCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class KillAllPIDCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/PDVelocityCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/PDVelocityCommand.java index 6e3c82d2..d80f4b6e 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/PDVelocityCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/PDVelocityCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PDVelocityCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ResetPIDCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ResetPIDCommand.java index 4586d5c2..2cd3db48 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ResetPIDCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/pid/ResetPIDCommand.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ResetPIDCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/safe/SafeModeCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/safe/SafeModeCommand.java index 5b7e7bc9..240385d0 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/safe/SafeModeCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/safe/SafeModeCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class SafeModeCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/cartesian/CancelPrintCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/cartesian/CancelPrintCommand.java index 41b938a5..ac7f6e90 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/cartesian/CancelPrintCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/cartesian/CancelPrintCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class CancelPrintCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/cartesian/LinearInterpolationCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/cartesian/LinearInterpolationCommand.java index 0d754991..e3bd9bb3 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/cartesian/LinearInterpolationCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/cartesian/LinearInterpolationCommand.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class LinearInterpolationCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/BootloaderIDCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/BootloaderIDCommand.java index 06b3f0d5..9698289a 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/BootloaderIDCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/BootloaderIDCommand.java @@ -5,7 +5,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; import com.neuronrobotics.sdk.common.InvalidResponseException; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BootloaderIDCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/EraseFlashCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/EraseFlashCommand.java index 6fedeaed..1eb6f027 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/EraseFlashCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/EraseFlashCommand.java @@ -5,7 +5,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; import com.neuronrobotics.sdk.common.InvalidResponseException; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class EraseFlashCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/ProgramSectionCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/ProgramSectionCommand.java index 8e651d04..e26c3988 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/ProgramSectionCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/ProgramSectionCommand.java @@ -6,7 +6,7 @@ import com.neuronrobotics.sdk.common.ByteList; import com.neuronrobotics.sdk.common.InvalidResponseException; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ProgramSectionCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/ResetChipCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/ResetChipCommand.java index 46a69cb5..b10d38cf 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/ResetChipCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bootloader/ResetChipCommand.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ResetChipCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/BlobCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/BlobCommand.java index ab70e96e..5ad2b1f6 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/BlobCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/BlobCommand.java @@ -5,7 +5,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BlobCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/ImageCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/ImageCommand.java index 2b6c5f45..67fa6b2f 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/ImageCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/ImageCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ImageCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/ImageURLCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/ImageURLCommand.java index 5c96642d..ef0c4868 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/ImageURLCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/ImageURLCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ImageURLCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/GetAllChannelValuesCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/GetAllChannelValuesCommand.java index 1f833e64..536fcc41 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/GetAllChannelValuesCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/GetAllChannelValuesCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class GetAllChannelValuesCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/InfoFirmwareRevisionCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/InfoFirmwareRevisionCommand.java index 52a1d0ab..1bc9071e 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/InfoFirmwareRevisionCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/InfoFirmwareRevisionCommand.java @@ -17,7 +17,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class InfoFirmwareRevisionCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/PowerCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/PowerCommand.java index 2db031ed..3f80e289 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/PowerCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/PowerCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PowerCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/ProvisionCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/ProvisionCommand.java index 7409fcbd..3a380c55 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/ProvisionCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/ProvisionCommand.java @@ -18,7 +18,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; import com.neuronrobotics.sdk.common.MACAddress; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ProvisionCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractCommand.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractCommand.java index d9a0a008..9b18ae1b 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractCommand.java @@ -31,7 +31,7 @@ */ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This class encapsulates the generation of a Bowler RPC. * Each command should represent a unique RPC. diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractConnection.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractConnection.java index 4efe00d2..a5366656 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractConnection.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractConnection.java @@ -48,7 +48,7 @@ -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * Connections create a bridge between a device and the SDK. Each connection is encapsulated to allow maximum * reuse and system changes without the need to restart / reconfigure. @@ -261,10 +261,10 @@ public void disconnect(){ if(dataIns!=null) getDataIns().read(); } catch (NullPointerException e) { - // TODO Auto-generated catch block + // Auto-generated catch block //e.printStackTrace(); } catch (IOException e) { - // TODO Auto-generated catch block + // Auto-generated catch block //e.printStackTrace(); } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java index 51b2131f..b3a0af35 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java @@ -37,7 +37,7 @@ import com.neuronrobotics.sdk.commands.bcs.core.PingCommand; import com.neuronrobotics.sdk.commands.neuronrobotics.dyio.InfoFirmwareRevisionCommand; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * AbstractDevices are used to model devices that are connected to the Bowler network. AbstractDevice * implementations should encapsulate command generation and provide higher-level actions to users. @@ -125,7 +125,7 @@ public void onDisconnect(BowlerAbstractConnection source) { @Override public void onConnect(BowlerAbstractConnection source) { - // TODO Auto-generated method stub + // Auto-generated method stub l.onConnect(bad); } }); @@ -167,7 +167,7 @@ public void onDisconnect(BowlerAbstractConnection source) { @Override public void onConnect(BowlerAbstractConnection source) { - // TODO Auto-generated method stub + // Auto-generated method stub getDisconnectListeners().get(index).onConnect(bad); } }); diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerDataType.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerDataType.java index 649166bf..97e1f065 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerDataType.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerDataType.java @@ -18,7 +18,7 @@ import java.util.HashMap; import java.util.Map; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Enum BowlerMethod. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java index 93cfc971..7dbb53e7 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java @@ -31,7 +31,7 @@ */ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * Formats data into a Bowler packet. * @@ -677,7 +677,7 @@ public void calcCRC() { * @param opCode the new rpc */ public void setRpc(String opCode) { - // TODO Auto-generated method stub + // Auto-generated method stub } diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagramFactory.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagramFactory.java index ec5ec6e5..197c27af 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagramFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagramFactory.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This DatagramFactory Builds a datagram. * diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerDocumentationFactory.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerDocumentationFactory.java index 0279a96f..7972f0f4 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerDocumentationFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerDocumentationFactory.java @@ -13,7 +13,7 @@ import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; import com.neuronrobotics.sdk.dyio.peripherals.UARTChannel; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * Factory used to centralize references to web pages (specifically * documentation). Any documentation for an object type defined in the NRSDK diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerMethod.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerMethod.java index 003cdf29..05235ccf 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerMethod.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerMethod.java @@ -18,7 +18,7 @@ import java.util.HashMap; import java.util.Map; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Enum BowlerMethod. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerRuntimeException.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerRuntimeException.java index 39c8255e..cd5233e5 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerRuntimeException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerRuntimeException.java @@ -15,7 +15,7 @@ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BowlerRuntimeException. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/ByteList.java b/src/main/java/com/neuronrobotics/sdk/common/ByteList.java index 568e7928..6c02e26e 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/ByteList.java +++ b/src/main/java/com/neuronrobotics/sdk/common/ByteList.java @@ -25,7 +25,7 @@ import com.neuronrobotics.sdk.config.SDKBuildInfo; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ByteList. */ @@ -360,7 +360,7 @@ public boolean addAll(Collection c) { * @return true, if successful */ public boolean addAll(int index, Collection c) { - // TODO Auto-generated method stub + // Auto-generated method stub return false; } @@ -696,7 +696,7 @@ public boolean hasNext() { @Override public Byte next() { - // TODO Auto-generated method stub + // Auto-generated method stub return data[readIndex++]; } diff --git a/src/main/java/com/neuronrobotics/sdk/common/ConfigManager.java b/src/main/java/com/neuronrobotics/sdk/common/ConfigManager.java index 573ad910..7d3a2fc5 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/ConfigManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/ConfigManager.java @@ -14,7 +14,7 @@ import com.neuronrobotics.sdk.network.UDPBowlerConnection; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ConfigManager. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/ConnectionUnavailableException.java b/src/main/java/com/neuronrobotics/sdk/common/ConnectionUnavailableException.java index 60bf11af..239211e4 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/ConnectionUnavailableException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/ConnectionUnavailableException.java @@ -13,7 +13,7 @@ * limitations under the License. ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * An exception that gets thrown when a connection is unavaliable. * @author robert diff --git a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java index c1300770..27a5d412 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java @@ -50,7 +50,7 @@ public String getScriptingName() { @Override public ArrayList getNamespacesImp() { - // TODO Auto-generated method stub + // Auto-generated method stub return new ArrayList(); } @@ -59,7 +59,7 @@ public void disconnectDeviceImp() { try { methodDisconnect.invoke(getWrapped(), null); } catch (Exception e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } } @@ -99,7 +99,7 @@ public boolean connectDeviceImp() { } return true; } catch (Exception e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } return false; diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceConnectionException.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceConnectionException.java index 100a31dc..6da6ecec 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceConnectionException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceConnectionException.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DeviceConnectionException. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java index 0f7d639c..5723d2bc 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java @@ -13,7 +13,7 @@ import com.neuronrobotics.sdk.ui.ConnectionDialog; import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DeviceManager. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/IBowlerDatagramListener.java b/src/main/java/com/neuronrobotics/sdk/common/IBowlerDatagramListener.java index afa7bad7..86841b4d 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IBowlerDatagramListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IBowlerDatagramListener.java @@ -13,7 +13,7 @@ * limitations under the License. ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * Interface for classes to implement when they wich to be notified of a response datagram. * @author rbreznak diff --git a/src/main/java/com/neuronrobotics/sdk/common/IConnectionEventListener.java b/src/main/java/com/neuronrobotics/sdk/common/IConnectionEventListener.java index 175f4d5a..91367997 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IConnectionEventListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IConnectionEventListener.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IConnectionEvent events. * The class that is interested in processing a IConnectionEvent diff --git a/src/main/java/com/neuronrobotics/sdk/common/IDeviceAddedListener.java b/src/main/java/com/neuronrobotics/sdk/common/IDeviceAddedListener.java index 7467d758..13c85b73 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IDeviceAddedListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IDeviceAddedListener.java @@ -1,7 +1,7 @@ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IDeviceAdded events. * The class that is interested in processing a IDeviceAdded diff --git a/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java b/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java index b3c60dd1..3eb54160 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java @@ -3,7 +3,7 @@ import java.io.PrintWriter; import java.io.StringWriter; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IDeviceConnectionEvent events. * The class that is interested in processing a IDeviceConnectionEvent diff --git a/src/main/java/com/neuronrobotics/sdk/common/ISendable.java b/src/main/java/com/neuronrobotics/sdk/common/ISendable.java index 61e7626a..9eac73de 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/ISendable.java +++ b/src/main/java/com/neuronrobotics/sdk/common/ISendable.java @@ -13,7 +13,7 @@ * limitations under the License. ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This interface is implemented by objects that can serialise themselves into a byte array. * @author rbreznak diff --git a/src/main/java/com/neuronrobotics/sdk/common/ISynchronousDatagramListener.java b/src/main/java/com/neuronrobotics/sdk/common/ISynchronousDatagramListener.java index 22c11f4a..94eacc7c 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/ISynchronousDatagramListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/ISynchronousDatagramListener.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving ISynchronousDatagram events. * The class that is interested in processing a ISynchronousDatagram diff --git a/src/main/java/com/neuronrobotics/sdk/common/InvalidConnectionException.java b/src/main/java/com/neuronrobotics/sdk/common/InvalidConnectionException.java index 481237b9..5400365a 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/InvalidConnectionException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/InvalidConnectionException.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This connection is thrown in the case of an invalid connection. * diff --git a/src/main/java/com/neuronrobotics/sdk/common/InvalidDataLengthException.java b/src/main/java/com/neuronrobotics/sdk/common/InvalidDataLengthException.java index 5777bf5e..18806611 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/InvalidDataLengthException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/InvalidDataLengthException.java @@ -13,7 +13,7 @@ * limitations under the License. ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This exception is thrown in the case of an invalid data length. * @author rbreznak diff --git a/src/main/java/com/neuronrobotics/sdk/common/InvalidMACAddressException.java b/src/main/java/com/neuronrobotics/sdk/common/InvalidMACAddressException.java index 5cb3a4b1..801ec1fb 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/InvalidMACAddressException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/InvalidMACAddressException.java @@ -13,7 +13,7 @@ * limitations under the License. ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This exception is thrown in the case of an invalid MAC address. * @author rbreznak diff --git a/src/main/java/com/neuronrobotics/sdk/common/InvalidResponseException.java b/src/main/java/com/neuronrobotics/sdk/common/InvalidResponseException.java index 54378ecb..6311b7ac 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/InvalidResponseException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/InvalidResponseException.java @@ -13,7 +13,7 @@ * limitations under the License. ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This exception is thrown when an invalid response is recieved from a device. * @author rbreznak diff --git a/src/main/java/com/neuronrobotics/sdk/common/IthreadedTimoutListener.java b/src/main/java/com/neuronrobotics/sdk/common/IthreadedTimoutListener.java index 148b0cb7..523bb818 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IthreadedTimoutListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IthreadedTimoutListener.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving ithreadedTimout events. * The class that is interested in processing a ithreadedTimout diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index 5276cd0a..bc9dd234 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -22,7 +22,7 @@ import java.util.Date; import com.neuronrobotics.sdk.config.SDKBuildInfo; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This class is the Logging Class for the NRsdk. * @author rbreznak @@ -434,7 +434,7 @@ public static void setUseColoredPrints(boolean useColoredPrints) { * @return true, if is printing */ public static boolean isPrinting() { - // TODO Auto-generated method stub + // Auto-generated method stub return instance().systemprint; } diff --git a/src/main/java/com/neuronrobotics/sdk/common/MACAddress.java b/src/main/java/com/neuronrobotics/sdk/common/MACAddress.java index 93a50430..e3c4c581 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/MACAddress.java +++ b/src/main/java/com/neuronrobotics/sdk/common/MACAddress.java @@ -13,7 +13,7 @@ * limitations under the License. ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * A mac address object. This object represents a MAC Address. * @author rbreznak diff --git a/src/main/java/com/neuronrobotics/sdk/common/MalformattedDatagram.java b/src/main/java/com/neuronrobotics/sdk/common/MalformattedDatagram.java index 959714ac..f18b0c47 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/MalformattedDatagram.java +++ b/src/main/java/com/neuronrobotics/sdk/common/MalformattedDatagram.java @@ -13,7 +13,7 @@ * limitations under the License. ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * his exception is thrown in the case of the reception of a malformed datagram. * @author rbreznak diff --git a/src/main/java/com/neuronrobotics/sdk/common/MissingNativeLibraryException.java b/src/main/java/com/neuronrobotics/sdk/common/MissingNativeLibraryException.java index b5d5d15e..ff9b8b09 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/MissingNativeLibraryException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/MissingNativeLibraryException.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class MissingNativeLibraryException. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/NamespaceEncapsulation.java b/src/main/java/com/neuronrobotics/sdk/common/NamespaceEncapsulation.java index 11f6c2d0..1cb80a90 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/NamespaceEncapsulation.java +++ b/src/main/java/com/neuronrobotics/sdk/common/NamespaceEncapsulation.java @@ -2,7 +2,7 @@ import java.util.ArrayList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class NamespaceEncapsulation. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/NoConnectionAvailableException.java b/src/main/java/com/neuronrobotics/sdk/common/NoConnectionAvailableException.java index d014a723..aabfc5ee 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/NoConnectionAvailableException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/NoConnectionAvailableException.java @@ -13,7 +13,7 @@ * limitations under the License. ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This exception si thrown when there is no avaliable connection. * @author rbreznak diff --git a/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java b/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java index 1f82ac31..5bbb41f3 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class NonBowlerDevice. */ @@ -66,7 +66,7 @@ public void disconnect(){ */ @Override public void onAsyncResponse(BowlerDatagram data) { - // TODO Auto-generated method stub + // Auto-generated method stub } diff --git a/src/main/java/com/neuronrobotics/sdk/common/ResponseTimeoutException.java b/src/main/java/com/neuronrobotics/sdk/common/ResponseTimeoutException.java index 75f68437..49bb0c6f 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/ResponseTimeoutException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/ResponseTimeoutException.java @@ -13,7 +13,7 @@ * limitations under the License. ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This excepion is thrown when a device fails to respond to an asynchronous packet in time. * @author rvreznak diff --git a/src/main/java/com/neuronrobotics/sdk/common/RpcEncapsulation.java b/src/main/java/com/neuronrobotics/sdk/common/RpcEncapsulation.java index e64c09aa..40254ac9 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/RpcEncapsulation.java +++ b/src/main/java/com/neuronrobotics/sdk/common/RpcEncapsulation.java @@ -2,7 +2,7 @@ import com.neuronrobotics.sdk.common.device.server.IBowlerCommandProcessor; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class RpcEncapsulation. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/SDKInfo.java b/src/main/java/com/neuronrobotics/sdk/common/SDKInfo.java index eb5e1ff8..7b4a56bb 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/SDKInfo.java +++ b/src/main/java/com/neuronrobotics/sdk/common/SDKInfo.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This class has been replaced by SDKBuildInfo. diff --git a/src/main/java/com/neuronrobotics/sdk/common/ThreadedTimeout.java b/src/main/java/com/neuronrobotics/sdk/common/ThreadedTimeout.java index 25550375..2a34214e 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/ThreadedTimeout.java +++ b/src/main/java/com/neuronrobotics/sdk/common/ThreadedTimeout.java @@ -18,7 +18,7 @@ import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ThreadedTimeout. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/Tracer.java b/src/main/java/com/neuronrobotics/sdk/common/Tracer.java index c49261e0..68a34721 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Tracer.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Tracer.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.common; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class Tracer. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServer.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServer.java index b3ce12a2..8731769b 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServer.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServer.java @@ -12,7 +12,7 @@ import com.neuronrobotics.sdk.common.Log; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BowlerAbstractDeviceServer. */ @@ -85,7 +85,7 @@ public void onAllResponse(BowlerDatagram data) { * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com.neuronrobotics.sdk.common.BowlerDatagram) */ public void onAsyncResponse(BowlerDatagram data) { - // TODO Auto-generated method stub + // Auto-generated method stub } diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServerNamespace.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServerNamespace.java index 297868dd..1e8c21c8 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServerNamespace.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServerNamespace.java @@ -9,7 +9,7 @@ import com.neuronrobotics.sdk.common.MACAddress; import com.neuronrobotics.sdk.common.RpcEncapsulation; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BowlerAbstractDeviceServerNamespace. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractServer.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractServer.java index 955ce06d..5801b72c 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractServer.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractServer.java @@ -30,7 +30,7 @@ import com.neuronrobotics.sdk.network.BowlerUDPServer; import com.neuronrobotics.sdk.network.UDPBowlerConnection; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BowlerAbstractServer. */ @@ -177,7 +177,7 @@ public void run() { addServer(new BowlerTCPServer(s)); Log.warning("Got a connection!"); } catch (IOException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } } @@ -260,7 +260,7 @@ private void removeServer(BowlerAbstractConnection b) { try { udpServer.reconnect(); } catch (IOException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } return; diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerDeviceReServerNamespace.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerDeviceReServerNamespace.java index 2bc0c34b..be2db1c0 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerDeviceReServerNamespace.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerDeviceReServerNamespace.java @@ -10,7 +10,7 @@ import com.neuronrobotics.sdk.common.RpcEncapsulation; import com.neuronrobotics.sdk.genericdevice.GenericDevice; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BowlerDeviceReServerNamespace. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/IBowlerCommandProcessor.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/IBowlerCommandProcessor.java index 896a6c51..d23237e6 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/IBowlerCommandProcessor.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/IBowlerCommandProcessor.java @@ -2,7 +2,7 @@ import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Interface IBowlerCommandProcessor. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/core/BcsCoreNamespaceImp.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/core/BcsCoreNamespaceImp.java index e429ae22..a6091fb6 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/core/BcsCoreNamespaceImp.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/core/BcsCoreNamespaceImp.java @@ -8,7 +8,7 @@ import com.neuronrobotics.sdk.common.device.server.BowlerAbstractServer; import com.neuronrobotics.sdk.common.device.server.IBowlerCommandProcessor; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BcsCoreNamespaceImp. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcArgsCommand.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcArgsCommand.java index e37a31f1..fd45c118 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcArgsCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcArgsCommand.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.common.BowlerDataType; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BcsRpcArgsCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcCommand.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcCommand.java index c601fc2e..4e1ba7fc 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcCommand.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BcsRpcCommand. */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcNamespaceImp.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcNamespaceImp.java index 13e259da..070142e6 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcNamespaceImp.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcNamespaceImp.java @@ -9,7 +9,7 @@ import com.neuronrobotics.sdk.common.device.server.BowlerAbstractServer; import com.neuronrobotics.sdk.common.device.server.IBowlerCommandProcessor; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BcsRpcNamespaceImp. */ diff --git a/src/main/java/com/neuronrobotics/sdk/config/SDKBuildInfo.java b/src/main/java/com/neuronrobotics/sdk/config/SDKBuildInfo.java index b9bb914d..a33210dd 100644 --- a/src/main/java/com/neuronrobotics/sdk/config/SDKBuildInfo.java +++ b/src/main/java/com/neuronrobotics/sdk/config/SDKBuildInfo.java @@ -5,7 +5,7 @@ import java.io.InputStream; import java.io.InputStreamReader; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class SDKBuildInfo. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java index b9213685..eed0a3f1 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java @@ -51,7 +51,7 @@ import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The DyIO class is an encapsulation of all of the functionality of the DyIO module into one object. This * object has one connection to one DyIO module and wraps all of the commands in an accessible API. @@ -1310,7 +1310,7 @@ public int[] getAllChannelValues() { */ @Override public boolean ConfigurePDVelovityController(PDVelocityConfiguration config) { - // TODO Auto-generated method stub + // Auto-generated method stub return getPid().ConfigurePDVelovityController(config); } @@ -1319,7 +1319,7 @@ public boolean ConfigurePDVelovityController(PDVelocityConfiguration config) { */ @Override public PDVelocityConfiguration getPDVelocityConfiguration(int group) { - // TODO Auto-generated method stub + // Auto-generated method stub return getPid().getPDVelocityConfiguration(group); } @@ -1328,7 +1328,7 @@ public PDVelocityConfiguration getPDVelocityConfiguration(int group) { */ @Override public int getPIDChannelCount() { - // TODO Auto-generated method stub + // Auto-generated method stub return getPid().getPIDChannelCount(); } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOAsyncEvent.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOAsyncEvent.java index 09211c52..79305164 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOAsyncEvent.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOAsyncEvent.java @@ -15,7 +15,7 @@ package com.neuronrobotics.sdk.dyio; import com.neuronrobotics.sdk.common.BowlerDatagram; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * An asyncrono event. * @author rbreznak diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannel.java index 374f5805..79b439de 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannel.java @@ -30,7 +30,7 @@ import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral; import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * A DyIO channel. This represents a single DyIO pchannel. * @author Kevin Harrington, Robert Breznak diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelEvent.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelEvent.java index a75a936b..c4efc238 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelEvent.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelEvent.java @@ -16,7 +16,7 @@ import com.neuronrobotics.sdk.common.ByteList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * a DyIO Channel Event. * @@ -51,7 +51,7 @@ public DyIOChannelEvent(DyIOChannel channel, ByteList data) { * @param integer the integer */ public DyIOChannelEvent(DyIOChannel c, Integer integer) { - // TODO Auto-generated constructor stub + // Auto-generated constructor stub this.channel =c; this.integer = integer; diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelEventType.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelEventType.java index 55d0e6ed..04019ea1 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelEventType.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelEventType.java @@ -13,7 +13,7 @@ * limitations under the License. ******************************************************************************/ package com.neuronrobotics.sdk.dyio; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * Enumeration of the types of Channel Events a DyIO can have. * @author rbreznak diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelMode.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelMode.java index ee0fce2b..5b6e9883 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelMode.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOChannelMode.java @@ -20,7 +20,7 @@ import java.util.Map; import com.neuronrobotics.sdk.common.ISendable; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * An enumeration of all the possible DyIO channel modes. * @author rbreznak diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOCommunicationException.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOCommunicationException.java index f941ccdf..b7e465f7 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOCommunicationException.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOCommunicationException.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.dyio; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DyIOCommunicationException. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOFirmwareOutOfDateException.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOFirmwareOutOfDateException.java index 8405504f..466a6adc 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOFirmwareOutOfDateException.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOFirmwareOutOfDateException.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.dyio; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DyIOFirmwareOutOfDateException. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOInputStream.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOInputStream.java index 83ad6eaf..681ecf44 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOInputStream.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOInputStream.java @@ -19,7 +19,7 @@ import com.neuronrobotics.sdk.common.ByteList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DyIOInputStream. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOOutputStream.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOOutputStream.java index 6c259e7d..59fdfb4b 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOOutputStream.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOOutputStream.java @@ -19,7 +19,7 @@ import com.neuronrobotics.sdk.common.ByteList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DyIOOutputStream. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerEvent.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerEvent.java index 52785aee..85f1401b 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerEvent.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerEvent.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.dyio; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DyIOPowerEvent. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerState.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerState.java index 643da189..3655278c 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerState.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerState.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.dyio; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Enum DyIOPowerState. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/IChannelEventListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/IChannelEventListener.java index 9f7e407c..284c704d 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/IChannelEventListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/IChannelEventListener.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.dyio; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IChannelEvent events. * The class that is interested in processing a IChannelEvent diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannel.java index b0c69554..1e54529f 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannel.java @@ -16,7 +16,7 @@ import com.neuronrobotics.sdk.common.ByteList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Interface IDyIOChannel. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannelModeChangeListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannelModeChangeListener.java index b0a94567..128c90d8 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannelModeChangeListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannelModeChangeListener.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.dyio; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IDyIOChannelModeChange events. * The class that is interested in processing a IDyIOChannelModeChange diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOEventListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOEventListener.java index fdab5273..4bcde54a 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOEventListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOEventListener.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.dyio; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IDyIOEvent events. * The class that is interested in processing a IDyIOEvent diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOStateChangeListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOStateChangeListener.java index 18c0f9c6..598c1808 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOStateChangeListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOStateChangeListener.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.dyio; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IDyIOStateChange events. * The class that is interested in processing a IDyIOStateChange diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelException.java b/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelException.java index e904b376..98975433 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelException.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelException.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.dyio; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class InvalidChannelException. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelOperationException.java b/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelOperationException.java index b6cf373d..3649e118 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelOperationException.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelOperationException.java @@ -16,7 +16,7 @@ import com.neuronrobotics.sdk.common.BowlerRuntimeException; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class InvalidChannelOperationException. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/dypid/DyPIDConfiguration.java b/src/main/java/com/neuronrobotics/sdk/dyio/dypid/DyPIDConfiguration.java index 88bec4b2..dd8a92e0 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/dypid/DyPIDConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/dypid/DyPIDConfiguration.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerDatagram; import com.neuronrobotics.sdk.dyio.DyIOChannelMode; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DyPIDConfiguration. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/AnalogInputChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/AnalogInputChannel.java index d71cdb98..1337b83a 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/AnalogInputChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/AnalogInputChannel.java @@ -23,7 +23,7 @@ import com.neuronrobotics.sdk.dyio.DyIOChannelMode; import com.neuronrobotics.sdk.dyio.IChannelEventListener; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class AnalogInputChannel. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterInputChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterInputChannel.java index 834d59fd..c0596fee 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterInputChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterInputChannel.java @@ -24,7 +24,7 @@ import com.neuronrobotics.sdk.dyio.DyIOChannelMode; import com.neuronrobotics.sdk.dyio.IChannelEventListener; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class CounterInputChannel. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterOutputChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterOutputChannel.java index bfb5e105..27cbad34 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterOutputChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterOutputChannel.java @@ -27,7 +27,7 @@ import com.neuronrobotics.sdk.dyio.IChannelEventListener; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class CounterOutputChannel. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DCMotorOutputChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DCMotorOutputChannel.java index 2e8d9d31..2b825ab3 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DCMotorOutputChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DCMotorOutputChannel.java @@ -20,7 +20,7 @@ import com.neuronrobotics.sdk.common.DeviceManager; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DCMotorOutputChannel. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalInputChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalInputChannel.java index 2f0559a6..2be92bf2 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalInputChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalInputChannel.java @@ -23,7 +23,7 @@ import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.dyio.IChannelEventListener; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DigitalInputChannel. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalOutputChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalOutputChannel.java index 3380cc69..12a3200e 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalOutputChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalOutputChannel.java @@ -19,7 +19,7 @@ import com.neuronrobotics.sdk.dyio.DyIOChannelMode; import com.neuronrobotics.sdk.common.DeviceManager; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DigitalOutputChannel. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOAbstractPeripheral.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOAbstractPeripheral.java index d1a1ce74..369f7ea2 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOAbstractPeripheral.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOAbstractPeripheral.java @@ -24,7 +24,7 @@ import com.neuronrobotics.sdk.dyio.DyIOChannelMode; import com.neuronrobotics.sdk.dyio.IDyIOChannel; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DyIOAbstractPeripheral. */ @@ -218,7 +218,7 @@ public boolean SavePosition(int pos){ try { Thread.sleep(30); } catch (InterruptedException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOPeripheralException.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOPeripheralException.java index cc9ee89e..561843ea 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOPeripheralException.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOPeripheralException.java @@ -16,7 +16,7 @@ import com.neuronrobotics.sdk.common.BowlerRuntimeException; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class DyIOPeripheralException. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IAnalogInputListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IAnalogInputListener.java index 60287afd..ea5e9973 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IAnalogInputListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IAnalogInputListener.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.dyio.peripherals; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IAnalogInput events. * The class that is interested in processing a IAnalogInput diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterInputListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterInputListener.java index 4cd1325e..37a228bb 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterInputListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterInputListener.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.dyio.peripherals; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving ICounterInput events. * The class that is interested in processing a ICounterInput diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterOutputListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterOutputListener.java index 6e148f7b..2f6b4e76 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterOutputListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterOutputListener.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.dyio.peripherals; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving ICounterOutput events. * The class that is interested in processing a ICounterOutput diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IDigitalInputListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IDigitalInputListener.java index e4c08cc5..1169d90c 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IDigitalInputListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IDigitalInputListener.java @@ -14,7 +14,7 @@ ******************************************************************************/ package com.neuronrobotics.sdk.dyio.peripherals; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IDigitalInput events. * The class that is interested in processing a IDigitalInput diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IPPMReaderListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IPPMReaderListener.java index 040bd2a2..25a2714c 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IPPMReaderListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IPPMReaderListener.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.dyio.peripherals; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc //import com.neuronrobotics.sdk.dyio.IChannelEventListener; /** diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IServoPositionUpdateListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IServoPositionUpdateListener.java index 80adb0fd..34614a25 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IServoPositionUpdateListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IServoPositionUpdateListener.java @@ -1,7 +1,7 @@ package com.neuronrobotics.sdk.dyio.peripherals; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IServoPositionUpdate events. * The class that is interested in processing a IServoPositionUpdate diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PPMReaderChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PPMReaderChannel.java index 20a70eb6..c92d3a67 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PPMReaderChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PPMReaderChannel.java @@ -15,7 +15,7 @@ import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.dyio.IChannelEventListener; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This class is a wrapper for the DyIO PPM signal reader. * This manages taking Channel 23 and using it to read values from the VEX rc controller (others might be supported as well) diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PWMOutputChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PWMOutputChannel.java index b67ccad3..e0ed6864 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PWMOutputChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PWMOutputChannel.java @@ -20,7 +20,7 @@ import com.neuronrobotics.sdk.common.DeviceManager; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PWMOutputChannel. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/SPIChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/SPIChannel.java index 430ab57b..0f593356 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/SPIChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/SPIChannel.java @@ -11,7 +11,7 @@ import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.dyio.IChannelEventListener; import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This class wraps ports 0,1, and 2 as an SPI interface. diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ServoChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ServoChannel.java index 40d52b4e..56eb5862 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ServoChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ServoChannel.java @@ -25,7 +25,7 @@ import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.dyio.IChannelEventListener; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ServoChannel. */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/UARTChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/UARTChannel.java index 81e91645..e88d0ab3 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/UARTChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/UARTChannel.java @@ -33,7 +33,7 @@ import com.neuronrobotics.sdk.dyio.InvalidChannelOperationException; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class UARTChannel. */ @@ -272,7 +272,7 @@ public DyIOOutputStream getOutStream(){ * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() */ public boolean hasAsync() { - // TODO Auto-generated method stub + // Auto-generated method stub return true; } @@ -354,7 +354,7 @@ public DyIOInputStream getInputStream(){ * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() */ public boolean hasAsync() { - // TODO Auto-generated method stub + // Auto-generated method stub return true; } diff --git a/src/main/java/com/neuronrobotics/sdk/genericdevice/GenericDevice.java b/src/main/java/com/neuronrobotics/sdk/genericdevice/GenericDevice.java index 09e3fff7..aa6ae489 100644 --- a/src/main/java/com/neuronrobotics/sdk/genericdevice/GenericDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/genericdevice/GenericDevice.java @@ -7,7 +7,7 @@ import com.neuronrobotics.sdk.common.InvalidConnectionException; import com.neuronrobotics.sdk.common.MACAddress; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This is a basic device with only bcs.core * @author hephaestus @@ -38,7 +38,7 @@ public boolean isAvailable() throws InvalidConnectionException { * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#onAllResponse(com.neuronrobotics.sdk.common.BowlerDatagram) */ public void onAllResponse(BowlerDatagram data) { - // TODO Auto-generated method stub + // Auto-generated method stub } @@ -47,7 +47,7 @@ public void onAllResponse(BowlerDatagram data) { * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com.neuronrobotics.sdk.common.BowlerDatagram) */ public void onAsyncResponse(BowlerDatagram data) { - // TODO Auto-generated method stub + // Auto-generated method stub } diff --git a/src/main/java/com/neuronrobotics/sdk/javaxusb/IUsbDeviceEventListener.java b/src/main/java/com/neuronrobotics/sdk/javaxusb/IUsbDeviceEventListener.java index 1d8ad444..a70b8966 100644 --- a/src/main/java/com/neuronrobotics/sdk/javaxusb/IUsbDeviceEventListener.java +++ b/src/main/java/com/neuronrobotics/sdk/javaxusb/IUsbDeviceEventListener.java @@ -2,7 +2,7 @@ import javax.usb.UsbDevice; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IUsbDeviceEvent events. * The class that is interested in processing a IUsbDeviceEvent diff --git a/src/main/java/com/neuronrobotics/sdk/javaxusb/UsbCDCSerialConnection.java b/src/main/java/com/neuronrobotics/sdk/javaxusb/UsbCDCSerialConnection.java index 5d646790..eb23a048 100644 --- a/src/main/java/com/neuronrobotics/sdk/javaxusb/UsbCDCSerialConnection.java +++ b/src/main/java/com/neuronrobotics/sdk/javaxusb/UsbCDCSerialConnection.java @@ -49,7 +49,7 @@ //import com.neuronrobotics.sdk.util.OsInfoUtil; import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class UsbCDCSerialConnection. */ @@ -131,13 +131,13 @@ public UsbCDCSerialConnection(UsbDevice device) { MyDeviceString=getUniqueID(device); } catch (UnsupportedEncodingException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbDisconnectedException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } setup(); @@ -227,10 +227,10 @@ public int processEvent(Context arg0, Device arg1, } } } catch (SecurityException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } if(thread!=null) @@ -283,16 +283,16 @@ public static UsbDevice mapLibUsbDevicetoJavaxDevice(Device device) { } } } catch (UnsupportedEncodingException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbDisconnectedException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (SecurityException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } return null; @@ -398,16 +398,16 @@ private void setup(){ } } } catch (UnsupportedEncodingException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbDisconnectedException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (SecurityException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } @@ -458,7 +458,7 @@ public boolean connect() { kernelDetatch(mDevice); } catch (Exception e1) { - // TODO Auto-generated catch block + // Auto-generated catch block e1.printStackTrace(); return false; } @@ -479,16 +479,16 @@ public boolean connect() { } } } catch (UsbClaimException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbNotActiveException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbDisconnectedException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } } else { @@ -566,13 +566,13 @@ private void kernelDetatch(UsbDevice mDevice){ try { kDev = findDevice(mDevice.getSerialNumberString()); } catch (UnsupportedEncodingException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbDisconnectedException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } if (kDev == null) @@ -607,10 +607,10 @@ private void localDisconnect(){ camOutpipe.close(); camOutpipe=null; } catch (UsbDisconnectedException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } if(dataInterface!=null){ @@ -619,10 +619,10 @@ private void localDisconnect(){ dataInterface.release(); dataInterface=null; } catch (UsbDisconnectedException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } } @@ -699,7 +699,7 @@ public void write(byte[] src) throws IOException { ThreadUtil.wait(1); } - } catch (Exception e) {// TODO Auto-generated catch block + } catch (Exception e) {// Auto-generated catch block //e.printStackTrace(); disconnect(); throw new BowlerRuntimeException( @@ -766,16 +766,16 @@ public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) disconnect(); return null; } catch (UsbNotActiveException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbNotOpenException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbDisconnectedException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } break; @@ -816,7 +816,7 @@ public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) */ @Override public boolean waitingForConnection() { - // TODO Auto-generated method stub + // Auto-generated method stub return false; } @@ -825,7 +825,7 @@ public boolean waitingForConnection() { */ @Override public void dataEventOccurred(UsbDeviceDataEvent arg0) { - // TODO Auto-generated method stub + // Auto-generated method stub } @@ -859,7 +859,7 @@ public void usbDeviceDetached(UsbDeviceEvent arg0) { */ @Override public void onDeviceEvent(UsbDevice device) { - // TODO Auto-generated method stub + // Auto-generated method stub } diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/AbstractPidNamespaceImp.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/AbstractPidNamespaceImp.java index f779f598..58d097ca 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/AbstractPidNamespaceImp.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/AbstractPidNamespaceImp.java @@ -11,7 +11,7 @@ import com.neuronrobotics.sdk.pid.PIDEvent; import com.neuronrobotics.sdk.pid.PIDLimitEvent; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class AbstractPidNamespaceImp. */ diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IExtendedPIDControl.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IExtendedPIDControl.java index f3439cab..3e813ad9 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IExtendedPIDControl.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IExtendedPIDControl.java @@ -1,7 +1,7 @@ package com.neuronrobotics.sdk.namespace.bcs.pid; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Interface IExtendedPIDControl. */ diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IPidControlNamespace.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IPidControlNamespace.java index dc238753..e1953ec8 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IPidControlNamespace.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IPidControlNamespace.java @@ -6,7 +6,7 @@ import com.neuronrobotics.sdk.pid.PIDCommandException; import com.neuronrobotics.sdk.pid.PIDConfiguration; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Interface IPidControlNamespace. */ diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/LegacyPidNamespaceImp.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/LegacyPidNamespaceImp.java index 60319761..2978cabd 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/LegacyPidNamespaceImp.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/LegacyPidNamespaceImp.java @@ -19,7 +19,7 @@ import com.neuronrobotics.sdk.pid.PIDEvent; import com.neuronrobotics.sdk.pid.PIDLimitEvent; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class LegacyPidNamespaceImp. */ @@ -106,7 +106,7 @@ public boolean ConfigurePDVelovityController(PDVelocityConfiguration config) { */ @Override public PDVelocityConfiguration getPDVelocityConfiguration(int group) { - // TODO Auto-generated method stub + // Auto-generated method stub return new PDVelocityConfiguration(getDevice().send(new ConfigurePDVelocityCommand(group))); } diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java index efdfc1d2..e787e8c1 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServer.java @@ -11,7 +11,7 @@ import com.neuronrobotics.sdk.pid.PIDLimitEvent; import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PidDeviceServer. */ @@ -36,7 +36,7 @@ public PidDeviceServer(MACAddress mac,IPidControlNamespace device) { try { startNetworkServer(1865); } catch (IOException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); //System.exit(1); } diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServerNamespace.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServerNamespace.java index 1c90996b..68bb081b 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServerNamespace.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidDeviceServerNamespace.java @@ -14,7 +14,7 @@ import com.neuronrobotics.sdk.pid.PIDConfiguration; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PidDeviceServerNamespace. */ @@ -193,7 +193,7 @@ public Object[] process(Object[] data) { (Integer)data[1], (Integer)data[2]); } catch (PIDCommandException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); return new Object[]{data[0],new Integer(66)}; } diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidNamespaceImp.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidNamespaceImp.java index 2cffc5f1..4b313fe6 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidNamespaceImp.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/PidNamespaceImp.java @@ -11,7 +11,7 @@ import com.neuronrobotics.sdk.pid.PIDEvent; import com.neuronrobotics.sdk.pid.PIDLimitEvent; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PidNamespaceImp. */ diff --git a/src/main/java/com/neuronrobotics/sdk/network/AbstractNetworkDeviceServer.java b/src/main/java/com/neuronrobotics/sdk/network/AbstractNetworkDeviceServer.java index 83be46c8..f5e2f55a 100644 --- a/src/main/java/com/neuronrobotics/sdk/network/AbstractNetworkDeviceServer.java +++ b/src/main/java/com/neuronrobotics/sdk/network/AbstractNetworkDeviceServer.java @@ -8,7 +8,7 @@ import com.neuronrobotics.sdk.common.device.server.BowlerDeviceReServerNamespace; import com.neuronrobotics.sdk.genericdevice.GenericDevice; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class AbstractNetworkDeviceServer. */ diff --git a/src/main/java/com/neuronrobotics/sdk/network/AvailibleSocket.java b/src/main/java/com/neuronrobotics/sdk/network/AvailibleSocket.java index 8d0de083..8c323f7e 100644 --- a/src/main/java/com/neuronrobotics/sdk/network/AvailibleSocket.java +++ b/src/main/java/com/neuronrobotics/sdk/network/AvailibleSocket.java @@ -16,7 +16,7 @@ import java.net.InetAddress; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class AvailibleSocket. */ diff --git a/src/main/java/com/neuronrobotics/sdk/network/BowlerTCPClient.java b/src/main/java/com/neuronrobotics/sdk/network/BowlerTCPClient.java index 869ec8ad..6200eaad 100644 --- a/src/main/java/com/neuronrobotics/sdk/network/BowlerTCPClient.java +++ b/src/main/java/com/neuronrobotics/sdk/network/BowlerTCPClient.java @@ -30,7 +30,7 @@ -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BowlerTCPClient. */ @@ -136,7 +136,7 @@ public void setTCPSocket(Socket sock){ try { tcpSock.setSoTimeout(1000); } catch (SocketException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } connect(); @@ -199,7 +199,7 @@ public static ArrayList getAvailableSockets() { available= udp.getAllAddresses(); udp.disconnect(); } catch (Exception e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } return available; @@ -228,7 +228,7 @@ public boolean reconnect() { return true; } catch (IOException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } disconnect(); @@ -243,7 +243,7 @@ public boolean reconnect() { */ @Override public boolean waitingForConnection() { - // TODO Auto-generated method stub + // Auto-generated method stub return false; } diff --git a/src/main/java/com/neuronrobotics/sdk/network/BowlerTCPServer.java b/src/main/java/com/neuronrobotics/sdk/network/BowlerTCPServer.java index e897fd6e..3fce924c 100644 --- a/src/main/java/com/neuronrobotics/sdk/network/BowlerTCPServer.java +++ b/src/main/java/com/neuronrobotics/sdk/network/BowlerTCPServer.java @@ -27,7 +27,7 @@ -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BowlerTCPServer. */ @@ -55,7 +55,7 @@ public BowlerTCPServer(Socket socket) throws IOException{ socket.setSoTimeout(1000); } catch (SocketException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } setSynchronusPacketTimeoutTime(sleepTime); @@ -109,7 +109,7 @@ public void disconnect() { } } catch (IOException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } diff --git a/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPServer.java b/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPServer.java index b11e0cbc..70e3b312 100644 --- a/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPServer.java +++ b/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPServer.java @@ -30,7 +30,7 @@ import com.neuronrobotics.sdk.common.Log; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BowlerUDPServer. */ @@ -97,7 +97,7 @@ public boolean connect() { setConnected(true); } catch (SocketException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } return isConnected(); diff --git a/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java b/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java index f8597068..2478ef35 100644 --- a/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java +++ b/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java @@ -33,7 +33,7 @@ import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.common.MACAddress; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class UDPBowlerConnection. */ @@ -206,7 +206,7 @@ private void init(){ if(IPAddressSet == null) IPAddressSet=InetAddress.getByAddress(new byte[]{(byte) 255,(byte) 255,(byte) 255,(byte) 255}); } catch (UnknownHostException e1) { - // TODO Auto-generated catch block + // Auto-generated catch block e1.printStackTrace(); } if(connect()){ @@ -243,7 +243,7 @@ public boolean connect() { setConnected(true); } catch (Exception e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); setConnected(false); } @@ -271,7 +271,7 @@ public boolean reconnect() throws IOException { */ @Override public boolean waitingForConnection() { - // TODO Auto-generated method stub + // Auto-generated method stub return false; } @@ -296,7 +296,7 @@ public ArrayList getAllAddresses(){ //wait for all devices to report back try {Thread.sleep(3000);} catch (InterruptedException e) {} } catch (IOException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/GenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/GenericPIDDevice.java index 149d3ca7..23a7969e 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/GenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/GenericPIDDevice.java @@ -13,7 +13,7 @@ import com.neuronrobotics.sdk.namespace.bcs.pid.LegacyPidNamespaceImp; import com.neuronrobotics.sdk.namespace.bcs.pid.PidNamespaceImp; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * This class is a generic implementation of the PID system. This can be used as a template, superclass or internal object class for * use with and device that implements the IPIDControl interface. diff --git a/src/main/java/com/neuronrobotics/sdk/pid/ILinkFactoryProvider.java b/src/main/java/com/neuronrobotics/sdk/pid/ILinkFactoryProvider.java index 669acd6a..2d8073c5 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/ILinkFactoryProvider.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/ILinkFactoryProvider.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Interface ILinkFactoryProvider. */ diff --git a/src/main/java/com/neuronrobotics/sdk/pid/IPIDEventListener.java b/src/main/java/com/neuronrobotics/sdk/pid/IPIDEventListener.java index 2a387274..1402f463 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/IPIDEventListener.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/IPIDEventListener.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.pid; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The listener interface for receiving IPIDEvent events. * The class that is interested in processing a IPIDEvent diff --git a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java index a0d3b47f..61e27133 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.addons.kinematics.time.ITimeProvider; import com.neuronrobotics.sdk.addons.kinematics.time.TimeKeeper; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class LinearInterpolationEngine. */ diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PDVelocityConfiguration.java b/src/main/java/com/neuronrobotics/sdk/pid/PDVelocityConfiguration.java index 9f4b567c..c9ad56d6 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PDVelocityConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PDVelocityConfiguration.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerDatagram; import com.neuronrobotics.sdk.common.ByteList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PDVelocityConfiguration. */ diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java index 046a27b1..ac472793 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java @@ -5,7 +5,7 @@ import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PIDChannel. */ @@ -281,7 +281,7 @@ public float getCurrentCachedPosition() { * @return true, if is available */ public boolean isAvailable() { - // TODO Auto-generated method stub + // Auto-generated method stub return pid.isAvailable(); } @@ -291,7 +291,7 @@ public boolean isAvailable() { * @return the group */ public int getGroup() { - // TODO Auto-generated method stub + // Auto-generated method stub return index; } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDCommandException.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDCommandException.java index 1b5191a1..b3ae5cc3 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDCommandException.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDCommandException.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.pid; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PIDCommandException. */ diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDConfiguration.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDConfiguration.java index 201e580f..57e2d43c 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDConfiguration.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerDatagram; import com.neuronrobotics.sdk.common.ByteList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PIDConfiguration. */ diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDEvent.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDEvent.java index 7ec20164..19f0e858 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDEvent.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDEvent.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerDatagram; import com.neuronrobotics.sdk.common.ByteList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PIDEvent. */ diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java index add0c5ca..3a14b842 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java @@ -3,7 +3,7 @@ import com.neuronrobotics.sdk.common.BowlerDatagram; import com.neuronrobotics.sdk.common.ByteList; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class PIDLimitEvent. */ diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEventType.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEventType.java index 4d55860c..baa705e8 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEventType.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEventType.java @@ -20,7 +20,7 @@ import java.util.List; import java.util.Map; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Enum PIDLimitEventType. diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index c3f80cd4..89c15b1b 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -14,7 +14,7 @@ import com.neuronrobotics.sdk.common.NoConnectionAvailableException; import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class VirtualGenericPIDDevice. */ @@ -279,7 +279,7 @@ private InterpolationEngine getDriveThread(int i) { */ @Override public float GetPIDPosition(int group) { - // TODO Auto-generated method stub + // Auto-generated method stub return (float) getDriveThread(group).getPosition(); } @@ -416,7 +416,7 @@ public void run() { try { getTimeProvider().sleep(1); } catch (InterruptedException e1) { - // TODO Auto-generated catch block + // Auto-generated catch block e1.printStackTrace(); return; } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPidDeviceConnection.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPidDeviceConnection.java index a4807872..05b92e5e 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPidDeviceConnection.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPidDeviceConnection.java @@ -4,7 +4,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractConnection; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class VirtualGenericPidDeviceConnection. */ @@ -15,13 +15,13 @@ public class VirtualGenericPidDeviceConnection extends BowlerAbstractConnection */ @Override public boolean connect() { - // TODO Auto-generated method stub + // Auto-generated method stub return true; } // @Override // public boolean reconnect() throws IOException { -// // TODO Auto-generated method stub +// // Auto-generated method stub // return false; // } @@ -30,7 +30,7 @@ public boolean connect() { */ @Override public boolean waitingForConnection() { - // TODO Auto-generated method stub + // Auto-generated method stub return false; } diff --git a/src/main/java/com/neuronrobotics/sdk/serial/SerialConnection.java b/src/main/java/com/neuronrobotics/sdk/serial/SerialConnection.java index 3b93d64a..54cc454d 100644 --- a/src/main/java/com/neuronrobotics/sdk/serial/SerialConnection.java +++ b/src/main/java/com/neuronrobotics/sdk/serial/SerialConnection.java @@ -28,7 +28,7 @@ import com.neuronrobotics.sdk.genericdevice.GenericDevice; import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * SerialConnection manages a connection to a serial port on the host system. This class is responsible for * abstracting all of the aspects of a serial connection including: @@ -276,7 +276,7 @@ public static List getAvailableSerialPorts() { */ @Override public boolean waitingForConnection() { - // TODO Auto-generated method stub + // Auto-generated method stub return false; } diff --git a/src/main/java/com/neuronrobotics/sdk/ui/AbstractConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/AbstractConnectionPanel.java index 071dd24c..4a75735b 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/AbstractConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/AbstractConnectionPanel.java @@ -19,7 +19,7 @@ import com.neuronrobotics.sdk.common.BowlerAbstractConnection; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class AbstractConnectionPanel. */ diff --git a/src/main/java/com/neuronrobotics/sdk/ui/BluetoothConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/BluetoothConnectionPanel.java index 65cce34b..139c6e25 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/BluetoothConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/BluetoothConnectionPanel.java @@ -33,7 +33,7 @@ import com.neuronrobotics.sdk.wireless.bluetooth.BlueCoveManager; import com.neuronrobotics.sdk.wireless.bluetooth.BluetoothSerialConnection; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class BluetoothConnectionPanel. */ @@ -138,7 +138,7 @@ public void refresh() { public void onUpdate(double value) { - // TODO Auto-generated method stub + // Auto-generated method stub } diff --git a/src/main/java/com/neuronrobotics/sdk/ui/ConnectionDialog.java b/src/main/java/com/neuronrobotics/sdk/ui/ConnectionDialog.java index 2f9a9200..4309938e 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/ConnectionDialog.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/ConnectionDialog.java @@ -25,7 +25,7 @@ import com.neuronrobotics.sdk.serial.SerialConnection; import com.neuronrobotics.sdk.util.OsInfoUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class ConnectionDialog. */ diff --git a/src/main/java/com/neuronrobotics/sdk/ui/ConnectionImageIconFactory.java b/src/main/java/com/neuronrobotics/sdk/ui/ConnectionImageIconFactory.java index 79ea8bbe..6df30487 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/ConnectionImageIconFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/ConnectionImageIconFactory.java @@ -2,7 +2,7 @@ import javax.swing.ImageIcon; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * A factory for creating ConnectionImageIcon objects. */ diff --git a/src/main/java/com/neuronrobotics/sdk/ui/SerialConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/SerialConnectionPanel.java index 7b58ec35..979344ac 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/SerialConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/SerialConnectionPanel.java @@ -31,7 +31,7 @@ import com.neuronrobotics.sdk.common.MissingNativeLibraryException; import com.neuronrobotics.sdk.serial.SerialConnection; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class SerialConnectionPanel. */ diff --git a/src/main/java/com/neuronrobotics/sdk/ui/TCPConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/TCPConnectionPanel.java index 93e1a252..b5728151 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/TCPConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/TCPConnectionPanel.java @@ -26,7 +26,7 @@ import com.neuronrobotics.sdk.network.BowlerTCPClient; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class TCPConnectionPanel. */ @@ -78,10 +78,10 @@ public TCPConnectionPanel(ConnectionDialog connectionDialog) { // //com.neuronrobotics.sdk.common.Log.error(s.getLocalAddress().getHostAddress()); // s.close(); // } catch (UnknownHostException e) { -// // TODO Auto-generated catch block +// // Auto-generated catch block // //e.printStackTrace(); // } catch (IOException e) { -// // TODO Auto-generated catch block +// // Auto-generated catch block // //e.printStackTrace(); // } diff --git a/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java index dd933df4..df626429 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java @@ -33,7 +33,7 @@ import com.neuronrobotics.sdk.util.IProgressMonitorListener; import com.neuronrobotics.sdk.util.ProcessMonitor; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class UDPConnectionPanel. */ @@ -138,7 +138,7 @@ public void refresh() { public void onUpdate(double value) { - // TODO Auto-generated method stub + // Auto-generated method stub } diff --git a/src/main/java/com/neuronrobotics/sdk/ui/UsbConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/UsbConnectionPanel.java index f14e2bb1..d44869bb 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/UsbConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/UsbConnectionPanel.java @@ -44,7 +44,7 @@ import com.neuronrobotics.sdk.javaxusb.UsbCDCSerialConnection; import com.neuronrobotics.sdk.util.ThreadUtil; -// TODO: Auto-generated Javadoc +// Auto-generated Javadoc /** * The Class UsbConnectionPanel. */ @@ -132,13 +132,13 @@ public void refresh() { e1.printStackTrace(); throw new RuntimeException(e1); } catch (UnsupportedEncodingException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (UsbDisconnectedException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } catch (SecurityException e) { - // TODO Auto-generated catch block + // Auto-generated catch block e.printStackTrace(); } for(int i=0;i Date: Fri, 25 Apr 2025 19:29:05 -0400 Subject: [PATCH 446/482] update profiler --- src/main/java/com/neuronrobotics/sdk/common/TickToc.java | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/TickToc.java b/src/main/java/com/neuronrobotics/sdk/common/TickToc.java index cef0e325..c3c887ec 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/TickToc.java +++ b/src/main/java/com/neuronrobotics/sdk/common/TickToc.java @@ -23,7 +23,7 @@ public void print(Pair start,Pair previous) { m=m+" from last event "+df.format(diffms/1000.0)+" seconds "; } m=m+" "+message; - com.neuronrobotics.sdk.common.Log.error(m); + System.out.println(m); } } @@ -45,12 +45,14 @@ public static void toc() { events.add(new Pair(System.currentTimeMillis(), "Toc end event")); Pair start = events.remove(0); Pair previous=null; - com.neuronrobotics.sdk.common.Log.error("\n\n"); + for (int i = 0; i < events.size(); i++) { Pair p = events.get(i); p.print(start,previous); previous=p; } + System.out.println("End TickToc "+System.currentTimeMillis()+"\n\n"); + clear(); } @@ -65,7 +67,7 @@ public static void setEnabled(boolean enabled) { if(!enabled) clear(); else { - com.neuronrobotics.sdk.common.Log.error("Start TickToc"); + System.out.println("\n\nStart TickToc "+System.currentTimeMillis()); tic("Tick Tock start"); } } From d9dbbcac641b9afa7b883ceb357f2bc2cff5945a Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 4 Aug 2025 11:38:29 -0400 Subject: [PATCH 447/482] adding helper method --- .../neuronrobotics/sdk/addons/kinematics/MobileBase.java | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 1be362a3..db3d5d43 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -808,6 +808,14 @@ public boolean isFoot(AbstractLink link) { public ArrayList getSteerable() { return steerable; } + /** + * Gets the drivable. + * + * @return the drivable + */ + public ArrayList getFixed() { + return getDrivable(); + } /** * Gets the drivable. From 4107124c80e57fc1054ab9b0cb4b9e7981402507 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 7 Aug 2025 16:07:45 -0400 Subject: [PATCH 448/482] dead code --- .../neuronrobotics/sdk/addons/kinematics/AbstractLink.java | 5 ----- 1 file changed, 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index bb18b95b..1f8f2b64 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -3,19 +3,14 @@ import java.util.ArrayList; -import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.IGcodeExecuter; import com.neuronrobotics.sdk.addons.kinematics.imu.IMU; -import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.time.ITimeProvider; import com.neuronrobotics.sdk.addons.kinematics.time.TimeKeeper; import com.neuronrobotics.sdk.common.IFlushable; import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.common.TickToc; import com.neuronrobotics.sdk.pid.PIDLimitEvent; import com.neuronrobotics.sdk.pid.PIDLimitEventType; -import javafx.scene.transform.Affine; - // Auto-generated Javadoc /** * The Class AbstractLink. From c3b694627138a4f994a508ff1b5d7a0414d24c27 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 7 Aug 2025 16:08:20 -0400 Subject: [PATCH 449/482] add a recursive connect and a zero method --- .../kinematics/DHParameterKinematics.java | 24 ++++++++++ .../sdk/addons/kinematics/MobileBase.java | 45 +++++++++++++++++++ 2 files changed, 69 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 12a91bfe..8c446d14 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -896,4 +896,28 @@ public void removeVitamin(int index,VitaminLocation loc) { public IVitaminHolder getVitaminHolder(int index) { return getLinkConfiguration(index); } + + @Override + public boolean connect() { + boolean back = super.connect(); + for(int i=0;i allDHChains = getAllDHChains(); + for (int j = 0; j < allDHChains.size(); j++) { + DHParameterKinematics d = allDHChains.get(j); + if(d.getScriptingName().contentEquals(name)) { + if(legs.contains(d)) + legs.remove(d); + if(appendages.contains(d)) + appendages.remove(d); + if(drivable.contains(d)) + drivable.remove(d); + if(steerable.contains(d)) + steerable.remove(d); + return ; + } + for(int i=0;i Date: Thu, 7 Aug 2025 16:08:42 -0400 Subject: [PATCH 450/482] make the check throw its exception --- .../sdk/addons/kinematics/IVitaminHolder.java | 37 +++++++++++++------ 1 file changed, 26 insertions(+), 11 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java index 483c9a52..0000a0b5 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java @@ -3,32 +3,47 @@ import java.util.ArrayList; public interface IVitaminHolder { - ArrayList getVitamins() ; + ArrayList getVitamins(); + default void addVitamin(VitaminLocation location) { - for(VitaminLocation v:getVitamins()) { - if(v.getName().contentEquals(location.getName())) { - new RuntimeException("Vitamin Name "+v.getName()+"already exists"); + if(hasVitamin(location)) + throw new RuntimeException("Vitamin Name "+location.getName()+"already exists"); + addVitaminInternal( location); + } + + default boolean hasVitamin(VitaminLocation location) { + for (VitaminLocation v : getVitamins()) { + String name = v.getName(); + String name2 = location.getName(); + if (name.contentEquals(name2)) { + return true; } } - addVitaminInternal( location); + return false; } + void addVitaminInternal(VitaminLocation location); + void removeVitamin(VitaminLocation loc); - default ArrayList getVitamins(VitaminFrame frame){ + + default ArrayList getVitamins(VitaminFrame frame) { ArrayList copy = new ArrayList<>(); - for(VitaminLocation v:getVitamins()) { - if(v.getFrame()==frame) + for (VitaminLocation v : getVitamins()) { + if (v.getFrame() == frame) copy.add(v); } return copy; } - default ArrayList getOriginVitamins(){ + + default ArrayList getOriginVitamins() { return getVitamins(VitaminFrame.LinkOrigin); } - default ArrayList getDefaultVitamins(){ + + default ArrayList getDefaultVitamins() { return getVitamins(VitaminFrame.DefaultFrame); } - default ArrayList getPreviousLinkVitamins(){ + + default ArrayList getPreviousLinkVitamins() { return getVitamins(VitaminFrame.previousLinkTip); } } From 519c1aec0a9054f0635dd00f3382f91a31f84fb5 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 20 Sep 2025 11:42:33 -0400 Subject: [PATCH 451/482] Updates to the log stack to support an async logfile writer --- .../com/neuronrobotics/sdk/common/Log.java | 90 +++++++++++++------ 1 file changed, 61 insertions(+), 29 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index bc9dd234..f8f0dd11 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -14,14 +14,21 @@ ******************************************************************************/ package com.neuronrobotics.sdk.common; +import java.io.File; +import java.io.IOException; +import java.io.OutputStream; import java.io.PrintStream; import java.io.PrintWriter; import java.io.StringWriter; +import java.nio.charset.StandardCharsets; +import java.nio.file.Files; +import java.nio.file.StandardOpenOption; import java.text.DateFormat; import java.text.SimpleDateFormat; import java.util.Date; import com.neuronrobotics.sdk.config.SDKBuildInfo; +import com.neuronrobotics.sdk.util.ThreadUtil; // Auto-generated Javadoc /** * This class is the Logging Class for the NRsdk. @@ -69,12 +76,13 @@ public class Log { /** The out stream. */ private static PrintStream outStream = System.out; - /** The err stream. */ - private static PrintStream errStream = System.err; - /** The use colored prints. */ private boolean useColoredPrints=false; + private Thread logFileThread = null; + + private File log=null; + /** * Instantiates a new log. @@ -155,15 +163,10 @@ private void add(String message, int importance) { m.init(message, importance); } //messages.add(m); + - if(isPrinting() && importance >= minprintlevel && systemprint) { - errStream.println(m); - if(errStream != System.err) - System.err.println(m); - } - - if(debugprint&& systemprint) { - outStream.println("# " + message); + if( systemprint) { + outStream.println(m.toString()); if(outStream != System.out) System.err.println(m); } @@ -188,6 +191,9 @@ public static void enableDebugPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(DEBUG); } + public static void disablePrint() { + Log.enableSystemPrint(false); + } /** * Enable printing of debug output. @@ -305,23 +311,7 @@ public String getImportanceColor(int importance) { return ""; } - /** - * get the current error PrintStream. - * - * @return the current Error PrintStream - */ - public static PrintStream getErrStream() { - return errStream; - } - - /** - * set the current error PrintStream. - * - * @param newerrStream the new err stream - */ - public static void setErrStream(PrintStream newerrStream) { - errStream = newerrStream; - } + /** * Get the current output PrintStream. @@ -395,7 +385,7 @@ public void init(String message, int importance){ */ public String toString() { //return "\t\t\t\t[" + dateFormat.format(datetime) + "] " + " " + getImportance(importance) +" "+callingClass+ " :\n"+ message; - return getImportanceColor(importance)+"\t\t\t\t[" + dateFormat.format(datetime) + "] " + " " + getImportance(importance) +" "+callingClass+ " :\n"+ message+getColorNormalizationCode(); + return getImportanceColor(importance)+"[" + dateFormat.format(datetime) + "] " + " " + getImportance(importance) +" "+callingClass+ " :\t\t\t\t"+ message+getColorNormalizationCode(); } } @@ -445,5 +435,47 @@ public static void error(Throwable ex) { String sStackTrace = sw.toString(); // stack trace as a string Log.error(sStackTrace); } + + public static void setFile(File logfile) { + instance().systemprint=true; + instance.log=null; + if(instance.logFileThread!=null) { + instance.logFileThread.interrupt(); + try { + instance.logFileThread.join(); + } catch (InterruptedException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + } + + instance.log=logfile; + instance.logFileThread=new Thread(()->{ + ByteList incoming = new ByteList(); + OutputStream stream = new OutputStream() { + @Override + public void write(int b) throws IOException { + incoming.add(b); + } + }; + setOutStream(new PrintStream(stream)); + while (instance.log!=null) { + ThreadUtil.wait(150); + if (incoming.size() > 0) + try { + String text = incoming.asString(); + incoming.clear(); + if (text != null && text.length() > 0){ + Files.writeString(instance.log.toPath(), text, StandardCharsets.UTF_8, + StandardOpenOption.CREATE, StandardOpenOption.APPEND); + } + text = null; + } catch (Exception e) { + e.printStackTrace(); + } + } + }); + instance.logFileThread.start(); + } } From b33bce6ddc7e31416f561813ab783f6886b3c121 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 22 Sep 2025 08:34:18 -0400 Subject: [PATCH 452/482] force all print statements into the log --- src/main/java/com/neuronrobotics/sdk/common/Log.java | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index f8f0dd11..2d9a1496 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -75,6 +75,8 @@ public class Log { /** The out stream. */ private static PrintStream outStream = System.out; + /** The out stream. */ + private static PrintStream errStream = System.err; /** The use colored prints. */ private boolean useColoredPrints=false; @@ -168,7 +170,7 @@ private void add(String message, int importance) { if( systemprint) { outStream.println(m.toString()); if(outStream != System.out) - System.err.println(m); + errStream.println(m); } @@ -458,6 +460,8 @@ public void write(int b) throws IOException { incoming.add(b); } }; + System.setOut(new PrintStream(stream)); + System.setErr(new PrintStream(stream)); setOutStream(new PrintStream(stream)); while (instance.log!=null) { ThreadUtil.wait(150); From ced470954021660497413bc6293958039d50fcb3 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 22 Sep 2025 09:08:12 -0400 Subject: [PATCH 453/482] adding a log flush --- .../com/neuronrobotics/sdk/common/Log.java | 35 ++++++++++++++----- 1 file changed, 27 insertions(+), 8 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index 2d9a1496..e8b623fc 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -84,6 +84,8 @@ public class Log { private Thread logFileThread = null; private File log=null; + + private ByteList incoming; /** @@ -169,8 +171,7 @@ private void add(String message, int importance) { if( systemprint) { outStream.println(m.toString()); - if(outStream != System.out) - errStream.println(m); + errStream.println(m); } @@ -453,11 +454,11 @@ public static void setFile(File logfile) { instance.log=logfile; instance.logFileThread=new Thread(()->{ - ByteList incoming = new ByteList(); + instance.incoming = new ByteList(); OutputStream stream = new OutputStream() { @Override public void write(int b) throws IOException { - incoming.add(b); + instance.incoming.add(b); } }; System.setOut(new PrintStream(stream)); @@ -465,10 +466,10 @@ public void write(int b) throws IOException { setOutStream(new PrintStream(stream)); while (instance.log!=null) { ThreadUtil.wait(150); - if (incoming.size() > 0) + if (instance.incoming.size() > 0) try { - String text = incoming.asString(); - incoming.clear(); + String text = instance.incoming.asString(); + instance.incoming.clear(); if (text != null && text.length() > 0){ Files.writeString(instance.log.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.CREATE, StandardOpenOption.APPEND); @@ -481,5 +482,23 @@ public void write(int b) throws IOException { }); instance.logFileThread.start(); } - + public static void flush() { + setOutStream(outStream); + System.setOut(outStream); + System.setErr(outStream); + while(instance.incoming.size() > 0) { + try { + Thread.sleep(10); + } catch (InterruptedException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + } + try { + instance.logFileThread.join(); + } catch (InterruptedException e) { + // TODO Auto-generated catch block + e.printStackTrace(); + } + } } From 4ec63fa519490fbe935eb70752d0941fec23ff9c Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 22 Sep 2025 10:02:48 -0400 Subject: [PATCH 454/482] always specify local when formatting --- .../java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java b/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java index a8566b6d..540b8f35 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java @@ -5,6 +5,7 @@ import java.io.IOException; import java.util.ArrayList; +import java.util.Locale; import com.neuronrobotics.sdk.common.ByteList; @@ -39,7 +40,7 @@ public class IntelHexParser { */ public static String hex(long n) { // call toUpperCase() if that's required - return String.format("0x%8s", Long.toHexString(n)).replace(' ', '0'); + return String.format(Locale.US,"0x%8s", Long.toHexString(n)).replace(' ', '0'); } /** From 2f8f22b0c630f687ef18b6324b81f780b9a1ff1b Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 23 Sep 2025 09:07:11 -0400 Subject: [PATCH 455/482] enforce the logging file clear on exit --- src/main/java/com/neuronrobotics/sdk/common/Log.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index e8b623fc..574ec6eb 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -471,7 +471,7 @@ public void write(int b) throws IOException { String text = instance.incoming.asString(); instance.incoming.clear(); if (text != null && text.length() > 0){ - Files.writeString(instance.log.toPath(), text, StandardCharsets.UTF_8, + Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.CREATE, StandardOpenOption.APPEND); } text = null; @@ -486,6 +486,7 @@ public static void flush() { setOutStream(outStream); System.setOut(outStream); System.setErr(outStream); + instance.log=null; while(instance.incoming.size() > 0) { try { Thread.sleep(10); From 76aedb46fb5e44e12e0a4f27115e75c2a9eb85c0 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 23 Sep 2025 10:04:23 -0400 Subject: [PATCH 456/482] only append, the create is in a step prior --- src/main/java/com/neuronrobotics/sdk/common/Log.java | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index 574ec6eb..2a4d4674 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -471,8 +471,7 @@ public void write(int b) throws IOException { String text = instance.incoming.asString(); instance.incoming.clear(); if (text != null && text.length() > 0){ - Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, - StandardOpenOption.CREATE, StandardOpenOption.APPEND); + Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); } text = null; } catch (Exception e) { From c802de4418aa7ca8a2ba6e0138ead5fd0e22a705 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 23 Sep 2025 10:16:56 -0400 Subject: [PATCH 457/482] change to the java8 compliant method --- src/main/java/com/neuronrobotics/sdk/common/Log.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index 2a4d4674..5039e58e 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -471,7 +471,8 @@ public void write(int b) throws IOException { String text = instance.incoming.asString(); instance.incoming.clear(); if (text != null && text.length() > 0){ - Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); + //Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); // java 11+ + Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), StandardOpenOption.APPEND); } text = null; } catch (Exception e) { From 25ef9486f40d44b503bacec67158883b3be2f86c Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 6 Oct 2025 20:34:12 -0400 Subject: [PATCH 458/482] no hide the exceptions being uncaught! --- src/main/java/com/neuronrobotics/sdk/common/Log.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index 5039e58e..f826900b 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -169,9 +169,8 @@ private void add(String message, int importance) { //messages.add(m); - if( systemprint) { + if( systemprint && log==null) { outStream.println(m.toString()); - errStream.println(m); } @@ -473,6 +472,7 @@ public void write(int b) throws IOException { if (text != null && text.length() > 0){ //Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); // java 11+ Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), StandardOpenOption.APPEND); + errStream.println(text); } text = null; } catch (Exception e) { From 23f29281be61bacbd0313509bacf74746a63ccb8 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 6 Oct 2025 21:29:54 -0400 Subject: [PATCH 459/482] actually print the log --- src/main/java/com/neuronrobotics/sdk/common/Log.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index f826900b..4f89f7e3 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -169,11 +169,12 @@ private void add(String message, int importance) { //messages.add(m); - if( systemprint && log==null) { + if( systemprint) { outStream.println(m.toString()); } + } /** From 4b0c872fb3c7578d32a719c07c959092bd3546a7 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 18 Oct 2025 14:40:37 -0400 Subject: [PATCH 460/482] seperate out out and err prints --- .../com/neuronrobotics/sdk/common/Log.java | 57 ++++++++++++++----- 1 file changed, 44 insertions(+), 13 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index 4f89f7e3..2c39069c 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -77,7 +77,8 @@ public class Log { private static PrintStream outStream = System.out; /** The out stream. */ private static PrintStream errStream = System.err; - + /** The out stream. */ + private static PrintStream mirrorStream = System.out; /** The use colored prints. */ private boolean useColoredPrints=false; @@ -85,8 +86,8 @@ public class Log { private File log=null; - private ByteList incoming; - + private ByteList incomingErr; + private ByteList incomingOut; /** * Instantiates a new log. @@ -454,22 +455,44 @@ public static void setFile(File logfile) { instance.log=logfile; instance.logFileThread=new Thread(()->{ - instance.incoming = new ByteList(); - OutputStream stream = new OutputStream() { + instance.incomingErr = new ByteList(); + + OutputStream streamErr = new OutputStream() { + @Override + public void write(int b) throws IOException { + instance.incomingErr.add(b); + } + }; + instance.incomingOut = new ByteList(); + + OutputStream streamOut = new OutputStream() { @Override public void write(int b) throws IOException { - instance.incoming.add(b); + instance.incomingOut.add(b); } }; - System.setOut(new PrintStream(stream)); - System.setErr(new PrintStream(stream)); - setOutStream(new PrintStream(stream)); + System.setOut(new PrintStream(streamOut)); + System.setErr(new PrintStream(streamErr)); + setOutStream(new PrintStream(streamErr)); while (instance.log!=null) { ThreadUtil.wait(150); - if (instance.incoming.size() > 0) + if (instance.incomingOut.size() > 0) + try { + String text = instance.incomingOut.asString(); + instance.incomingOut.clear(); + if (text != null && text.length() > 0){ + //Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); // java 11+ + Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), StandardOpenOption.APPEND); + mirrorStream.println(text); + } + text = null; + } catch (Exception e) { + e.printStackTrace(); + } + if (instance.incomingErr.size() > 0) try { - String text = instance.incoming.asString(); - instance.incoming.clear(); + String text = instance.incomingErr.asString(); + instance.incomingErr.clear(); if (text != null && text.length() > 0){ //Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); // java 11+ Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), StandardOpenOption.APPEND); @@ -488,7 +511,7 @@ public static void flush() { System.setOut(outStream); System.setErr(outStream); instance.log=null; - while(instance.incoming.size() > 0) { + while(instance.incomingOut.size() > 0 ||instance.incomingErr.size() > 0 ) { try { Thread.sleep(10); } catch (InterruptedException e) { @@ -503,4 +526,12 @@ public static void flush() { e.printStackTrace(); } } + + public static PrintStream getMirrorStream() { + return mirrorStream; + } + + public static void setMirrorStream(PrintStream mirrorStream) { + Log.mirrorStream = mirrorStream; + } } From d5074576690ca4eea58f6ae6ce4e35ad763bad3e Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 27 Oct 2025 15:45:00 -0400 Subject: [PATCH 461/482] logs on new lines --- src/main/java/com/neuronrobotics/sdk/common/Log.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index 2c39069c..f0d89d84 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -389,7 +389,7 @@ public void init(String message, int importance){ */ public String toString() { //return "\t\t\t\t[" + dateFormat.format(datetime) + "] " + " " + getImportance(importance) +" "+callingClass+ " :\n"+ message; - return getImportanceColor(importance)+"[" + dateFormat.format(datetime) + "] " + " " + getImportance(importance) +" "+callingClass+ " :\t\t\t\t"+ message+getColorNormalizationCode(); + return getImportanceColor(importance)+"[" + dateFormat.format(datetime) + "] " + " " + getImportance(importance) +" "+callingClass+ " :\n\t"+ message+getColorNormalizationCode(); } } From a656e15cd973ca9fe736b2aa3890066dac543623 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 12 Dec 2025 19:54:47 -0500 Subject: [PATCH 462/482] adding the print exit as is correct --- src/main/java/com/neuronrobotics/sdk/common/Log.java | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index f0d89d84..7d919b19 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -475,7 +475,11 @@ public void write(int b) throws IOException { System.setErr(new PrintStream(streamErr)); setOutStream(new PrintStream(streamErr)); while (instance.log!=null) { - ThreadUtil.wait(150); + try { + Thread.sleep(149); + } catch (InterruptedException e) { + return; + } if (instance.incomingOut.size() > 0) try { String text = instance.incomingOut.asString(); From 694418017e12603c95d508c67a70a4cf14821405 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Thu, 1 Jan 2026 12:03:03 -0500 Subject: [PATCH 463/482] print exception when using default --- .../java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 8c9f0db5..2459122d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -333,7 +333,8 @@ public String toString(){ */ public DhInverseSolver getInverseSolver() { if(is==null){ - is=new DhInverseSolver() { + Log.error(new RuntimeException("No Solver defined!")); + return new DhInverseSolver() { @Override public double[] inverseKinematics(TransformNR target, From 2aea952e0651da67623f1469b3c0b9dd94271a19 Mon Sep 17 00:00:00 2001 From: rondlh <77279634+rondlh@users.noreply.github.com> Date: Sat, 24 Jan 2026 20:44:21 +0800 Subject: [PATCH 464/482] Change log file format, categorize same caller, add line spacing Change log file format, categorize same caller, add line spacing --- .../com/neuronrobotics/sdk/common/Log.java | 94 ++++++++++--------- 1 file changed, 51 insertions(+), 43 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index 7d919b19..422b3f30 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -36,11 +36,9 @@ * */ public class Log { - - - + /** The Constant LOG. */ - public static final int LOG =-1; + public static final int LOG = -1; /** The Constant INFO. */ public static final int INFO = 0; @@ -63,7 +61,7 @@ public class Log { /** The date format. */ private DateFormat dateFormat = new SimpleDateFormat("yyyy/MM/dd HH:mm:ss:SS"); - + /** The minprintlevel. */ private int minprintlevel = WARNING; @@ -80,15 +78,16 @@ public class Log { /** The out stream. */ private static PrintStream mirrorStream = System.out; /** The use colored prints. */ - private boolean useColoredPrints=false; + private boolean useColoredPrints = false; private Thread logFileThread = null; - private File log=null; + private File log = null; private ByteList incomingErr; private ByteList incomingOut; + private String lastCallingClass = ""; /** * Instantiates a new log. */ @@ -159,10 +158,10 @@ public static void add(String message) { */ private void add(String message, int importance) { - if( importance < minprintlevel) { + if (importance < minprintlevel) { return; } - if(m==null) + if (m == null) m = new Message(message, importance); else{ m.init(message, importance); @@ -170,12 +169,9 @@ private void add(String message, int importance) { //messages.add(m); - if( systemprint) { + if (systemprint) { outStream.println(m.toString()); } - - - } /** @@ -263,7 +259,7 @@ public static int getMinimumPrintLevel() { * @return The log instance. */ public static Log instance() { - if(instance == null) { + if (instance == null) { instance = new Log(); } return instance; @@ -297,7 +293,7 @@ public String getImportance(int importance) { * @return the importance */ public String getImportanceColor(int importance) { - if(isUseColoredPrints()){ + if (isUseColoredPrints()) { switch(importance) { case INFO: return "\033[92m";// green @@ -370,26 +366,40 @@ public Message(String message, int importance) { * @param message the message * @param importance the importance */ - public void init(String message, int importance){ + public void init(String message, int importance) { this.message = message; this.importance = importance; datetime = new Date(); - try - { - throw new Exception("Who called me?"); - } - catch( Exception e ) - { - callingClass= e.getStackTrace()[3].getClassName()+":"+e.getStackTrace()[3].getMethodName(); - } + + try + { + throw new Exception("Who called me?"); + } + catch( Exception e ) + { + callingClass = e.getStackTrace()[3].getClassName() + ":" + e.getStackTrace()[3].getMethodName(); + } } /* (non-Javadoc) * @see java.lang.Object#toString() */ public String toString() { - //return "\t\t\t\t[" + dateFormat.format(datetime) + "] " + " " + getImportance(importance) +" "+callingClass+ " :\n"+ message; - return getImportanceColor(importance)+"[" + dateFormat.format(datetime) + "] " + " " + getImportance(importance) +" "+callingClass+ " :\n\t"+ message+getColorNormalizationCode(); + + // First logfile line + if (lastCallingClass.isEmpty()) { + lastCallingClass = "\n[" + dateFormat.format(datetime) + "] ======== Log file opened ========"; + dateFormat = new SimpleDateFormat("HH:mm:ss.SS"); + + return lastCallingClass.toString(); + } + + if (lastCallingClass.equals(getImportance(importance) + " " + callingClass)) + return getImportanceColor(importance) + " [" + dateFormat.format(datetime) + "] " + message + getColorNormalizationCode(); + + lastCallingClass = getImportance(importance) + " " + callingClass; + + return "\n" + getImportanceColor(importance) + lastCallingClass + ":\n [" + dateFormat.format(datetime) + "] " + message + getColorNormalizationCode(); } } @@ -398,10 +408,8 @@ public String toString() { * * @return the color normalization code */ - private String getColorNormalizationCode(){ - if(isUseColoredPrints()) - return "\033[39m"; - return ""; + private String getColorNormalizationCode() { + return isUseColoredPrints() ? "\033[39m" : ""; } /** @@ -409,7 +417,7 @@ private String getColorNormalizationCode(){ * * @return true, if is use colored prints */ - public static boolean isUseColoredPrints() { + public static boolean isUseColoredPrints() { return instance().useColoredPrints; } @@ -441,9 +449,9 @@ public static void error(Throwable ex) { } public static void setFile(File logfile) { - instance().systemprint=true; - instance.log=null; - if(instance.logFileThread!=null) { + instance().systemprint = true; + instance.log = null; + if (instance.logFileThread != null) { instance.logFileThread.interrupt(); try { instance.logFileThread.join(); @@ -453,11 +461,11 @@ public static void setFile(File logfile) { } } - instance.log=logfile; - instance.logFileThread=new Thread(()->{ + instance.log = logfile; + instance.logFileThread = new Thread(()->{ instance.incomingErr = new ByteList(); - OutputStream streamErr = new OutputStream() { + OutputStream streamErr = new OutputStream() { @Override public void write(int b) throws IOException { instance.incomingErr.add(b); @@ -465,7 +473,7 @@ public void write(int b) throws IOException { }; instance.incomingOut = new ByteList(); - OutputStream streamOut = new OutputStream() { + OutputStream streamOut = new OutputStream() { @Override public void write(int b) throws IOException { instance.incomingOut.add(b); @@ -474,7 +482,7 @@ public void write(int b) throws IOException { System.setOut(new PrintStream(streamOut)); System.setErr(new PrintStream(streamErr)); setOutStream(new PrintStream(streamErr)); - while (instance.log!=null) { + while (instance.log != null) { try { Thread.sleep(149); } catch (InterruptedException e) { @@ -484,7 +492,7 @@ public void write(int b) throws IOException { try { String text = instance.incomingOut.asString(); instance.incomingOut.clear(); - if (text != null && text.length() > 0){ + if ((text != null) && (text.length() > 0)) { //Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); // java 11+ Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), StandardOpenOption.APPEND); mirrorStream.println(text); @@ -497,7 +505,7 @@ public void write(int b) throws IOException { try { String text = instance.incomingErr.asString(); instance.incomingErr.clear(); - if (text != null && text.length() > 0){ + if ((text != null) && (text.length() > 0)) { //Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); // java 11+ Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), StandardOpenOption.APPEND); errStream.println(text); @@ -514,8 +522,8 @@ public static void flush() { setOutStream(outStream); System.setOut(outStream); System.setErr(outStream); - instance.log=null; - while(instance.incomingOut.size() > 0 ||instance.incomingErr.size() > 0 ) { + instance.log = null; + while((instance.incomingOut.size() > 0) || (instance.incomingErr.size() > 0 )) { try { Thread.sleep(10); } catch (InterruptedException e) { From dc20546ba782933452e35528efb6b45b105ca0e4 Mon Sep 17 00:00:00 2001 From: rondlh <77279634+rondlh@users.noreply.github.com> Date: Sat, 24 Jan 2026 20:50:20 +0800 Subject: [PATCH 465/482] Fix spaces and tabs Fix spaces and tabs --- src/main/java/com/neuronrobotics/sdk/common/Log.java | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index 422b3f30..dcb89932 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -386,15 +386,15 @@ public void init(String message, int importance) { */ public String toString() { - // First logfile line - if (lastCallingClass.isEmpty()) { + // First logfile line + if (lastCallingClass.isEmpty()) { lastCallingClass = "\n[" + dateFormat.format(datetime) + "] ======== Log file opened ========"; dateFormat = new SimpleDateFormat("HH:mm:ss.SS"); - return lastCallingClass.toString(); - } + return lastCallingClass.toString(); + } - if (lastCallingClass.equals(getImportance(importance) + " " + callingClass)) + if (lastCallingClass.equals(getImportance(importance) + " " + callingClass)) return getImportanceColor(importance) + " [" + dateFormat.format(datetime) + "] " + message + getColorNormalizationCode(); lastCallingClass = getImportance(importance) + " " + callingClass; From 1502cc03c894a9d931b8bace975d751b5eb5f5f1 Mon Sep 17 00:00:00 2001 From: rondlh <77279634+rondlh@users.noreply.github.com> Date: Sun, 25 Jan 2026 00:47:02 +0800 Subject: [PATCH 466/482] Fix type "availible" -> "available" Fix type "availible" -> "available" --- .../replicator/driver/interpreter/EmptyCodeHandler.java | 2 +- .../sdk/addons/kinematics/imu/IMUUpdate.java | 2 +- .../com/neuronrobotics/sdk/common/BowlerDatagram.java | 6 +++--- src/main/java/com/neuronrobotics/sdk/common/DMDevice.java | 8 ++++---- .../java/com/neuronrobotics/sdk/common/DeviceManager.java | 2 +- src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java | 8 ++++---- .../java/com/neuronrobotics/sdk/dyio/DyIOChannel.java | 4 ++-- .../java/com/neuronrobotics/sdk/dyio/DyIOChannelMode.java | 2 +- .../sdk/javaxusb/UsbCDCSerialConnection.java | 3 +-- .../sdk/namespace/bcs/pid/AbstractPidNamespaceImp.java | 2 +- .../sdk/namespace/bcs/pid/IPidControlNamespace.java | 4 ++-- .../{AvailibleSocket.java => AvailableSocket.java} | 4 ++-- .../com/neuronrobotics/sdk/network/BowlerTCPClient.java | 4 ++-- 13 files changed, 25 insertions(+), 26 deletions(-) rename src/main/java/com/neuronrobotics/sdk/network/{AvailibleSocket.java => AvailableSocket.java} (95%) diff --git a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/EmptyCodeHandler.java b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/EmptyCodeHandler.java index 30ee42bb..1b10af48 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/EmptyCodeHandler.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/EmptyCodeHandler.java @@ -13,7 +13,7 @@ public class EmptyCodeHandler extends CodeHandler { */ public void execute(GCodeLineData prev, GCodeLineData line) throws Exception { - //throw new RuntimeException("No handler availible "+line); + //throw new RuntimeException("No handler available " + line); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMUUpdate.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMUUpdate.java index 539a9d46..195e0bbf 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMUUpdate.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMUUpdate.java @@ -4,7 +4,7 @@ /** * This is a state object for the IMU - * any function that returns null has no new data availible. + * any function that returns null has no new data available. * @author hephaestus * */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java index 7dbb53e7..78e261b5 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java @@ -77,7 +77,7 @@ public class BowlerDatagram implements ISendable,IthreadedTimoutListener { //private long timestamp; - private boolean isPackedAvailibleForLoading = true; + private boolean isPackedAvailableForLoading = true; /** The timeout. */ private ThreadedTimeout timeout=new ThreadedTimeout(); @@ -601,7 +601,7 @@ private void checkValidPacket(){ * @return true, if is free */ public boolean isFree() { - return isPackedAvailibleForLoading; + return isPackedAvailableForLoading; } @@ -642,7 +642,7 @@ void setFree(boolean isFree) { }else{ setToFree(); } - this.isPackedAvailibleForLoading = isFree; + this.isPackedAvailableForLoading = isFree; } /* (non-Javadoc) diff --git a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java index 27a5d412..75cc68d1 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java @@ -9,7 +9,7 @@ public class DMDevice extends NonBowlerDevice { Method methodConnect = null; Method methodDisconnect = null; boolean hasGetName = false; - boolean hasIsAvailible=false; + boolean hasIsAvailable = false; Method methodGetName = null; Method isAvaibleMeth=null; @@ -20,7 +20,7 @@ public DMDevice(Object o) throws NoSuchMethodException, SecurityException { methodConnect = getWrapped().getClass().getMethod("connect", null); methodDisconnect = getWrapped().getClass().getMethod("disconnect", null); hasGetName = methodExists(getWrapped(), "getName"); - hasIsAvailible = methodExists(getWrapped(), "isAvailable"); + hasIsAvailable = methodExists(getWrapped(), "isAvailable"); methodGetName = null; } @@ -71,8 +71,8 @@ public void disconnectDeviceImp() { */ @Override public boolean isAvailable() throws InvalidConnectionException{ - if(hasIsAvailible) { - if(isAvaibleMeth==null) { + if (hasIsAvailable) { + if (isAvaibleMeth == null) { try { isAvaibleMeth = getWrapped().getClass().getMethod("isAvailable", null); } catch (Exception e) { diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java index 5723d2bc..be26b273 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java @@ -80,7 +80,7 @@ private static void addConnectionBAD(final BowlerAbstractDevice newDevice, Strin newDevice.connect(); if (!newDevice.isAvailable()) { throw new BowlerRuntimeException( - "Device " + name + " of type " + newDevice.getClass().getSimpleName() + " is not availible"); + "Device " + name + " of type " + newDevice.getClass().getSimpleName() + " is not available"); } if (devices.contains(newDevice)) { Log.warning("Device is already added " + newDevice.getScriptingName()); diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java index eed0a3f1..53cd443c 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java @@ -1362,12 +1362,12 @@ public Integer getDyIOChannelCount(){ } /** - * Gets the availible channel modes. + * Gets the available channel modes. * * @param channel the channel - * @return the availible channel modes + * @return the available channel modes */ - public ArrayList getAvailibleChannelModes(int channel){ + public ArrayList getAvailableChannelModes(int channel){ ArrayList modes = new ArrayList(); ByteList m; @@ -1387,7 +1387,7 @@ public ArrayList getAvailibleChannelModes(int channel){ m = (ByteList)args[0]; //Log.setMinimumPrintLevel(l); } - String modeString = " Availible modes on "+channel; + String modeString = " Available modes on " + channel; for(int i=0;i getAvailableModes() { if(myModes== null) - myModes = getDevice().getAvailibleChannelModes(getChannelNumber()); + myModes = getDevice().getAvailableChannelModes(getChannelNumber()); for(int i=0;i getAvailableSockets() { From b9a5be76db638905f5615cbfaef91ef7fe76ddb1 Mon Sep 17 00:00:00 2001 From: rondlh <77279634+rondlh@users.noreply.github.com> Date: Sun, 25 Jan 2026 01:04:24 +0800 Subject: [PATCH 467/482] Change header format Change header format --- .../com/neuronrobotics/sdk/common/Log.java | 41 +++++++++---------- 1 file changed, 20 insertions(+), 21 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index dcb89932..fe607ae7 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -73,10 +73,13 @@ public class Log { /** The out stream. */ private static PrintStream outStream = System.out; + /** The out stream. */ private static PrintStream errStream = System.err; + /** The out stream. */ private static PrintStream mirrorStream = System.out; + /** The use colored prints. */ private boolean useColoredPrints = false; @@ -88,6 +91,7 @@ public class Log { private ByteList incomingOut; private String lastCallingClass = ""; + /** * Instantiates a new log. */ @@ -158,20 +162,16 @@ public static void add(String message) { */ private void add(String message, int importance) { - if (importance < minprintlevel) { + if (importance < minprintlevel) return; - } + if (m == null) m = new Message(message, importance); - else{ + else m.init(message, importance); - } - //messages.add(m); - - if (systemprint) { + if (systemprint) outStream.println(m.toString()); - } } /** @@ -186,11 +186,11 @@ public static void enableSystemPrint(boolean systemprint) { /** * Enable printing of debug output. */ - public static void enableDebugPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(DEBUG); } + public static void disablePrint() { Log.enableSystemPrint(false); } @@ -200,7 +200,6 @@ public static void disablePrint() { * * @param flag the flag */ - public static void enableDebugPrint(boolean flag) { Log.enableSystemPrint(flag); Log.setMinimumPrintLevel(DEBUG); @@ -209,7 +208,6 @@ public static void enableDebugPrint(boolean flag) { /** * Enable printing of debug output. */ - public static void enableInfoPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(INFO); @@ -218,7 +216,6 @@ public static void enableInfoPrint() { /** * Enable printing of debug output. */ - public static void enableWarningPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(WARNING); @@ -227,13 +224,11 @@ public static void enableWarningPrint() { /** * Enable printing of debug output. */ - public static void enableErrorPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(ERROR); } - /** * Set the minimum level of importance to dsplay. * Messages below this wont be displayed. @@ -286,6 +281,7 @@ public String getImportance(int importance) { return "Log"; } } + /** * Get a string describing the given importance level. * @@ -310,9 +306,7 @@ public String getImportanceColor(int importance) { } return ""; } - - /** * Get the current output PrintStream. * @@ -388,18 +382,19 @@ public String toString() { // First logfile line if (lastCallingClass.isEmpty()) { - lastCallingClass = "\n[" + dateFormat.format(datetime) + "] ======== Log file opened ========"; + + lastCallingClass = "\n======== [" + dateFormat.format(datetime) + "] " + message + " ========"; dateFormat = new SimpleDateFormat("HH:mm:ss.SS"); - return lastCallingClass.toString(); + return lastCallingClass; } if (lastCallingClass.equals(getImportance(importance) + " " + callingClass)) - return getImportanceColor(importance) + " [" + dateFormat.format(datetime) + "] " + message + getColorNormalizationCode(); + return getImportanceColor(importance) + " [" + dateFormat.format(datetime) + "] " + getColorNormalizationCode() + message; lastCallingClass = getImportance(importance) + " " + callingClass; - return "\n" + getImportanceColor(importance) + lastCallingClass + ":\n [" + dateFormat.format(datetime) + "] " + message + getColorNormalizationCode(); + return "\n" + getImportanceColor(importance) + lastCallingClass + ":\n [" + dateFormat.format(datetime) + "] " + getColorNormalizationCode() + message; } } @@ -482,12 +477,14 @@ public void write(int b) throws IOException { System.setOut(new PrintStream(streamOut)); System.setErr(new PrintStream(streamErr)); setOutStream(new PrintStream(streamErr)); + while (instance.log != null) { try { Thread.sleep(149); } catch (InterruptedException e) { return; } + if (instance.incomingOut.size() > 0) try { String text = instance.incomingOut.asString(); @@ -501,6 +498,7 @@ public void write(int b) throws IOException { } catch (Exception e) { e.printStackTrace(); } + if (instance.incomingErr.size() > 0) try { String text = instance.incomingErr.asString(); @@ -518,12 +516,13 @@ public void write(int b) throws IOException { }); instance.logFileThread.start(); } + public static void flush() { setOutStream(outStream); System.setOut(outStream); System.setErr(outStream); instance.log = null; - while((instance.incomingOut.size() > 0) || (instance.incomingErr.size() > 0 )) { + while ((instance.incomingOut.size() > 0) || (instance.incomingErr.size() > 0 )) { try { Thread.sleep(10); } catch (InterruptedException e) { From 267fac72dd7417f6e3a949410b2152c3dd501e67 Mon Sep 17 00:00:00 2001 From: rondlh <77279634+rondlh@users.noreply.github.com> Date: Sun, 25 Jan 2026 01:34:00 +0800 Subject: [PATCH 468/482] Don't change log format here Don't change log format here --- .../com/neuronrobotics/sdk/common/Log.java | 121 +++++++++--------- 1 file changed, 57 insertions(+), 64 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index fe607ae7..7d919b19 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -36,9 +36,11 @@ * */ public class Log { - + + + /** The Constant LOG. */ - public static final int LOG = -1; + public static final int LOG =-1; /** The Constant INFO. */ public static final int INFO = 0; @@ -61,7 +63,7 @@ public class Log { /** The date format. */ private DateFormat dateFormat = new SimpleDateFormat("yyyy/MM/dd HH:mm:ss:SS"); - + /** The minprintlevel. */ private int minprintlevel = WARNING; @@ -73,25 +75,20 @@ public class Log { /** The out stream. */ private static PrintStream outStream = System.out; - /** The out stream. */ private static PrintStream errStream = System.err; - /** The out stream. */ private static PrintStream mirrorStream = System.out; - /** The use colored prints. */ - private boolean useColoredPrints = false; + private boolean useColoredPrints=false; private Thread logFileThread = null; - private File log = null; + private File log=null; private ByteList incomingErr; private ByteList incomingOut; - private String lastCallingClass = ""; - /** * Instantiates a new log. */ @@ -162,16 +159,23 @@ public static void add(String message) { */ private void add(String message, int importance) { - if (importance < minprintlevel) + if( importance < minprintlevel) { return; - - if (m == null) + } + if(m==null) m = new Message(message, importance); - else + else{ m.init(message, importance); + } + //messages.add(m); - if (systemprint) + + if( systemprint) { outStream.println(m.toString()); + } + + + } /** @@ -186,11 +190,11 @@ public static void enableSystemPrint(boolean systemprint) { /** * Enable printing of debug output. */ + public static void enableDebugPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(DEBUG); } - public static void disablePrint() { Log.enableSystemPrint(false); } @@ -200,6 +204,7 @@ public static void disablePrint() { * * @param flag the flag */ + public static void enableDebugPrint(boolean flag) { Log.enableSystemPrint(flag); Log.setMinimumPrintLevel(DEBUG); @@ -208,6 +213,7 @@ public static void enableDebugPrint(boolean flag) { /** * Enable printing of debug output. */ + public static void enableInfoPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(INFO); @@ -216,6 +222,7 @@ public static void enableInfoPrint() { /** * Enable printing of debug output. */ + public static void enableWarningPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(WARNING); @@ -224,11 +231,13 @@ public static void enableWarningPrint() { /** * Enable printing of debug output. */ + public static void enableErrorPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(ERROR); } + /** * Set the minimum level of importance to dsplay. * Messages below this wont be displayed. @@ -254,7 +263,7 @@ public static int getMinimumPrintLevel() { * @return The log instance. */ public static Log instance() { - if (instance == null) { + if(instance == null) { instance = new Log(); } return instance; @@ -281,7 +290,6 @@ public String getImportance(int importance) { return "Log"; } } - /** * Get a string describing the given importance level. * @@ -289,7 +297,7 @@ public String getImportance(int importance) { * @return the importance */ public String getImportanceColor(int importance) { - if (isUseColoredPrints()) { + if(isUseColoredPrints()){ switch(importance) { case INFO: return "\033[92m";// green @@ -306,7 +314,9 @@ public String getImportanceColor(int importance) { } return ""; } + + /** * Get the current output PrintStream. * @@ -360,41 +370,26 @@ public Message(String message, int importance) { * @param message the message * @param importance the importance */ - public void init(String message, int importance) { + public void init(String message, int importance){ this.message = message; this.importance = importance; datetime = new Date(); - - try - { - throw new Exception("Who called me?"); - } - catch( Exception e ) - { - callingClass = e.getStackTrace()[3].getClassName() + ":" + e.getStackTrace()[3].getMethodName(); - } + try + { + throw new Exception("Who called me?"); + } + catch( Exception e ) + { + callingClass= e.getStackTrace()[3].getClassName()+":"+e.getStackTrace()[3].getMethodName(); + } } /* (non-Javadoc) * @see java.lang.Object#toString() */ public String toString() { - - // First logfile line - if (lastCallingClass.isEmpty()) { - - lastCallingClass = "\n======== [" + dateFormat.format(datetime) + "] " + message + " ========"; - dateFormat = new SimpleDateFormat("HH:mm:ss.SS"); - - return lastCallingClass; - } - - if (lastCallingClass.equals(getImportance(importance) + " " + callingClass)) - return getImportanceColor(importance) + " [" + dateFormat.format(datetime) + "] " + getColorNormalizationCode() + message; - - lastCallingClass = getImportance(importance) + " " + callingClass; - - return "\n" + getImportanceColor(importance) + lastCallingClass + ":\n [" + dateFormat.format(datetime) + "] " + getColorNormalizationCode() + message; + //return "\t\t\t\t[" + dateFormat.format(datetime) + "] " + " " + getImportance(importance) +" "+callingClass+ " :\n"+ message; + return getImportanceColor(importance)+"[" + dateFormat.format(datetime) + "] " + " " + getImportance(importance) +" "+callingClass+ " :\n\t"+ message+getColorNormalizationCode(); } } @@ -403,8 +398,10 @@ public String toString() { * * @return the color normalization code */ - private String getColorNormalizationCode() { - return isUseColoredPrints() ? "\033[39m" : ""; + private String getColorNormalizationCode(){ + if(isUseColoredPrints()) + return "\033[39m"; + return ""; } /** @@ -412,7 +409,7 @@ private String getColorNormalizationCode() { * * @return true, if is use colored prints */ - public static boolean isUseColoredPrints() { + public static boolean isUseColoredPrints() { return instance().useColoredPrints; } @@ -444,9 +441,9 @@ public static void error(Throwable ex) { } public static void setFile(File logfile) { - instance().systemprint = true; - instance.log = null; - if (instance.logFileThread != null) { + instance().systemprint=true; + instance.log=null; + if(instance.logFileThread!=null) { instance.logFileThread.interrupt(); try { instance.logFileThread.join(); @@ -456,11 +453,11 @@ public static void setFile(File logfile) { } } - instance.log = logfile; - instance.logFileThread = new Thread(()->{ + instance.log=logfile; + instance.logFileThread=new Thread(()->{ instance.incomingErr = new ByteList(); - OutputStream streamErr = new OutputStream() { + OutputStream streamErr = new OutputStream() { @Override public void write(int b) throws IOException { instance.incomingErr.add(b); @@ -468,7 +465,7 @@ public void write(int b) throws IOException { }; instance.incomingOut = new ByteList(); - OutputStream streamOut = new OutputStream() { + OutputStream streamOut = new OutputStream() { @Override public void write(int b) throws IOException { instance.incomingOut.add(b); @@ -477,19 +474,17 @@ public void write(int b) throws IOException { System.setOut(new PrintStream(streamOut)); System.setErr(new PrintStream(streamErr)); setOutStream(new PrintStream(streamErr)); - - while (instance.log != null) { + while (instance.log!=null) { try { Thread.sleep(149); } catch (InterruptedException e) { return; } - if (instance.incomingOut.size() > 0) try { String text = instance.incomingOut.asString(); instance.incomingOut.clear(); - if ((text != null) && (text.length() > 0)) { + if (text != null && text.length() > 0){ //Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); // java 11+ Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), StandardOpenOption.APPEND); mirrorStream.println(text); @@ -498,12 +493,11 @@ public void write(int b) throws IOException { } catch (Exception e) { e.printStackTrace(); } - if (instance.incomingErr.size() > 0) try { String text = instance.incomingErr.asString(); instance.incomingErr.clear(); - if ((text != null) && (text.length() > 0)) { + if (text != null && text.length() > 0){ //Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); // java 11+ Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), StandardOpenOption.APPEND); errStream.println(text); @@ -516,13 +510,12 @@ public void write(int b) throws IOException { }); instance.logFileThread.start(); } - public static void flush() { setOutStream(outStream); System.setOut(outStream); System.setErr(outStream); - instance.log = null; - while ((instance.incomingOut.size() > 0) || (instance.incomingErr.size() > 0 )) { + instance.log=null; + while(instance.incomingOut.size() > 0 ||instance.incomingErr.size() > 0 ) { try { Thread.sleep(10); } catch (InterruptedException e) { From 2956ed062b4fa001ef420497c8ed63c292de8adf Mon Sep 17 00:00:00 2001 From: rondlh <77279634+rondlh@users.noreply.github.com> Date: Sun, 25 Jan 2026 01:53:17 +0800 Subject: [PATCH 469/482] Log file format update, add spacing Log file format update, add spacing --- .../com/neuronrobotics/sdk/common/Log.java | 121 +++++++++--------- 1 file changed, 64 insertions(+), 57 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index 7d919b19..fe607ae7 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -36,11 +36,9 @@ * */ public class Log { - - - + /** The Constant LOG. */ - public static final int LOG =-1; + public static final int LOG = -1; /** The Constant INFO. */ public static final int INFO = 0; @@ -63,7 +61,7 @@ public class Log { /** The date format. */ private DateFormat dateFormat = new SimpleDateFormat("yyyy/MM/dd HH:mm:ss:SS"); - + /** The minprintlevel. */ private int minprintlevel = WARNING; @@ -75,20 +73,25 @@ public class Log { /** The out stream. */ private static PrintStream outStream = System.out; + /** The out stream. */ private static PrintStream errStream = System.err; + /** The out stream. */ private static PrintStream mirrorStream = System.out; + /** The use colored prints. */ - private boolean useColoredPrints=false; + private boolean useColoredPrints = false; private Thread logFileThread = null; - private File log=null; + private File log = null; private ByteList incomingErr; private ByteList incomingOut; + private String lastCallingClass = ""; + /** * Instantiates a new log. */ @@ -159,23 +162,16 @@ public static void add(String message) { */ private void add(String message, int importance) { - if( importance < minprintlevel) { + if (importance < minprintlevel) return; - } - if(m==null) + + if (m == null) m = new Message(message, importance); - else{ + else m.init(message, importance); - } - //messages.add(m); - - if( systemprint) { + if (systemprint) outStream.println(m.toString()); - } - - - } /** @@ -190,11 +186,11 @@ public static void enableSystemPrint(boolean systemprint) { /** * Enable printing of debug output. */ - public static void enableDebugPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(DEBUG); } + public static void disablePrint() { Log.enableSystemPrint(false); } @@ -204,7 +200,6 @@ public static void disablePrint() { * * @param flag the flag */ - public static void enableDebugPrint(boolean flag) { Log.enableSystemPrint(flag); Log.setMinimumPrintLevel(DEBUG); @@ -213,7 +208,6 @@ public static void enableDebugPrint(boolean flag) { /** * Enable printing of debug output. */ - public static void enableInfoPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(INFO); @@ -222,7 +216,6 @@ public static void enableInfoPrint() { /** * Enable printing of debug output. */ - public static void enableWarningPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(WARNING); @@ -231,13 +224,11 @@ public static void enableWarningPrint() { /** * Enable printing of debug output. */ - public static void enableErrorPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(ERROR); } - /** * Set the minimum level of importance to dsplay. * Messages below this wont be displayed. @@ -263,7 +254,7 @@ public static int getMinimumPrintLevel() { * @return The log instance. */ public static Log instance() { - if(instance == null) { + if (instance == null) { instance = new Log(); } return instance; @@ -290,6 +281,7 @@ public String getImportance(int importance) { return "Log"; } } + /** * Get a string describing the given importance level. * @@ -297,7 +289,7 @@ public String getImportance(int importance) { * @return the importance */ public String getImportanceColor(int importance) { - if(isUseColoredPrints()){ + if (isUseColoredPrints()) { switch(importance) { case INFO: return "\033[92m";// green @@ -314,9 +306,7 @@ public String getImportanceColor(int importance) { } return ""; } - - /** * Get the current output PrintStream. * @@ -370,26 +360,41 @@ public Message(String message, int importance) { * @param message the message * @param importance the importance */ - public void init(String message, int importance){ + public void init(String message, int importance) { this.message = message; this.importance = importance; datetime = new Date(); - try - { - throw new Exception("Who called me?"); - } - catch( Exception e ) - { - callingClass= e.getStackTrace()[3].getClassName()+":"+e.getStackTrace()[3].getMethodName(); - } + + try + { + throw new Exception("Who called me?"); + } + catch( Exception e ) + { + callingClass = e.getStackTrace()[3].getClassName() + ":" + e.getStackTrace()[3].getMethodName(); + } } /* (non-Javadoc) * @see java.lang.Object#toString() */ public String toString() { - //return "\t\t\t\t[" + dateFormat.format(datetime) + "] " + " " + getImportance(importance) +" "+callingClass+ " :\n"+ message; - return getImportanceColor(importance)+"[" + dateFormat.format(datetime) + "] " + " " + getImportance(importance) +" "+callingClass+ " :\n\t"+ message+getColorNormalizationCode(); + + // First logfile line + if (lastCallingClass.isEmpty()) { + + lastCallingClass = "\n======== [" + dateFormat.format(datetime) + "] " + message + " ========"; + dateFormat = new SimpleDateFormat("HH:mm:ss.SS"); + + return lastCallingClass; + } + + if (lastCallingClass.equals(getImportance(importance) + " " + callingClass)) + return getImportanceColor(importance) + " [" + dateFormat.format(datetime) + "] " + getColorNormalizationCode() + message; + + lastCallingClass = getImportance(importance) + " " + callingClass; + + return "\n" + getImportanceColor(importance) + lastCallingClass + ":\n [" + dateFormat.format(datetime) + "] " + getColorNormalizationCode() + message; } } @@ -398,10 +403,8 @@ public String toString() { * * @return the color normalization code */ - private String getColorNormalizationCode(){ - if(isUseColoredPrints()) - return "\033[39m"; - return ""; + private String getColorNormalizationCode() { + return isUseColoredPrints() ? "\033[39m" : ""; } /** @@ -409,7 +412,7 @@ private String getColorNormalizationCode(){ * * @return true, if is use colored prints */ - public static boolean isUseColoredPrints() { + public static boolean isUseColoredPrints() { return instance().useColoredPrints; } @@ -441,9 +444,9 @@ public static void error(Throwable ex) { } public static void setFile(File logfile) { - instance().systemprint=true; - instance.log=null; - if(instance.logFileThread!=null) { + instance().systemprint = true; + instance.log = null; + if (instance.logFileThread != null) { instance.logFileThread.interrupt(); try { instance.logFileThread.join(); @@ -453,11 +456,11 @@ public static void setFile(File logfile) { } } - instance.log=logfile; - instance.logFileThread=new Thread(()->{ + instance.log = logfile; + instance.logFileThread = new Thread(()->{ instance.incomingErr = new ByteList(); - OutputStream streamErr = new OutputStream() { + OutputStream streamErr = new OutputStream() { @Override public void write(int b) throws IOException { instance.incomingErr.add(b); @@ -465,7 +468,7 @@ public void write(int b) throws IOException { }; instance.incomingOut = new ByteList(); - OutputStream streamOut = new OutputStream() { + OutputStream streamOut = new OutputStream() { @Override public void write(int b) throws IOException { instance.incomingOut.add(b); @@ -474,17 +477,19 @@ public void write(int b) throws IOException { System.setOut(new PrintStream(streamOut)); System.setErr(new PrintStream(streamErr)); setOutStream(new PrintStream(streamErr)); - while (instance.log!=null) { + + while (instance.log != null) { try { Thread.sleep(149); } catch (InterruptedException e) { return; } + if (instance.incomingOut.size() > 0) try { String text = instance.incomingOut.asString(); instance.incomingOut.clear(); - if (text != null && text.length() > 0){ + if ((text != null) && (text.length() > 0)) { //Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); // java 11+ Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), StandardOpenOption.APPEND); mirrorStream.println(text); @@ -493,11 +498,12 @@ public void write(int b) throws IOException { } catch (Exception e) { e.printStackTrace(); } + if (instance.incomingErr.size() > 0) try { String text = instance.incomingErr.asString(); instance.incomingErr.clear(); - if (text != null && text.length() > 0){ + if ((text != null) && (text.length() > 0)) { //Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); // java 11+ Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), StandardOpenOption.APPEND); errStream.println(text); @@ -510,12 +516,13 @@ public void write(int b) throws IOException { }); instance.logFileThread.start(); } + public static void flush() { setOutStream(outStream); System.setOut(outStream); System.setErr(outStream); - instance.log=null; - while(instance.incomingOut.size() > 0 ||instance.incomingErr.size() > 0 ) { + instance.log = null; + while ((instance.incomingOut.size() > 0) || (instance.incomingErr.size() > 0 )) { try { Thread.sleep(10); } catch (InterruptedException e) { From 3c4c48563da88ff97deb66b58110577bb90c4169 Mon Sep 17 00:00:00 2001 From: rondlh <77279634+rondlh@users.noreply.github.com> Date: Sun, 25 Jan 2026 02:57:33 +0800 Subject: [PATCH 470/482] Update log file format, add line spacing and group messages Update log file format, add line spacing and group messages --- src/main/java/com/neuronrobotics/sdk/common/Log.java | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index fe607ae7..f53fd107 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -97,7 +97,7 @@ public class Log { */ private Log() { // private for singleton pattern - add(SDKBuildInfo.getSDKVersionString(), INFO); + // add(SDKBuildInfo.getSDKVersionString(), INFO); } /** @@ -383,10 +383,10 @@ public String toString() { // First logfile line if (lastCallingClass.isEmpty()) { - lastCallingClass = "\n======== [" + dateFormat.format(datetime) + "] " + message + " ========"; + lastCallingClass = "======== [" + dateFormat.format(datetime) + "] " + message + " ========"; dateFormat = new SimpleDateFormat("HH:mm:ss.SS"); - return lastCallingClass; + return lastCallingClass.toString(); } if (lastCallingClass.equals(getImportance(importance) + " " + callingClass)) @@ -515,6 +515,7 @@ public void write(int b) throws IOException { } }); instance.logFileThread.start(); + info(SDKBuildInfo.getSDKVersionString()); } public static void flush() { From 722decb4b76e41525d1aeebecad7728a4dae03d3 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 3 Feb 2026 15:07:30 -0500 Subject: [PATCH 471/482] hide defined fields --- src/main/java/com/neuronrobotics/sdk/common/Log.java | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index f53fd107..b1c2052a 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -38,19 +38,19 @@ public class Log { /** The Constant LOG. */ - public static final int LOG = -1; + private static final int LOG = -1; /** The Constant INFO. */ - public static final int INFO = 0; + private static final int INFO = 0; /** The Constant DEBUG. */ - public static final int DEBUG = 1; + private static final int DEBUG = 1; /** The Constant WARNING. */ - public static final int WARNING = 2; + private static final int WARNING = 2; /** The Constant ERROR. */ - public static final int ERROR = 3; + private static final int ERROR = 3; /** The instance. */ private static Log instance; From 39b6915f8f1ddbd57b954af49018894951be1360 Mon Sep 17 00:00:00 2001 From: rondlh <77279634+rondlh@users.noreply.github.com> Date: Sun, 15 Mar 2026 17:56:12 +0800 Subject: [PATCH 472/482] Fix orent --> orient typo Fix orent --> orient typo --- .../sdk/addons/irobot/CreateArm.java | 60 +++++++++---------- .../sdk/addons/kinematics/DHChain.java | 16 ++--- .../sdk/addons/kinematics/GradiantDecent.java | 12 ++-- .../addons/kinematics/GradiantDecentNode.java | 60 +++++++++---------- .../addons/kinematics/SearchTreeSolver.java | 26 ++++---- .../addons/kinematics/ik/DeltaIKModel.java | 6 +- .../addons/kinematics/math/TransformNR.java | 6 +- 7 files changed, 93 insertions(+), 93 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateArm.java b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateArm.java index 20fd2e95..a188d065 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateArm.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateArm.java @@ -61,8 +61,8 @@ public class CreateArm { /** The xy thresh hold. */ private double xyThreshHold = .1; - /** The orent thresh hold. */ - private double orentThreshHold = 1; + /** The orient thresh hold. */ + private double orientThreshHold = 1; /** * Instantiates a new creates the arm. @@ -263,14 +263,14 @@ public void setAngles(double shoulder, double elbow, double wrist,float time) { /** * Gets the cartesian pose. * - * @return pose vector, X,Y,Orentation + * @return pose vector, X,Y,Orientation */ public double [] getCartesianPose(){ double [] angles =getAngles(); - pose[2] = GetOrentation(); + pose[2] = GetOrientation(); - pose[0]=(l1* cos(ToRadians(angles[0]))+l2* cos(ToRadians(angles[0])+ToRadians(angles[1]))+(l3* cos(ToRadians(GetOrentation())))); - pose[1]=(l1* sin(ToRadians(angles[0]))+l2* sin(ToRadians(angles[0])+ToRadians(angles[1]))+(l3* sin(ToRadians(GetOrentation())))); + pose[0]=(l1* cos(ToRadians(angles[0]))+l2* cos(ToRadians(angles[0])+ToRadians(angles[1]))+(l3* cos(ToRadians(GetOrientation())))); + pose[1]=(l1* sin(ToRadians(angles[0]))+l2* sin(ToRadians(angles[0])+ToRadians(angles[1]))+(l3* sin(ToRadians(GetOrientation())))); double [] p = new double [3]; for ( int i = 0; i<3; i++){ p[i]=pose[i]; @@ -318,10 +318,10 @@ public void setCartesianPose(double [] p, float time){ * * @param x the x * @param y the y - * @param orentation the orentation + * @param orientation the orientation */ - public void setCartesianPose(double x, double y, double orentation){ - setCartesianPose(x,y, orentation,(float).2); + public void setCartesianPose(double x, double y, double orientation){ + setCartesianPose(x,y, orientation,(float).2); } /** @@ -329,26 +329,26 @@ public void setCartesianPose(double x, double y, double orentation){ * * @param x the x * @param y the y - * @param orentation the orentation + * @param orientation the orientation * @param time the time */ - public void setCartesianPose(double x, double y, double orentation, float time){ - if(orentation<-35) - orentation=-35; - if(orentation>35) - orentation=35; - if (!updateCartesian(x,y,orentation)){ + public void setCartesianPose(double x, double y, double orientation, float time){ + if(orientation<-35) + orientation=-35; + if(orientation>35) + orientation=35; + if (!updateCartesian(x,y,orientation)){ return; } pose[0]=x; pose[1]=y; - pose[2]=orentation; + pose[2]=orientation; - Log.info("Setting Pose X: "+x+" Y: "+y+" Orentation: "+orentation ); + Log.info("Setting Pose X: "+x+" Y: "+y+" Orientation: "+orientation ); - x -= (l3*cos(orentation*M_PI/180)); - y -= (l3*sin(orentation*M_PI/180)); + x -= (l3*cos(orientation*M_PI/180)); + y -= (l3*sin(orientation*M_PI/180)); if (sqrt(x*x+y*y) > l1+l2) { com.neuronrobotics.sdk.common.Log.error("Hypotenus too long"+x+" "+y+"\r\n"); return; @@ -361,7 +361,7 @@ public void setCartesianPose(double x, double y, double orentation, float time){ shoulder =(atan2(y,x)+acos((x*x+y*y+l1*l1-l2*l2)/(2*l1*sqrt(x*x+y*y)))); shoulder *=(180.0/M_PI); - double wrist = orentation-elbow-shoulder; + double wrist = orientation-elbow-shoulder; setAngles(shoulder,elbow,wrist,time); @@ -372,10 +372,10 @@ public void setCartesianPose(double x, double y, double orentation, float time){ * * @param x the x * @param y the y - * @param orentation the orentation + * @param orientation the orientation * @return true, if successful */ - private boolean updateCartesian(double x, double y, double orentation) { + private boolean updateCartesian(double x, double y, double orientation) { if(((x>(pose[0]+xyThreshHold))) || (x<(pose[0]-xyThreshHold))){ Log.info("X changed"); return true; @@ -388,8 +388,8 @@ private boolean updateCartesian(double x, double y, double orentation) { }else{ Log.info("Y set: "+y+" was: "+pose[1]); } - if((orentation>pose[2]+orentThreshHold) || (orentationpose[2]+orientThreshHold) || (orientation4) - inv[4] = inv[0];//keep the tool orentation paralell from the base + inv[4] = inv[0];//keep the tool orientation paralell from the base for(int i=0;i=0;i--){ @@ -60,13 +60,13 @@ public double[] inverseKinematics(TransformNR target,double[] jointSpaceVector, } } vect = dhChain.forwardKinematics(jointSpaceVector).getOffsetVectorMagnitude(target); - orent = dhChain.forwardKinematics(jointSpaceVector).getOffsetOrentationMagnitude(target); - if(previousV>=vect && previousO>=orent){ + orient = dhChain.forwardKinematics(jointSpaceVector).getOffsetOrientationMagnitude(target); + if(previousV>=vect && previousO>=orient){ for(int i=0;i posOffset|| previousO > .001); @@ -83,7 +83,7 @@ public double[] inverseKinematics(TransformNR target,double[] jointSpaceVector, } }while(++iter<200 && notArrived && stopped == false);//preincrement and check if(debug){ - com.neuronrobotics.sdk.common.Log.error("Numer of iterations #"+iter+" \n\tStalled = "+stopped+" \n\tArrived = "+!notArrived+" \n\tFinal offset= "+vect+" \n\tFinal orent= "+orent); + com.neuronrobotics.sdk.common.Log.error("Numer of iterations #"+iter+" \n\tStalled = "+stopped+" \n\tArrived = "+!notArrived+" \n\tFinal offset= "+vect+" \n\tFinal orient= "+orient); } return inv; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecentNode.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecentNode.java index 9df51a52..117784ae 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecentNode.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecentNode.java @@ -36,8 +36,8 @@ public class GradiantDecentNode{ /** The inc vect. */ double incVect; - /** The inc orent. */ - double incOrent; + /** The inc orient. */ + double incOrient; /** The integral size. */ //integral @@ -46,20 +46,20 @@ public class GradiantDecentNode{ /** The integral index vect. */ int integralIndexVect = 0; - /** The integral index orent. */ - int integralIndexOrent = 0; + /** The integral index orient. */ + int integralIndexOrient = 0; /** The integral total vect. */ double integralTotalVect = 0; - /** The integral total orent. */ - double integralTotalOrent = 0; + /** The integral total orient. */ + double integralTotalOrient = 0; /** The int vect. */ double intVect[] = new double[integralSize]; - /** The int orent. */ - double intOrent[] = new double[integralSize]; + /** The int orient. */ + double intOrient[] = new double[integralSize]; /** The Kp. */ double Kp = 1; @@ -88,62 +88,62 @@ public GradiantDecentNode(DHChain chain,int index,double[] jointSpaceVector,Tran lower = l; for(int i=0;inoneOrent && downOrent>noneOrent)){ + if( (upOrient>noneOrient && downOrient>noneOrient)){ jointSpaceVector[getIndex()]=none; } - if(( noneOrent>upOrent && downOrent>upOrent)){ + if(( noneOrient>upOrient && downOrient>upOrient)){ jointSpaceVector[getIndex()]=upO; - offset+=incOrent; + offset+=incOrient; } - if((upOrent>downOrent && noneOrent>downOrent )){ + if((upOrient>downOrient && noneOrient>downOrient )){ jointSpaceVector[getIndex()]=downO; - offset-=incOrent; + offset-=incOrient; } jointSpaceVector[getIndex()] = myStart+offset; @@ -218,7 +218,7 @@ public boolean stepLin(){ * @return true, if successful */ public boolean step() { - boolean back = stepOrent()||stepLin(); + boolean back = stepOrient()||stepLin(); return back; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/SearchTreeSolver.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/SearchTreeSolver.java index 0b367186..7a943994 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/SearchTreeSolver.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/SearchTreeSolver.java @@ -52,7 +52,7 @@ public double[] inverseKinematics(TransformNR target,double[] jointSpaceVector, searchTree step=new searchTree(jointSpaceVector,startingIncrement);; boolean done = false; configuration conf = new configuration(jointSpaceVector, target); -// double previousV =conf.getOffsetOrentationMagnitude(); +// double previousV =conf.getOffsetOrientationMagnitude(); // double previousO =conf.getOffsetVectorMagnitude(); int iter = 1000; int i = 0; @@ -60,10 +60,10 @@ public double[] inverseKinematics(TransformNR target,double[] jointSpaceVector, double [] current = conf.getJoints(); conf = step.getBest(current); - double vect = conf.getOffsetOrentationMagnitude(); - double orent = conf.getOffsetVectorMagnitude(); + double vect = conf.getOffsetOrientationMagnitude(); + double orient = conf.getOffsetVectorMagnitude(); - if(vect<10 && orent< .05){ + if(vect<10 && orient< .05){ done = true; com.neuronrobotics.sdk.common.Log.error("SearchTreeSolver Success stats: \n\tIterations = "+i+" out of "+iter+"\n"+conf); } @@ -199,15 +199,15 @@ public configuration getBest(double[] jointSpaceVector){ int best = 0; int i=0; - double orent=configurations.get(0).getOffsetOrentationMagnitude(); + double orient=configurations.get(0).getOffsetOrientationMagnitude(); double vect =configurations.get(0).getOffsetVectorMagnitude(); for(configuration c:configurations){ - double tmpOrent = c.getOffsetOrentationMagnitude(); + double tmpOrient = c.getOffsetOrientationMagnitude(); double tmpVector= c.getOffsetVectorMagnitude(); if( - tmpOrent<=orent && + tmpOrient<=orient && tmpVector<=vect){ - orent=tmpOrent; + orient=tmpOrient; vect=tmpVector; best = i; } @@ -257,7 +257,7 @@ public configuration(double [] joints, TransformNR t){ public TransformNR getTransform() { if(transform == null){ transform = fk(getJoints()); - o = transform.getOffsetOrentationMagnitude(target); + o = transform.getOffsetOrientationMagnitude(target); v = transform.getOffsetVectorMagnitude(target); } return transform; @@ -273,11 +273,11 @@ public double[] getJoints() { } /** - * Gets the offset orentation magnitude. + * Gets the offset orientation magnitude. * - * @return the offset orentation magnitude + * @return the offset orientation magnitude */ - public double getOffsetOrentationMagnitude(){ + public double getOffsetOrientationMagnitude(){ getTransform(); return o; } @@ -313,7 +313,7 @@ public boolean same(configuration c){ */ public String toString(){ getTransform(); - String s="\tTarget = "+target.toString()+"\n\tVector = "+v+"\n\tOrent "+o+"\n\tCurrent = "+getTransform().toString(); + String s="\tTarget = "+target.toString()+"\n\tVector = "+v+"\n\tOrient "+o+"\n\tCurrent = "+getTransform().toString(); return s; } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java index 5c55a71f..7395ee0a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java @@ -123,9 +123,9 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec (2 * L1 *elX) ); jointSpaceVector[0]=-(90-(Math.toDegrees(theta1)+baseVectorAngle)); - TransformNR reorent; + TransformNR reorient; try { - reorent =new TransformNR(0,0,0,new RotationNR(0, -jointSpaceVector[0], 0)); + reorient =new TransformNR(0,0,0,new RotationNR(0, -jointSpaceVector[0], 0)); }catch (Throwable t){ //t.printStackTrace() throw new RuntimeException( "error calculating base angle: \nL1 "+L1+ @@ -138,7 +138,7 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec ); } - TransformNR sphericalElbowTartget = reorent.times(newCenter); + TransformNR sphericalElbowTartget = reorient.times(newCenter); //com.neuronrobotics.sdk.common.Log.error( newCenter //com.neuronrobotics.sdk.common.Log.error( sphericalElbowTartget sphericalElbowTartget = new TransformNR(0.0,-sphericalElbowTartget.getY(),0.0, new RotationNR()).times(sphericalElbowTartget); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 8406eecf..7c3e379b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -339,12 +339,12 @@ public Matrix getMatrixTransform() { } /** - * Gets the offset orentation magnitude. + * Gets the offset orientation magnitude. * * @param t the t - * @return the offset orentation magnitude + * @return the offset orientation magnitude */ - public double getOffsetOrentationMagnitude(TransformNR t) { + public double getOffsetOrientationMagnitude(TransformNR t) { double x = getRotation().getRotationMatrix2QuaturnionX() - t.getRotation().getRotationMatrix2QuaturnionX(); double y = getRotation().getRotationMatrix2QuaturnionY() From cf921fd9c98e814a08dfd49f7fa69f1da0b2ce86 Mon Sep 17 00:00:00 2001 From: rondlh <77279634+rondlh@users.noreply.github.com> Date: Sun, 15 Mar 2026 20:15:48 +0800 Subject: [PATCH 473/482] Solve some warnings, some formatting fixes Solve some warnings, some formatting fixes --- .../kinematics/AbstractKinematicsNR.java | 86 ++++---- .../addons/kinematics/WalkingDriveEngine.java | 8 +- .../addons/kinematics/ik/DeltaIKModel.java | 58 +++--- .../addons/kinematics/math/RotationNR.java | 97 ++++----- .../kinematics/math/RotationNRLegacy.java | 10 +- .../addons/kinematics/math/TransformNR.java | 71 +++---- .../sdk/common/RpcEncapsulation.java | 189 +++++++++--------- .../utilities/RotationNRTest.java | 98 ++++----- 8 files changed, 298 insertions(+), 319 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index 2233dada..dc76104a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -117,15 +117,15 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP private Runnable renderWrangler=null; public int getLinkIndex(AbstractLink l) { - for (int i=0;i link.getMaxEngineeringUnits()) { - Log.error(dev.getScriptingName()+" Link "+i+" can not reach "+val+" limited to "+link.getMaxEngineeringUnits()); + Log.error(dev.getScriptingName() + " Link " + i + " can not reach " + val + " limited to " + link.getMaxEngineeringUnits()); return false; } if (val < link.getMinEngineeringUnits()) { - Log.error(dev.getScriptingName()+" Link "+i+" can not reach "+val+" limited to "+link.getMinEngineeringUnits()); + Log.error(dev.getScriptingName() + " Link " + i + " can not reach " + val + " limited to " + link.getMinEngineeringUnits()); return false; } - if(seconds>0) { + if (seconds > 0) { double maxVel = Math.abs(link.getMaxVelocityEngineeringUnits()); double deltaPosition = Math.abs(current[i] - jointSpaceVect[i]); - double computedVelocity = deltaPosition/seconds; - if((computedVelocity-maxVel)>0.0001) { - Log.error("Link "+i+" can not move at rate of "+computedVelocity+" capped at "+maxVel+" requested position of "+jointSpaceVect[i]+" from current position of "+current[i]+" in "+seconds+" seconds"); + double computedVelocity = deltaPosition / seconds; + if ((computedVelocity-maxVel)>0.0001) { + Log.error("Link " + i + " can not move at rate of " + computedVelocity + " capped at " + maxVel + " requested position of " + jointSpaceVect[i] + " from current position of " + current[i] + " in " + seconds + " seconds"); return false; } } @@ -646,6 +647,7 @@ private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpace return true; } + /** * Checks the desired pose for ability for the IK to calculate a valid pose. * @@ -653,7 +655,7 @@ private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpace * @return True if pose is reachable, false if it is not */ public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform, double seconds) { - return AbstractKinematicsNR.checkTaskSpaceTransform(this, taskSpaceTransform,seconds); + return AbstractKinematicsNR.checkTaskSpaceTransform(this, taskSpaceTransform, seconds); } /** * Checks the desired pose for ability for the IK to calculate a valid pose. @@ -662,7 +664,7 @@ public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform, double se * @return True if pose is reachable, false if it is not */ public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform) { - return checkTaskSpaceTransform(this, taskSpaceTransform,0); + return checkTaskSpaceTransform(this, taskSpaceTransform, 0); } /** @@ -689,7 +691,7 @@ public double getBestTime(TransformNR currentTaskSpaceTransform) { * @return the time of translation at best possible speed based on checking each link */ public double getBestTime(double[] jointSpaceVect) { - double best=0; + double best = 0; double[] current = getCurrentJointSpaceTarget(); for (int i = 0; i < current.length; i++) { AbstractLink link = getAbstractLink(i); @@ -730,8 +732,8 @@ private double[] _setDesiredJointSpaceVector(double[] jointSpaceVect, double se + " links, actual number of links = " + jointSpaceVect.length); } double best = getBestTime(jointSpaceVect); - if(seconds linkConfigurations = getLinkConfigurations(); -// if(linkConfigurations!=null) { +// if (linkConfigurations!=null) { // int indexOf = linkConfigurations.indexOf(c); -// if(currentJointSpacePositions!=null) -// if(indexOf>=0 && indexOf= 0) && (indexOf < currentJointSpacePositions.length)) // currentJointSpacePositions[indexOf] = engineeringUnitsValue; // } firePoseUpdate(); @@ -1200,7 +1204,7 @@ public void onPIDEvent(PIDEvent e) { * @param link the link */ public void homeLink(int link) { - if (link < 0 || link >= getNumberOfLinks()) { + if ((link < 0) || (link >= getNumberOfLinks())) { throw new IndexOutOfBoundsException( "There are only " + getNumberOfLinks() + " known links, requested:" + link); } @@ -1637,7 +1641,7 @@ public void clearChangeListener(int linkIndex) { public void runRenderWrangler() { firePoseUpdate(); - if(renderWrangler!=null) + if (renderWrangler != null) try { renderWrangler.run(); }catch(Throwable t) { @@ -1719,7 +1723,7 @@ public InterpolationMoveState blockingInterpolatedMove(TransformNR target, doubl } wait((int) msPerStep); } - }else { + } else { return InterpolationMoveState.FAULT; } return InterpolationMoveState.READY; @@ -1728,7 +1732,7 @@ public InterpolationMoveState blockingInterpolatedMove(TransformNR target, doubl public void setTimeProvider(ITimeProvider t) { super.setTimeProvider(t); imu.setTimeProvider(getTimeProvider()); - for(int i=0;i chainToLoad =new ArrayList<>(); chain.forwardKinematicsMatrix(wristLinks,chainToLoad); TransformNR startOfWristSet=chain.kin.inverseOffset(chainToLoad.get(2)); - TransformNR virtualcenter = newCenter.times(new TransformNR(0,0,10, - new RotationNR(Math.toDegrees(links.get(5).getAlpha()),0,0))); + TransformNR virtualcenter = newCenter.times(new TransformNR(0, 0, 10, + new RotationNR(Math.toDegrees(links.get(5).getAlpha()),0 ,0))); TransformNR wristMOvedToCenter0 =startOfWristSet .inverse()// move back from base ot wrist to world home .times(virtualcenter);// move forward to target, leaving the angle between the tip and the start of the rotation //if(debug)com.neuronrobotics.sdk.common.Log.error( wristMOvedToCenter0 RotationNR qWrist=wristMOvedToCenter0.getRotation(); - if(wristMOvedToCenter0.getX()==0&&wristMOvedToCenter0.getY()==0) { + if ((wristMOvedToCenter0.getX() == 0) && (wristMOvedToCenter0.getY() == 0)) { com.neuronrobotics.sdk.common.Log.error( "Singularity! try something else"); return inverseKinematics6dof(target.copy().translateX(0.01),jointSpaceVector,chain); } - double closest= (Math.toDegrees(Math.atan2(wristMOvedToCenter0.getY(), wristMOvedToCenter0.getX()))-Math.toDegrees(links.get(3).getTheta())); + double closest = (Math.toDegrees(Math.atan2(wristMOvedToCenter0.getY(), wristMOvedToCenter0.getX())) - Math.toDegrees(links.get(3).getTheta())); - jointSpaceVector[3]=closest; - wristLinks[3]=jointSpaceVector[3]; - if(jointSpaceVector.length==4) + jointSpaceVector[3] = closest; + wristLinks[3] = jointSpaceVector[3]; + if(jointSpaceVector.length == 4) return jointSpaceVector; - chainToLoad =new ArrayList<>(); + chainToLoad = new ArrayList<>(); /** // Calculte the second angle * @@ -193,18 +193,18 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec .inverse()// move back from base ot wrist to world home .times(virtualcenter);// move forward to target, leaving the angle between the tip and the start of the rotation //if(debug)com.neuronrobotics.sdk.common.Log.error( " Middle link =" +wristMOvedToCenter1 - RotationNR qWrist2=wristMOvedToCenter1.getRotation(); - if(wristMOvedToCenter1.getX()==0&&wristMOvedToCenter1.getY()==0) { + RotationNR qWrist2 = wristMOvedToCenter1.getRotation(); + if (wristMOvedToCenter1.getX()==0&&wristMOvedToCenter1.getY() == 0) { com.neuronrobotics.sdk.common.Log.error( "Singularity! try something else"); return inverseKinematics6dof(target.copy().translateX(0.01),jointSpaceVector,chain); } - jointSpaceVector[4]=(Math.toDegrees(Math.atan2(wristMOvedToCenter1.getY(), wristMOvedToCenter1.getX()))- - Math.toDegrees(links.get(4).getTheta())- - 90); - wristLinks[4]=jointSpaceVector[4]; - if(jointSpaceVector.length==5) + jointSpaceVector[4] = (Math.toDegrees(Math.atan2(wristMOvedToCenter1.getY(), wristMOvedToCenter1.getX())) - + Math.toDegrees(links.get(4).getTheta()) - 90); + wristLinks[4] = jointSpaceVector[4]; + if (jointSpaceVector.length == 5) return jointSpaceVector; - chainToLoad =new ArrayList<>(); + + chainToLoad = new ArrayList<>(); /** // Calculte the last angle * @@ -212,14 +212,14 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec chain.forwardKinematicsMatrix(wristLinks,chainToLoad); TransformNR startOfWristSet3=chain.kin.inverseOffset(chainToLoad.get(4)); TransformNR tool = new TransformNR(); - if(linkNum==7) + if (linkNum == 7) tool=linkOffset(links.get(6)); TransformNR wristMOvedToCenter2 =startOfWristSet3 .inverse()// move back from base ot wrist to world home .times(target.times(tool.inverse()));// move forward to target, leaving the angle between the tip and the start of the rotation //if(debug)com.neuronrobotics.sdk.common.Log.error( "\n\nLastLink " +wristMOvedToCenter2 - RotationNR qWrist3=wristMOvedToCenter2.getRotation(); - jointSpaceVector[5]=(Math.toDegrees(qWrist3.getRotationAzimuth())-Math.toDegrees(links.get(5).getTheta())); + RotationNR qWrist3 = wristMOvedToCenter2.getRotation(); + jointSpaceVector[5] = (Math.toDegrees(qWrist3.getRotationAzimuthRadians()) - Math.toDegrees(links.get(5).getTheta())); return jointSpaceVector; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 4c1cd562..84a35b2d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -25,13 +25,13 @@ public class RotationNR { // double[][] rotationMatrix = ; @Expose (serialize = true, deserialize = true) - double w=1; + double w = 1; @Expose (serialize = true, deserialize = true) - double x=0; + double x = 0; @Expose (serialize = true, deserialize = true) - double y=0; + double y = 0; @Expose (serialize = true, deserialize = true) - double z=0; + double z = 0; //private Rotation storage = new Rotation(1, 0, 0, 0, false); @Expose (serialize = false, deserialize = false) private static RotationOrder order = RotationOrder.ZYX; @@ -60,12 +60,9 @@ public RotationNR(Rotation store) { /** * Instantiates a new rotation nr. * - ** @param tilt - * the tilt in Degrees - * @param azimuth - * the azimuth in Degrees - * @param elevation - * the elevation in Degrees + ** @param tilt the tilt in Degrees + * @param azimuth the azimuth in Degrees + * @param elevation the elevation in Degrees */ // create a new object with the given simplified rotations public RotationNR(double tilt, double azimuth, double elevation) { @@ -87,6 +84,7 @@ public RotationNR(double tilt, double azimuth, double elevation) { } } + public RotationNR(EulerAxis axis, double rot) { this(axis==EulerAxis.tilt?rot:0,axis==EulerAxis.azimuth?rot:0,axis==EulerAxis.elevation?rot:0); } @@ -94,8 +92,7 @@ public RotationNR(EulerAxis axis, double rot) { /** * Instantiates a new rotation nr. * - * @param rotationMatrix - * the rotation matrix + * @param rotationMatrix the rotation matrix */ public RotationNR(double[][] rotationMatrix) { loadRotations(rotationMatrix); @@ -104,8 +101,7 @@ public RotationNR(double[][] rotationMatrix) { /** * Instantiates a new rotation nr. * - * @param values - * the values + * @param values the values */ public RotationNR(double[] values) { this(values[0], values[1], values[2], values[3]); @@ -114,8 +110,7 @@ public RotationNR(double[] values) { /** * Get a rotation matrix with a rotation around X. * - * @param rotationAngleDegrees - * in degrees + * @param rotationAngleDegrees in degrees * @return the static matrix */ public static RotationNR getRotationX(double rotationAngleDegrees) { @@ -141,8 +136,7 @@ public static RotationNR getRotationX(double rotationAngleDegrees) { /** * Get a rotation matrix with a rotation around Y. * - * @param rotationAngleDegrees - * in degrees + * @param rotationAngleDegrees in degrees * @return the static matrix */ public static RotationNR getRotationY(double rotationAngleDegrees) { @@ -168,8 +162,7 @@ public static RotationNR getRotationY(double rotationAngleDegrees) { /** * Get a rotation matrix with a rotation around Z. * - * @param rotationAngleDegrees - * in degrees + * @param rotationAngleDegrees in degrees * @return the static matrix */ public static RotationNR getRotationZ(double rotationAngleDegrees) { @@ -195,14 +188,10 @@ public static RotationNR getRotationZ(double rotationAngleDegrees) { /** * Instantiates a new rotation nr. * - * @param w - * the w - * @param x - * the x - * @param y - * the y - * @param z - * the z + * @param w the w + * @param x the x + * @param y the y + * @param z the z */ // create a new object with the given components public RotationNR(double w, double x, double y, double z) { @@ -212,8 +201,7 @@ public RotationNR(double w, double x, double y, double z) { /** * Instantiates a new rotation nr. * - * @param m - * the m + * @param m the m */ public RotationNR(Matrix m) { double[][] rotation = new double[3][3]; @@ -228,8 +216,7 @@ public RotationNR(Matrix m) { /** * Load rotations. * - * @param rotM - * the rot m + * @param rotM the rot m */ private void loadRotations(double[][] rotM) { if (rotM.length != 3) @@ -262,10 +249,10 @@ public String toString() { try{ return "Quaturnion: " + "W=" + getRotationMatrix2QuaturnionW() + ", " + "x=" + getRotationMatrix2QuaturnionX() + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\n" - + "Rotation angle (degrees): " + "az= " + Math.toDegrees(getRotationAzimuth()) + ", elev= " + + "Rotation angle (degrees): " + "az= " + Math.toDegrees(getRotationAzimuthRadians()) + ", elev= " + Math.toDegrees(getRotationElevation()) + ", tilt=" + Math.toDegrees(getRotationTilt()); }catch(Exception ex){ - return "Rotation error"+ex.getLocalizedMessage(); + return "Rotation error" + ex.getLocalizedMessage(); } } @@ -273,8 +260,7 @@ public String toString() { /** * To string. * - * @param array - * the array + * @param array the array * @return the string */ // return a string representation of the invoking object @@ -294,14 +280,10 @@ public String toString(double[][] array) { /** * Quaternion2 rotation matrix. * - * @param w - * the w - * @param x - * the x - * @param y - * the y - * @param z - * the z + * @param w the w + * @param x the x + * @param y the y + * @param z the z */ protected void quaternion2RotationMatrix(double w, double x, double y, double z) { if (Double.isNaN(w)) @@ -321,12 +303,9 @@ protected void quaternion2RotationMatrix(double w, double x, double y, double z) /** * Bound. * - * @param low - * the low - * @param high - * the high - * @param n - * the n + * @param low the low + * @param high the high + * @param n the n * @return true, if successful */ public static boolean bound(double low, double high, double n) { @@ -365,6 +344,7 @@ public double getRotationElevationRadians() { public double getRotationAzimuthRadians() { return getAngle(0); } + /** * Gets the rotation tilt. * @@ -393,6 +373,7 @@ public double getRotationElevationDegrees() { public double getRotationAzimuthDegrees() { return Math.toDegrees( getRotationAzimuthRadians()); } + /** * Gets the rotation tilt. * @@ -423,6 +404,7 @@ public double getRotationElevation() { public double getRotationAzimuth() { return getRotationAzimuthRadians(); } + private void simpilfyAngles(double [] angles){ double epsilon=1.0E-7; if(Math.abs(angles[0] - Math.toRadians(180)) < epsilon&& @@ -433,6 +415,7 @@ private void simpilfyAngles(double [] angles){ angles[2]=0; } } + private double eulerFix(double offsetSize, int index){ double offset = (index==1?offsetSize:0); TransformNR current = new TransformNR(0, 0, 0, this); @@ -442,6 +425,7 @@ private double eulerFix(double offsetSize, int index){ double finalResult= angles[index]; return finalResult+offset; } + private double getAngle(int index){ try { @@ -455,7 +439,6 @@ private double getAngle(int index){ } } } - /** * Gets the rotation matrix2 quaturnion w. @@ -510,20 +493,18 @@ public static void setConvention(RotationConvention convention) { } private Rotation getStorage() { - return new Rotation(w,x,y,z,false); + return new Rotation(w, x, y, z, false); } private void setStorage(Rotation storage) { - w=storage.getQ0(); - x=storage.getQ1(); - y=storage.getQ2(); - z=storage.getQ3(); + w = storage.getQ0(); + x = storage.getQ1(); + y = storage.getQ2(); + z = storage.getQ3(); } public void set(double[][] poseRot) { loadRotations(poseRot); } - - } \ No newline at end of file diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java index c159a582..4ce0977f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java @@ -272,8 +272,8 @@ public String toString() { s += "]"; return "Quaturnion: " + "W=" + getRotationMatrix2QuaturnionW() + ", " + "x=" + getRotationMatrix2QuaturnionX() + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\t" - + "Rotation angle (degrees): " + "Azimuth=" + getRotationAzimuth() + ", " + "Elevation=" + getRotationElevation() + ", " + "Tilt=" - + getRotationTilt() + ""; + + "Rotation angle (degrees): " + "Azimuth=" + getRotationAzimuthRadians() + ", " + "Elevation=" + getRotationElevationRadians() + ", " + "Tilt=" + + getRotationTiltRadians() + ""; } /** @@ -552,7 +552,7 @@ private double getRotAngle(int index) { * * @return the rotation tilt */ - public double getRotationTilt() { + public double getRotationTiltRadians() { return getRotAngle(0); @@ -563,7 +563,7 @@ public double getRotationTilt() { * * @return the rotation elevation */ - public double getRotationElevation() { + public double getRotationElevationRadians() { return getRotAngle(1); } @@ -573,7 +573,7 @@ public double getRotationElevation() { * * @return the rotation azimuth */ - public double getRotationAzimuth() { + public double getRotationAzimuthRadians() { return getRotAngle(2); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 7c3e379b..4481ff1f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -250,9 +250,11 @@ public String toString() { return "Transform error" + ex.getLocalizedMessage(); } } + public String toSimpleString() { return toPositionString()+" "+toAngleString(); } + public String toPositionString() { DecimalFormat decimalFormat = new DecimalFormat("000.00"); @@ -260,12 +262,13 @@ public String toPositionString() { "y="+decimalFormat.format(y)+" "+ "z="+decimalFormat.format(z); } + public String toAngleString() { DecimalFormat decimalFormat = new DecimalFormat("000.00"); - return "az="+decimalFormat.format(Math.toDegrees(getRotation().getRotationAzimuth()))+" "+ - "el="+decimalFormat.format(Math.toDegrees(getRotation().getRotationElevation()))+" "+ - "tl="+decimalFormat.format(Math.toDegrees(getRotation().getRotationTilt())); + return "az=" + decimalFormat.format(Math.toDegrees(getRotation().getRotationAzimuthRadians())) + " " + + "el=" + decimalFormat.format(Math.toDegrees(getRotation().getRotationElevationRadians())) + " " + + "tl=" + decimalFormat.format(Math.toDegrees(getRotation().getRotationTiltRadians())); } /** @@ -321,14 +324,13 @@ public Matrix getMatrixTransform() { double[][] rotation = getRotationMatrixArray(); - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) transform[i][j] = rotation[i][j]; - } - } - for (int i = 0; i < 3; i++) { + + for (int i = 0; i < 3; i++) transform[3][i] = 0; - } + transform[3][3] = 1; transform[0][3] = getX(); transform[1][3] = getY(); @@ -400,9 +402,9 @@ public TransformNR scale(double t) { if (t <= 0) return new TransformNR(); - double tilt = Math.toDegrees(getRotation().getRotationTilt() * t); - double az = Math.toDegrees(getRotation().getRotationAzimuth() * t); - double ele = Math.toDegrees(getRotation().getRotationElevation() * t); + double tilt = Math.toDegrees(getRotation().getRotationTiltRadians() * t); + double az = Math.toDegrees(getRotation().getRotationAzimuthRadians() * t); + double ele = Math.toDegrees(getRotation().getRotationElevationRadians() * t); return new TransformNR(getX() * t, getY() * t, getZ() * t, new RotationNR(tilt, az, ele)); } @@ -572,52 +574,51 @@ void fireChangeEvent() { } public void setTiltDegrees(double newAngleDegrees) { - double e=0; - try{ - e=Math.toDegrees(getRotation().getRotationElevation()); + double e = 0; + try { + e = Math.toDegrees(getRotation().getRotationElevationRadians()); }catch(Exception ex){ ex.printStackTrace(); } - double a=0; - try{ - a=Math.toDegrees(getRotation().getRotationAzimuth()); - }catch(Exception ex){ + double a = 0; + try { + a = Math.toDegrees(getRotation().getRotationAzimuthRadians()); + } catch(Exception ex){ ex.printStackTrace(); } setRotation(new RotationNR(newAngleDegrees, a, e)); - - + } public void setElevationDegrees(double newAngleDegrees) { - double t=0; - try{ - t=Math.toDegrees(getRotation().getRotationTilt()); - }catch(Exception ex){ + double t = 0; + try { + t = Math.toDegrees(getRotation().getRotationTiltRadians()); + } catch (Exception ex){ ex.printStackTrace(); } - double a=0; - try{ - a=Math.toDegrees(getRotation().getRotationAzimuth()); - }catch(Exception ex){ + double a = 0; + try { + a = Math.toDegrees(getRotation().getRotationAzimuthRadians()); + } catch(Exception ex){ ex.printStackTrace(); } setRotation(new RotationNR(t, a, newAngleDegrees)); } public void setAzimuthDegrees(double newAngleDegrees) { - double t=0; - try{ - t=Math.toDegrees(getRotation().getRotationTilt()); - }catch(Exception ex){ + double t = 0; + try { + t = Math.toDegrees(getRotation().getRotationTiltRadians()); + } catch (Exception ex) { ex.printStackTrace(); } - double e=0; + double e = 0; try{ - e=Math.toDegrees(getRotation().getRotationElevation()); + e = Math.toDegrees(getRotation().getRotationElevationRadians()); }catch(Exception ex){ ex.printStackTrace(); } diff --git a/src/main/java/com/neuronrobotics/sdk/common/RpcEncapsulation.java b/src/main/java/com/neuronrobotics/sdk/common/RpcEncapsulation.java index 40254ac9..ec2d1ab2 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/RpcEncapsulation.java +++ b/src/main/java/com/neuronrobotics/sdk/common/RpcEncapsulation.java @@ -45,7 +45,7 @@ public class RpcEncapsulation { */ public RpcEncapsulation(int namespaceIndex,String namespace, String rpc, BowlerMethod downStreamMethod,BowlerDataType[] downstreamArguments, - BowlerMethod upStreamMethod,BowlerDataType[] upstreamArguments){ + BowlerMethod upStreamMethod,BowlerDataType[] upstreamArguments) { this(namespaceIndex, namespace, rpc, downStreamMethod, downstreamArguments, upStreamMethod, upstreamArguments, null); } @@ -63,7 +63,7 @@ public RpcEncapsulation(int namespaceIndex,String namespace, String rpc, */ public RpcEncapsulation(int namespaceIndex,String namespace, String rpc, BowlerMethod downStreamMethod,BowlerDataType[] downstreamArguments, - BowlerMethod upStreamMethod,BowlerDataType[] upstreamArguments, IBowlerCommandProcessor processor){ + BowlerMethod upStreamMethod,BowlerDataType[] upstreamArguments, IBowlerCommandProcessor processor) { this.setProcessor(processor); this.setNamespaceIndex(namespaceIndex); this.setNamespace(namespace); @@ -79,7 +79,7 @@ public RpcEncapsulation(int namespaceIndex,String namespace, String rpc, * @param upStreamMethod the up stream method * @param upstreamArguments the upstream arguments */ - public void setArguments(BowlerMethod downStreamMethod,BowlerDataType[] downstreamArguments, BowlerMethod upStreamMethod,BowlerDataType[] upstreamArguments){ + public void setArguments(BowlerMethod downStreamMethod,BowlerDataType[] downstreamArguments, BowlerMethod upStreamMethod,BowlerDataType[] upstreamArguments) { this.setUpStreamMethod(upStreamMethod); this.setDownstreamArguments(downstreamArguments); this.setUpstreamArguments(upstreamArguments); @@ -92,7 +92,7 @@ public void setArguments(BowlerMethod downStreamMethod,BowlerDataType[] downstre * @param doswnstreamData the doswnstream data * @return the command */ - public BowlerAbstractCommand getCommand(Object [] doswnstreamData){ + public BowlerAbstractCommand getCommand(Object [] doswnstreamData) { return getCommand(doswnstreamData, downstreamArguments); } @@ -102,7 +102,7 @@ public BowlerAbstractCommand getCommand(Object [] doswnstreamData){ * @param doswnstreamData the doswnstream data * @return the command upstream */ - public BowlerAbstractCommand getCommandUpstream(Object [] doswnstreamData){ + public BowlerAbstractCommand getCommandUpstream(Object [] doswnstreamData) { return getCommand(doswnstreamData, upstreamArguments); } @@ -114,16 +114,16 @@ public BowlerAbstractCommand getCommandUpstream(Object [] doswnstreamData){ * @param arguments the arguments * @return the command */ - public BowlerAbstractCommand getCommand(Object [] doswnstreamData, BowlerDataType [] arguments){ + public BowlerAbstractCommand getCommand(Object [] doswnstreamData, BowlerDataType [] arguments) { BowlerAbstractCommand command = new BowlerAbstractCommand() {}; command.setOpCode(getRpc()); command.setMethod(getDownstreamMethod()); command.setNamespaceIndex(getNamespaceIndex()); - for(int i=0;(i0){ + if (numVals > 0) { ByteList d = new ByteList(data.popList(numVals)); - for(int j=0;j= 90 || rotationAngleDegrees <= -90)) { assertArrayEquals( - new double[] { oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), - oldRot.getRotationTilt() }, - new double[] { newRot.getRotationAzimuth(), newRot.getRotationElevation(), - newRot.getRotationTilt() }, + new double[] { oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), + oldRot.getRotationTiltRadians() }, + new double[] { newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), + newRot.getRotationTiltRadians() }, 0.001); // Check the old rotation against the known value assertArrayEquals(new double[] { Math.toRadians(rotationAngleDegrees), 0, 0 }, new double[] { - oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), oldRot.getRotationTilt() }, + oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), oldRot.getRotationTiltRadians() }, 0.001); } else { com.neuronrobotics.sdk.common.Log.error("Legacy angle would fail here " + rotationAngleDegrees); } // Check the new rotation against the known value assertArrayEquals(new double[] { Math.toRadians(rotationAngleDegrees), 0, 0 }, new double[] { - newRot.getRotationAzimuth(), newRot.getRotationElevation(), newRot.getRotationTilt() }, + newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), newRot.getRotationTiltRadians() }, 0.001); } // frame(); @@ -252,10 +252,10 @@ public void compareElevation() throws FileNotFoundException { RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); com.neuronrobotics.sdk.common.Log.error("Testing pure elevation \nrotation " + rotationAngleDegrees + "\n as radian " - + Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuth() - + "\n El " + oldRot.getRotationElevation() + "\n Tl " + oldRot.getRotationTilt() - + "\n New Az " + newRot.getRotationAzimuth() + "\n New El " + newRot.getRotationElevation() - + "\n New Tl " + newRot.getRotationTilt()); + + Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuthRadians() + + "\n El " + oldRot.getRotationElevationRadians() + "\n Tl " + oldRot.getRotationTiltRadians() + + "\n New Az " + newRot.getRotationAzimuthRadians() + "\n New El " + newRot.getRotationElevationRadians() + + "\n New Tl " + newRot.getRotationTiltRadians()); assertArrayEquals(rotation[0], rotationMatrix[0], 0.001); assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); assertArrayEquals(rotation[2], rotationMatrix[2], 0.001); @@ -281,21 +281,21 @@ public void compareElevation() throws FileNotFoundException { 0.001); // Check Euler angles assertArrayEquals( - new double[] { oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), - oldRot.getRotationTilt() }, - new double[] { newRot.getRotationAzimuth(), newRot.getRotationElevation(), - newRot.getRotationTilt() }, + new double[] { oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), + oldRot.getRotationTiltRadians() }, + new double[] { newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), + newRot.getRotationTiltRadians() }, 0.001); // Check the old rotation against the known value assertArrayEquals(new double[] { 0, Math.toRadians(rotationAngleDegrees), 0 }, - new double[] { oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), - oldRot.getRotationTilt() }, + new double[] { oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), + oldRot.getRotationTiltRadians() }, 0.001); // Check the new rotation against the known value assertArrayEquals(new double[] { 0, Math.toRadians(rotationAngleDegrees), 0 }, new double[] { - newRot.getRotationAzimuth(), newRot.getRotationElevation(), newRot.getRotationTilt() }, + newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), newRot.getRotationTiltRadians() }, 0.001); } // frame(); @@ -346,10 +346,10 @@ public void compareTilt() throws FileNotFoundException { RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); com.neuronrobotics.sdk.common.Log.error("Testing pure tilt \nrotation " + rotationAngleDegrees + "\n as radian " - + Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuth() - + "\n El " + oldRot.getRotationElevation() + "\n Tl " + oldRot.getRotationTilt() - + "\n New Az " + newRot.getRotationAzimuth() + "\n New El " + newRot.getRotationElevation() - + "\n New Tl " + newRot.getRotationTilt()); + + Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuthRadians() + + "\n El " + oldRot.getRotationElevationRadians() + "\n Tl " + oldRot.getRotationTiltRadians() + + "\n New Az " + newRot.getRotationAzimuthRadians() + "\n New El " + newRot.getRotationElevationRadians() + + "\n New Tl " + newRot.getRotationTiltRadians()); assertArrayEquals(rotation[0], rotationMatrix[0], 0.001); assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); assertArrayEquals(rotation[2], rotationMatrix[2], 0.001); @@ -375,18 +375,18 @@ public void compareTilt() throws FileNotFoundException { 0.001); // Check Euler angles assertArrayEquals( - new double[] { oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), - oldRot.getRotationTilt() }, - new double[] { newRot.getRotationAzimuth(), newRot.getRotationElevation(), - newRot.getRotationTilt() }, + new double[] { oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), + oldRot.getRotationTiltRadians() }, + new double[] { newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), + newRot.getRotationTiltRadians() }, 0.001); // Check the old rotation against the known value assertArrayEquals(new double[] { 0, 0, Math.toRadians(rotationAngleDegrees) }, new double[] { - oldRot.getRotationAzimuth(), oldRot.getRotationElevation(), oldRot.getRotationTilt() }, + oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), oldRot.getRotationTiltRadians() }, 0.001); // Check the new rotation against the known value assertArrayEquals(new double[] { 0, 0, Math.toRadians(rotationAngleDegrees) }, new double[] { - newRot.getRotationAzimuth(), newRot.getRotationElevation(), newRot.getRotationTilt() }, + newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), newRot.getRotationTiltRadians() }, 0.001); } // frame(); @@ -404,16 +404,16 @@ public void checkEulerSingularities() { 0.7071067811865476); RotationNR tester3 = new RotationNR(0.7064894449532356, 1.0769850738285257E-7, 0.7077235789272859, 1.0769850738285257E-7); - assertArrayEquals(new double[] { 0, 90, 0 }, new double[] { Math.toDegrees(tester1.getRotationAzimuth()), - Math.toDegrees(tester1.getRotationElevation()), Math.toDegrees(tester1.getRotationTilt()) }, + assertArrayEquals(new double[] { 0, 90, 0 }, new double[] { Math.toDegrees(tester1.getRotationAzimuthRadians()), + Math.toDegrees(tester1.getRotationElevationRadians()), Math.toDegrees(tester1.getRotationTiltRadians()) }, 0.001); - assertArrayEquals(new double[] { 0, 90, 180 }, new double[] { Math.toDegrees(tester2.getRotationAzimuth()), - Math.toDegrees(tester2.getRotationElevation()), Math.toDegrees(tester2.getRotationTilt()) }, + assertArrayEquals(new double[] { 0, 90, 180 }, new double[] { Math.toDegrees(tester2.getRotationAzimuthRadians()), + Math.toDegrees(tester2.getRotationElevationRadians()), Math.toDegrees(tester2.getRotationTiltRadians()) }, 0.001); - assertArrayEquals(new double[] { 179.99, 89.9, 179.99 }, new double[] { Math.toDegrees(tester3.getRotationAzimuth()), - Math.toDegrees(tester3.getRotationElevation()), Math.toDegrees(tester3.getRotationTilt()) }, + assertArrayEquals(new double[] { 179.99, 89.9, 179.99 }, new double[] { Math.toDegrees(tester3.getRotationAzimuthRadians()), + Math.toDegrees(tester3.getRotationElevationRadians()), Math.toDegrees(tester3.getRotationTiltRadians()) }, 0.001); } From 9d9e5f795d335afab8f149976946b4aee857ecec Mon Sep 17 00:00:00 2001 From: rondlh <77279634+rondlh@users.noreply.github.com> Date: Sun, 15 Mar 2026 21:54:15 +0800 Subject: [PATCH 474/482] Formatting update Formatting update --- .../addons/kinematics/math/RotationNR.java | 107 +++++++++--------- 1 file changed, 55 insertions(+), 52 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 84a35b2d..b3c54601 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -10,11 +10,11 @@ import com.google.gson.annotations.Expose; import com.neuronrobotics.sdk.common.Log; -// Auto-generated Javadoc +// Auto-generated Javadoc /** * This class is to represent a 3x3 rotation sub-matrix This class also contains * static methods for dealing with 3x3 rotations. - * + * * @author Kevin Harrington * */ @@ -37,7 +37,6 @@ public class RotationNR { private static RotationOrder order = RotationOrder.ZYX; @Expose (serialize = false, deserialize = false) private static RotationConvention convention = RotationConvention.VECTOR_OPERATOR; - /** * Null constructor forms a. @@ -48,10 +47,10 @@ public RotationNR() { /** * Instatiate using the * org.apache.commons.math3.geometry.euclidean.threed.Rotation . - * + * * @param store - * A org.apache.commons.math3.geometry.euclidean.threed.Rotation - * instance + * A org.apache.commons.math3.geometry.euclidean.threed.Rotation + * instance */ public RotationNR(Rotation store) { setStorage(store); @@ -61,20 +60,24 @@ public RotationNR(Rotation store) { * Instantiates a new rotation nr. * ** @param tilt the tilt in Degrees - * @param azimuth the azimuth in Degrees + * @param azimuth the azimuth in Degrees * @param elevation the elevation in Degrees */ // create a new object with the given simplified rotations public RotationNR(double tilt, double azimuth, double elevation) { + if (!Double.isFinite(tilt)) - throw new RuntimeException("Value can not be "+tilt); + throw new RuntimeException("Value can not be " + tilt); + if (!Double.isFinite(azimuth)) - throw new RuntimeException("Value can not be "+azimuth); + throw new RuntimeException("Value can not be " + azimuth); + if (!Double.isFinite(elevation)) - throw new RuntimeException("Value can not be "+elevation); - if (elevation > 90 || elevation < -90) { + throw new RuntimeException("Value can not be " + elevation); + + if ((elevation > 90) || (elevation < -90)) throw new RuntimeException("Elevation can not be greater than 90 nor less than -90"); - } + loadFromAngles(tilt, azimuth, elevation); if (Double.isNaN(getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotationMatrix2QuaturnionX()) || Double.isNaN(getRotationMatrix2QuaturnionY()) || Double.isNaN(getRotationMatrix2QuaturnionZ())) { @@ -86,7 +89,7 @@ public RotationNR(double tilt, double azimuth, double elevation) { } public RotationNR(EulerAxis axis, double rot) { - this(axis==EulerAxis.tilt?rot:0,axis==EulerAxis.azimuth?rot:0,axis==EulerAxis.elevation?rot:0); + this((axis == EulerAxis.tilt) ? rot : 0, (axis == EulerAxis.azimuth) ? rot : 0, (axis == EulerAxis.elevation) ? rot : 0); } /** @@ -115,7 +118,7 @@ public RotationNR(double[] values) { */ public static RotationNR getRotationX(double rotationAngleDegrees) { double[][] rotation = new double[3][3]; - double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; + double rotationAngleRadians = rotationAngleDegrees * Math.PI / 180; // Rotation matrix, 1st column rotation[0][0] = 1; @@ -141,7 +144,7 @@ public static RotationNR getRotationX(double rotationAngleDegrees) { */ public static RotationNR getRotationY(double rotationAngleDegrees) { double[][] rotation = new double[3][3]; - double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; + double rotationAngleRadians = rotationAngleDegrees * Math.PI / 180; // Rotation matrix, 1st column rotation[0][0] = Math.cos(rotationAngleRadians); @@ -167,7 +170,7 @@ public static RotationNR getRotationY(double rotationAngleDegrees) { */ public static RotationNR getRotationZ(double rotationAngleDegrees) { double[][] rotation = new double[3][3]; - double rotationAngleRadians = Math.PI / 180 * rotationAngleDegrees; + double rotationAngleRadians = rotationAngleDegrees * Math.PI / 180; // Rotation matrix, 1st column rotation[0][0] = Math.cos(rotationAngleRadians); @@ -205,11 +208,10 @@ public RotationNR(double w, double x, double y, double z) { */ public RotationNR(Matrix m) { double[][] rotation = new double[3][3]; - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) rotation[i][j] = m.get(i, j); - } - } + loadRotations(rotation); } @@ -221,11 +223,11 @@ public RotationNR(Matrix m) { private void loadRotations(double[][] rotM) { if (rotM.length != 3) throw new RuntimeException("Must be 3x3 rotation matrix"); - for (int i = 0; i < 3; i++) { - if (rotM[i].length != 3) { + + for (int i = 0; i < 3; i++) + if (rotM[i].length != 3) throw new RuntimeException("Must be 3x3 rotation matrix"); - } - } + setStorage(new Rotation(rotM, 0.00001)); } @@ -241,7 +243,7 @@ public double[][] getRotationMatrix() { /* * (non-Javadoc) - * + * * @see java.lang.Object#toString() */ // return a string representation of the invoking object @@ -251,10 +253,9 @@ public String toString() { + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\n" + "Rotation angle (degrees): " + "az= " + Math.toDegrees(getRotationAzimuthRadians()) + ", elev= " + Math.toDegrees(getRotationElevation()) + ", tilt=" + Math.toDegrees(getRotationTilt()); - }catch(Exception ex){ + } catch(Exception ex){ return "Rotation error" + ex.getLocalizedMessage(); } - } /** @@ -286,18 +287,23 @@ public String toString(double[][] array) { * @param z the z */ protected void quaternion2RotationMatrix(double w, double x, double y, double z) { + if (Double.isNaN(w)) throw new RuntimeException("Value can not be NaN"); + if (Double.isNaN(x)) throw new RuntimeException("Value can not be NaN"); + if (Double.isNaN(y)) throw new RuntimeException("Value can not be NaN"); + if (Double.isNaN(z)) throw new RuntimeException("Value can not be NaN"); - this.w=w; - this.x= -x; - this.y= -y; - this.z= -z; + + this.w = w; + this.x = -x; + this.y = -y; + this.z = -z; } /** @@ -309,7 +315,7 @@ protected void quaternion2RotationMatrix(double w, double x, double y, double z) * @return true, if successful */ public static boolean bound(double low, double high, double n) { - return n >= low && n <= high; + return ((n >= low) && (n <= high)); } private void loadFromAngles(double tilt, double azimuth, double elevation) { @@ -340,7 +346,6 @@ public double getRotationElevationRadians() { * * @return the rotation azimuth in radians */ - public double getRotationAzimuthRadians() { return getAngle(0); } @@ -361,7 +366,6 @@ public double getRotationTiltDegrees() { */ public double getRotationElevationDegrees() { return Math.toDegrees(getRotationElevationRadians()); - } /** @@ -369,7 +373,7 @@ public double getRotationElevationDegrees() { * * @return the rotation azimuth in degrees */ - + public double getRotationAzimuthDegrees() { return Math.toDegrees( getRotationAzimuthRadians()); } @@ -402,40 +406,39 @@ public double getRotationElevation() { */ @Deprecated public double getRotationAzimuth() { - return getRotationAzimuthRadians(); + return getRotationAzimuthRadians(); } private void simpilfyAngles(double [] angles){ - double epsilon=1.0E-7; - if(Math.abs(angles[0] - Math.toRadians(180)) < epsilon&& - Math.abs(angles[2] - Math.toRadians(180)) < epsilon ){ - if(!(Math.abs(getRotationMatrix2QuaturnionZ())>epsilon)) - angles[0]=0; - if(!(Math.abs(getRotationMatrix2QuaturnionX())>epsilon)) - angles[2]=0; + double epsilon = 1.0E-7; + if ((Math.abs(angles[0] - Math.toRadians(180)) < epsilon) && + Math.abs(angles[2] - Math.toRadians(180)) < epsilon)) { + if (!(Math.abs(getRotationMatrix2QuaturnionZ()) > epsilon)) + angles[0] = 0; + + if (!(Math.abs(getRotationMatrix2QuaturnionX()) > epsilon)) + angles[2] = 0; } } private double eulerFix(double offsetSize, int index){ - double offset = (index==1?offsetSize:0); + double offset = ((index == 1) ? offsetSize : 0); TransformNR current = new TransformNR(0, 0, 0, this); - TransformNR newTf = current.times(new TransformNR(0, 0, 0, new RotationNR(0,0,Math.toDegrees(offsetSize)))); + TransformNR newTf = current.times(new TransformNR(0, 0, 0, new RotationNR(0, 0, Math.toDegrees(offsetSize)))); double[] angles = newTf.getRotation().getStorage().getAngles(getOrder(), getConvention()); simpilfyAngles(angles); - double finalResult= angles[index]; - return finalResult+offset; + double finalResult = angles[index]; + return finalResult + offset; } - private double getAngle(int index){ - + private double getAngle(int index) { try { return getStorage().getAngles(getOrder(), getConvention())[index]; } catch (CardanEulerSingularityException e) { try { - return eulerFix( Math.toRadians(0.001), index); + return eulerFix(Math.toRadians(0.001), index); } catch (CardanEulerSingularityException ex) { - return eulerFix( Math.toRadians(-0.001), index); - + return eulerFix(Math.toRadians(-0.001), index); } } } From 86546d4f3666dd0cf945ae3aa4095e7251a54d29 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 15 Mar 2026 11:02:44 -0400 Subject: [PATCH 475/482] fix parens --- .../neuronrobotics/sdk/addons/kinematics/math/RotationNR.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index b3c54601..59086560 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -412,7 +412,7 @@ public double getRotationAzimuth() { private void simpilfyAngles(double [] angles){ double epsilon = 1.0E-7; if ((Math.abs(angles[0] - Math.toRadians(180)) < epsilon) && - Math.abs(angles[2] - Math.toRadians(180)) < epsilon)) { + (Math.abs(angles[2] - Math.toRadians(180)) < epsilon)) { if (!(Math.abs(getRotationMatrix2QuaturnionZ()) > epsilon)) angles[0] = 0; From 5cd8a738c19534a0920f8588e20aa969e8400f9f Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Mon, 16 Mar 2026 12:53:29 -0400 Subject: [PATCH 476/482] formatting --- build.gradle | 13 + gradle/wrapper/gradle-wrapper.jar | Bin 58695 -> 43705 bytes gradle/wrapper/gradle-wrapper.properties | 4 +- gradlew | 284 +- gradlew.bat | 57 +- .../application/xmpp/DyIOConversation.java | 259 +- .../xmpp/DyIOConversationFactory.java | 19 +- .../xmpp/GoogleChat/GoogleChat.java | 50 +- .../GoogleChat/GoogleChatConversation.java | 63 +- .../GoogleChatConversationFactory.java | 12 +- .../xmpp/GoogleChat/GoogleChatEngine.java | 210 +- .../application/xmpp/GoogleChat/IChatLog.java | 5 +- .../application/xmpp/IConversation.java | 13 +- .../xmpp/IConversationFactory.java | 2 +- .../application/xmpp/Parser.java | 4 +- .../driver/delta/DeltaJointAngles.java | 38 +- .../driver/delta/DeltaRobotConfig.java | 76 +- .../driver/delta/DeltaRobotKinematics.java | 301 ++- .../driver/interpreter/CodeHandler.java | 41 +- .../driver/interpreter/EmptyCodeHandler.java | 23 +- .../driver/interpreter/GCodeInterpreter.java | 272 +- .../driver/interpreter/GCodeLineData.java | 70 +- .../sdk/addons/irobot/Create.java | 433 +-- .../sdk/addons/irobot/CreateArm.java | 524 ++-- .../addons/irobot/CreateSensorRequest.java | 70 +- .../sdk/addons/irobot/CreateSensors.java | 161 +- .../addons/irobot/ICreateSensorListener.java | 21 +- .../kinematics/AbstractKinematicsNR.java | 616 +++-- .../sdk/addons/kinematics/AbstractLink.java | 443 +-- .../kinematics/AbstractPrismaticLink.java | 34 +- .../addons/kinematics/AbstractRotoryLink.java | 34 +- .../kinematics/AnalogPrismaticLink.java | 65 +- .../addons/kinematics/AnalogRotoryLink.java | 63 +- .../kinematics/ComputedGeometricModel.java | 34 +- .../sdk/addons/kinematics/DHChain.java | 473 ++-- .../sdk/addons/kinematics/DHLink.java | 421 ++- .../kinematics/DHParameterKinematics.java | 458 ++-- .../addons/kinematics/DhInverseSolver.java | 15 +- .../sdk/addons/kinematics/DhLinkType.java | 8 +- .../sdk/addons/kinematics/DrivingType.java | 117 +- .../kinematics/GenericKinematicsModelNR.java | 120 +- .../sdk/addons/kinematics/GradiantDecent.java | 89 +- .../addons/kinematics/GradiantDecentNode.java | 276 +- .../kinematics/ICalcLimbHomeProvider.java | 3 +- .../kinematics/IDhLinkPositionListener.java | 17 +- .../sdk/addons/kinematics/IDriveEngine.java | 82 +- .../IHardwareSyncPulseProvider.java | 13 +- .../IJointSpaceUpdateListenerNR.java | 45 +- .../sdk/addons/kinematics/ILinkListener.java | 32 +- .../addons/kinematics/INewLinkProvider.java | 1 + .../kinematics/IRegistrationListenerNR.java | 29 +- .../ITaskSpaceUpdateListenerNR.java | 30 +- .../sdk/addons/kinematics/IVitaminHolder.java | 6 +- .../kinematics/InterpolationMoveState.java | 2 +- .../sdk/addons/kinematics/JointLimit.java | 61 +- .../addons/kinematics/LinkConfiguration.java | 2387 +++++++++-------- .../sdk/addons/kinematics/LinkFactory.java | 166 +- .../sdk/addons/kinematics/LinkType.java | 182 +- .../sdk/addons/kinematics/MobileBase.java | 322 ++- .../sdk/addons/kinematics/MockRotoryLink.java | 48 +- .../addons/kinematics/PidPrismaticLink.java | 68 +- .../sdk/addons/kinematics/PidRotoryLink.java | 64 +- .../addons/kinematics/SearchTreeSolver.java | 345 +-- .../sdk/addons/kinematics/VitaminFrame.java | 10 +- .../addons/kinematics/VitaminLocation.java | 175 +- .../addons/kinematics/WalkingDriveEngine.java | 93 +- .../addons/kinematics/WheeledDriveEngine.java | 35 +- .../addons/kinematics/WristNormalizer.java | 50 +- .../kinematics/gcodebridge/GCodeHeater.java | 16 +- .../kinematics/gcodebridge/GcodeDevice.java | 248 +- .../gcodebridge/GcodePrismatic.java | 26 +- .../kinematics/gcodebridge/GcodeRotory.java | 27 +- .../kinematics/gcodebridge/IGCodeChannel.java | 9 +- .../gcodebridge/IGcodeExecuter.java | 7 +- .../addons/kinematics/ik/DeltaIKModel.java | 236 +- .../sdk/addons/kinematics/imu/IMU.java | 48 +- .../sdk/addons/kinematics/imu/IMUUpdate.java | 116 +- .../kinematics/imu/IMUUpdateListener.java | 1 + .../sdk/addons/kinematics/math/EulerAxis.java | 4 +- .../addons/kinematics/math/RotationNR.java | 112 +- .../kinematics/math/RotationNRLegacy.java | 66 +- .../addons/kinematics/math/TransformNR.java | 1087 ++++---- .../kinematics/parallel/ParallelGroup.java | 117 +- .../addons/kinematics/time/ITimeProvider.java | 6 +- .../addons/kinematics/time/TimeKeeper.java | 76 +- .../sdk/addons/kinematics/xml/XmlFactory.java | 234 +- .../sdk/bootloader/ByteData.java | 41 +- .../neuronrobotics/sdk/bootloader/Core.java | 75 +- .../neuronrobotics/sdk/bootloader/Hexml.java | 117 +- .../sdk/bootloader/IntelHexParser.java | 180 +- .../neuronrobotics/sdk/bootloader/NRBoot.java | 178 +- .../sdk/bootloader/NRBootCoreType.java | 39 +- .../sdk/bootloader/NRBootLoader.java | 108 +- .../sdk/bootloader/hexLine.java | 133 +- .../sdk/bowlercam/device/BowlerCamDevice.java | 386 +-- .../device/IWebcamImageListener.java | 22 +- .../sdk/bowlercam/device/ItemMarker.java | 50 +- .../sdk/commands/bcs/core/ErrorCommand.java | 10 +- .../commands/bcs/core/NamespaceCommand.java | 107 +- .../sdk/commands/bcs/core/PingCommand.java | 7 +- .../sdk/commands/bcs/core/ReadyCommand.java | 11 +- .../bcs/core/RpcArgumentsCommand.java | 8 +- .../sdk/commands/bcs/core/RpcCommand.java | 13 +- .../sdk/commands/bcs/io/AsyncCommand.java | 21 +- .../sdk/commands/bcs/io/AsyncMode.java | 86 +- .../bcs/io/AsyncThreshholdEdgeType.java | 77 +- .../commands/bcs/io/ConfigAsyncCommand.java | 46 +- .../bcs/io/GetChannelModeCommand.java | 41 +- .../bcs/io/GetChannelModeListCommand.java | 7 +- .../bcs/io/GetDyIOChannelCountCommand.java | 4 +- .../sdk/commands/bcs/io/GetValueCommand.java | 38 +- .../bcs/io/SetAllChannelValuesCommand.java | 43 +- .../bcs/io/SetChannelValueCommand.java | 171 +- .../bcs/io/SetUARTBaudrateCommand.java | 27 +- .../bcs/io/setmode/SetChannelModeCommand.java | 39 +- .../bcs/pid/ConfigurePDVelocityCommand.java | 16 +- .../commands/bcs/pid/ConfigurePIDCommand.java | 74 +- .../bcs/pid/ControlAllPIDCommand.java | 34 +- .../commands/bcs/pid/ControlPIDCommand.java | 31 +- .../pid/DyPID/ConfigureDynamicPIDCommand.java | 34 +- .../bcs/pid/GetPIDChannelCountCommand.java | 2 +- .../commands/bcs/pid/KillAllPIDCommand.java | 4 +- .../commands/bcs/pid/PDVelocityCommand.java | 55 +- .../sdk/commands/bcs/pid/ResetPIDCommand.java | 18 +- .../commands/bcs/safe/SafeModeCommand.java | 14 +- .../cartesian/CancelPrintCommand.java | 2 +- .../cartesian/LinearInterpolationCommand.java | 28 +- .../bootloader/BootloaderIDCommand.java | 19 +- .../bootloader/EraseFlashCommand.java | 19 +- .../bootloader/ProgramSectionCommand.java | 39 +- .../bootloader/ResetChipCommand.java | 3 +- .../neuronrobotics/bowlercam/BlobCommand.java | 40 +- .../bowlercam/ImageCommand.java | 31 +- .../bowlercam/ImageURLCommand.java | 14 +- .../dyio/GetAllChannelValuesCommand.java | 2 +- .../dyio/InfoFirmwareRevisionCommand.java | 8 +- .../neuronrobotics/dyio/PowerCommand.java | 9 +- .../neuronrobotics/dyio/ProvisionCommand.java | 11 +- .../sdk/common/BowlerAbstractCommand.java | 251 +- .../sdk/common/BowlerAbstractConnection.java | 1404 +++++----- .../sdk/common/BowlerAbstractDevice.java | 397 +-- .../sdk/common/BowlerDataType.java | 173 +- .../sdk/common/BowlerDatagram.java | 410 +-- .../sdk/common/BowlerDatagramFactory.java | 300 ++- .../common/BowlerDocumentationFactory.java | 36 +- .../sdk/common/BowlerMethod.java | 91 +- .../sdk/common/BowlerRuntimeException.java | 22 +- .../neuronrobotics/sdk/common/ByteList.java | 892 +++--- .../sdk/common/ConfigManager.java | 55 +- .../ConnectionUnavailableException.java | 20 +- .../neuronrobotics/sdk/common/DMDevice.java | 27 +- .../sdk/common/DeviceConnectionException.java | 7 +- .../sdk/common/DeviceManager.java | 43 +- .../sdk/common/IBowlerDatagramListener.java | 14 +- .../sdk/common/IClosedLoopController.java | 17 +- .../sdk/common/IConnectionEventListener.java | 22 +- .../sdk/common/IDeviceAddedListener.java | 23 +- .../IDeviceConnectionEventListener.java | 26 +- .../neuronrobotics/sdk/common/IFlushable.java | 5 +- .../neuronrobotics/sdk/common/ISendable.java | 10 +- .../common/ISynchronousDatagramListener.java | 18 +- .../common/InvalidConnectionException.java | 19 +- .../common/InvalidDataLengthException.java | 10 +- .../common/InvalidMACAddressException.java | 7 +- .../sdk/common/InvalidResponseException.java | 26 +- .../sdk/common/IthreadedTimoutListener.java | 17 +- .../com/neuronrobotics/sdk/common/Log.java | 249 +- .../neuronrobotics/sdk/common/MACAddress.java | 121 +- .../sdk/common/MalformattedDatagram.java | 10 +- .../common/MissingNativeLibraryException.java | 15 +- .../sdk/common/NamespaceEncapsulation.java | 32 +- .../NoConnectionAvailableException.java | 5 +- .../sdk/common/NonBowlerDevice.java | 59 +- .../sdk/common/ResponseTimeoutException.java | 10 +- .../sdk/common/RpcEncapsulation.java | 468 ++-- .../neuronrobotics/sdk/common/SDKInfo.java | 29 +- .../sdk/common/ThreadedTimeout.java | 117 +- .../neuronrobotics/sdk/common/TickToc.java | 45 +- .../com/neuronrobotics/sdk/common/Tracer.java | 15 +- .../server/BowlerAbstractDeviceServer.java | 99 +- .../BowlerAbstractDeviceServerNamespace.java | 78 +- .../device/server/BowlerAbstractServer.java | 136 +- .../server/BowlerDeviceReServerNamespace.java | 62 +- .../server/IBowlerCommandProcessor.java | 9 +- .../server/bcs/core/BcsCoreNamespaceImp.java | 43 +- .../server/bcs/rpc/BcsRpcArgsCommand.java | 38 +- .../device/server/bcs/rpc/BcsRpcCommand.java | 12 +- .../server/bcs/rpc/BcsRpcNamespaceImp.java | 133 +- .../sdk/config/SDKBuildInfo.java | 9 +- .../com/neuronrobotics/sdk/dyio/DyIO.java | 1364 +++++----- .../sdk/dyio/DyIOAsyncEvent.java | 17 +- .../neuronrobotics/sdk/dyio/DyIOChannel.java | 958 ++++--- .../sdk/dyio/DyIOChannelEvent.java | 70 +- .../sdk/dyio/DyIOChannelEventType.java | 9 +- .../sdk/dyio/DyIOChannelMode.java | 213 +- .../sdk/dyio/DyIOCommunicationException.java | 13 +- .../dyio/DyIOFirmwareOutOfDateException.java | 7 +- .../sdk/dyio/DyIOInputStream.java | 38 +- .../sdk/dyio/DyIOOutputStream.java | 51 +- .../sdk/dyio/DyIOPowerEvent.java | 38 +- .../sdk/dyio/DyIOPowerState.java | 60 +- .../sdk/dyio/DyIOUARTEvent.java | 4 +- .../sdk/dyio/IChannelEventListener.java | 21 +- .../neuronrobotics/sdk/dyio/IDyIOChannel.java | 46 +- .../dyio/IDyIOChannelModeChangeListener.java | 16 +- .../neuronrobotics/sdk/dyio/IDyIOEvent.java | 6 +- .../sdk/dyio/IDyIOEventListener.java | 21 +- .../sdk/dyio/IDyIOStateChangeListener.java | 24 +- .../sdk/dyio/InvalidChannelException.java | 13 +- .../InvalidChannelOperationException.java | 13 +- .../sdk/dyio/dypid/DyPIDConfiguration.java | 83 +- .../dyio/peripherals/AnalogInputChannel.java | 155 +- .../dyio/peripherals/CounterInputChannel.java | 136 +- .../peripherals/CounterOutputChannel.java | 169 +- .../peripherals/DCMotorOutputChannel.java | 79 +- .../dyio/peripherals/DigitalInputChannel.java | 123 +- .../peripherals/DigitalOutputChannel.java | 59 +- .../peripherals/DyIOAbstractPeripheral.java | 321 ++- .../peripherals/DyIOPeripheralException.java | 8 +- .../peripherals/IAnalogInputListener.java | 26 +- .../peripherals/ICounterInputListener.java | 20 +- .../peripherals/ICounterOutputListener.java | 20 +- .../peripherals/IDigitalInputListener.java | 20 +- .../dyio/peripherals/IPPMReaderListener.java | 23 +- .../IServoPositionUpdateListener.java | 27 +- .../dyio/peripherals/IUARTStreamListener.java | 18 +- .../dyio/peripherals/PPMReaderChannel.java | 189 +- .../dyio/peripherals/PWMOutputChannel.java | 78 +- .../sdk/dyio/peripherals/SPIChannel.java | 102 +- .../sdk/dyio/peripherals/ServoChannel.java | 179 +- .../sdk/dyio/peripherals/UARTChannel.java | 238 +- .../sdk/genericdevice/GenericDevice.java | 31 +- .../sdk/javaxusb/IUsbDeviceEventListener.java | 17 +- .../sdk/javaxusb/UsbCDCSerialConnection.java | 592 ++-- .../bcs/pid/AbstractPidNamespaceImp.java | 198 +- .../bcs/pid/IExtendedPIDControl.java | 6 +- .../bcs/pid/IPidControlNamespace.java | 202 +- .../bcs/pid/LegacyPidNamespaceImp.java | 220 +- .../namespace/bcs/pid/PidDeviceServer.java | 97 +- .../bcs/pid/PidDeviceServerNamespace.java | 466 ++-- .../namespace/bcs/pid/PidNamespaceImp.java | 240 +- .../network/AbstractNetworkDeviceServer.java | 27 +- .../sdk/network/AvailableSocket.java | 26 +- .../sdk/network/BowlerTCPClient.java | 175 +- .../sdk/network/BowlerTCPServer.java | 92 +- .../sdk/network/BowlerUDPClient.java | 6 +- .../sdk/network/BowlerUDPServer.java | 166 +- .../sdk/network/UDPBowlerConnection.java | 251 +- .../sdk/pid/GenericPIDDevice.java | 260 +- .../sdk/pid/ILinkFactoryProvider.java | 45 +- .../neuronrobotics/sdk/pid/IPIDControl.java | 20 +- .../sdk/pid/IPIDEventListener.java | 34 +- .../sdk/pid/IPauseTimeListener.java | 4 +- .../sdk/pid/InterpolationEngine.java | 260 +- .../sdk/pid/InterpolationType.java | 2 +- .../sdk/pid/PDVelocityConfiguration.java | 101 +- .../neuronrobotics/sdk/pid/PIDChannel.java | 175 +- .../sdk/pid/PIDCommandException.java | 3 +- .../sdk/pid/PIDConfiguration.java | 370 +-- .../com/neuronrobotics/sdk/pid/PIDEvent.java | 99 +- .../neuronrobotics/sdk/pid/PIDLimitEvent.java | 83 +- .../sdk/pid/PIDLimitEventType.java | 102 +- .../neuronrobotics/sdk/pid/PausableTime.java | 43 +- .../sdk/pid/VirtualGenericPIDDevice.java | 136 +- .../VirtualGenericPidDeviceConnection.java | 27 +- .../sdk/serial/SerialConnection.java | 236 +- .../sdk/ui/AbstractConnectionPanel.java | 66 +- .../sdk/ui/BluetoothConnectionPanel.java | 124 +- .../sdk/ui/ConnectionDialog.java | 206 +- .../sdk/ui/ConnectionImageIconFactory.java | 13 +- .../sdk/ui/SerialConnectionPanel.java | 124 +- .../sdk/ui/TCPConnectionPanel.java | 107 +- .../sdk/ui/UDPConnectionPanel.java | 128 +- .../sdk/ui/UsbConnectionPanel.java | 136 +- .../neuronrobotics/sdk/util/IMonitorable.java | 4 +- .../sdk/util/IProgressMonitorListener.java | 19 +- .../sdk/util/IThreadedNsTimerListener.java | 17 +- .../neuronrobotics/sdk/util/OsInfoUtil.java | 250 +- .../sdk/util/ProcessMonitor.java | 38 +- .../sdk/util/RollingAverageFilter.java | 49 +- .../neuronrobotics/sdk/util/ThreadUtil.java | 25 +- .../sdk/util/ThreadedNsTimer.java | 74 +- .../wireless/bluetooth/BlueCoveManager.java | 232 +- .../bluetooth/BluetoothSerialConnection.java | 359 +-- .../utilities/ApacheCommonsRotationTest.java | 93 +- .../utilities/BowlerDatagramFactoryTests.java | 78 +- .../utilities/ByteListTest.java | 42 +- .../utilities/ExternalLinkProviderTest.java | 54 +- .../utilities/GsonVitaminLoad.java | 12 +- .../utilities/LoadMassTest.java | 6 +- .../utilities/PacketValidationTest.java | 4 +- .../utilities/ParallelArmTest.java | 41 +- .../utilities/RotationNRTest.java | 181 +- .../utilities/TestMobilBaseLoading.java | 37 +- .../neuronrobotics/utilities/TestTimer.java | 65 +- 295 files changed, 18176 insertions(+), 16016 deletions(-) diff --git a/build.gradle b/build.gradle index a49e271e..be979731 100644 --- a/build.gradle +++ b/build.gradle @@ -5,7 +5,20 @@ if (project == rootProject) { } apply plugin: 'java-library' apply plugin: 'signing' +apply plugin: 'com.diffplug.spotless' + +spotless { + java { + lineEndings = com.diffplug.spotless.LineEnding.UNIX + // Eclipse formatter with your config file + eclipse('4.26') // Uses Eclipse's built-in default profile — no XML needed! + // Optional but recommended additions: + removeUnusedImports() + trimTrailingWhitespace() + endWithNewline() + } +} [compileJava, compileTestJava]*.options*.encoding = 'UTF-8' File buildDir = file("."); diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar index f3d88b1c2faf2fc91d853cd5d4242b5547257070..9bbc975c742b298b441bfb90dbc124400a3751b9 100644 GIT binary patch literal 43705 zcma&Obx`DOvL%eWOXJW;V64viP??$)@wHcsJ68)>bJS6*&iHnskXE8MjvIPVl|FrmV}Npeql07fCw6`pw`0s 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-distributionUrl=https\://services.gradle.org/distributions/gradle-6.2-bin.zip +distributionUrl=https\://services.gradle.org/distributions/gradle-8.13-bin.zip +networkTimeout=10000 +validateDistributionUrl=true zipStoreBase=GRADLE_USER_HOME zipStorePath=wrapper/dists diff --git a/gradlew b/gradlew index 2fe81a7d..faf93008 100755 --- a/gradlew +++ b/gradlew @@ -1,7 +1,7 @@ -#!/usr/bin/env sh +#!/bin/sh # -# Copyright 2015 the original author or authors. +# Copyright © 2015-2021 the original authors. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -15,80 +15,115 @@ # See the License for the specific language governing permissions and # limitations under the License. # +# SPDX-License-Identifier: Apache-2.0 +# ############################################################################## -## -## Gradle start up script for UN*X -## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# ############################################################################## # Attempt to set APP_HOME + # Resolve links: $0 may be a link -PRG="$0" -# Need this for relative symlinks. -while [ -h "$PRG" ] ; do - ls=`ls -ld "$PRG"` - link=`expr "$ls" : '.*-> \(.*\)$'` - if expr "$link" : '/.*' > /dev/null; then - PRG="$link" - else - PRG=`dirname "$PRG"`"/$link" - fi +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac done -SAVED="`pwd`" -cd "`dirname \"$PRG\"`/" >/dev/null -APP_HOME="`pwd -P`" -cd "$SAVED" >/dev/null -APP_NAME="Gradle" -APP_BASE_NAME=`basename "$0"` - -# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. -DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s\n' "$PWD" ) || exit # Use the maximum available, or set MAX_FD != -1 to use that value. -MAX_FD="maximum" +MAX_FD=maximum warn () { echo "$*" -} +} >&2 die () { echo echo "$*" echo exit 1 -} +} >&2 # OS specific support (must be 'true' or 'false'). cygwin=false msys=false darwin=false nonstop=false -case "`uname`" in - CYGWIN* ) - cygwin=true - ;; - Darwin* ) - darwin=true - ;; - MINGW* ) - msys=true - ;; - NONSTOP* ) - nonstop=true - ;; +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; esac CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + # Determine the Java command to use to start the JVM. if [ -n "$JAVA_HOME" ] ; then if [ -x "$JAVA_HOME/jre/sh/java" ] ; then # IBM's JDK on AIX uses strange locations for the executables - JAVACMD="$JAVA_HOME/jre/sh/java" + JAVACMD=$JAVA_HOME/jre/sh/java else - JAVACMD="$JAVA_HOME/bin/java" + JAVACMD=$JAVA_HOME/bin/java fi if [ ! -x "$JAVACMD" ] ; then die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME @@ -97,87 +132,120 @@ Please set the JAVA_HOME variable in your environment to match the location of your Java installation." fi else - JAVACMD="java" - which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. Please set the JAVA_HOME variable in your environment to match the location of your Java installation." + fi fi # Increase the maximum file descriptors if we can. -if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then - MAX_FD_LIMIT=`ulimit -H -n` - if [ $? -eq 0 ] ; then - if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then - MAX_FD="$MAX_FD_LIMIT" - fi - ulimit -n $MAX_FD - if [ $? -ne 0 ] ; then - warn "Could not set maximum file descriptor limit: $MAX_FD" - fi - else - warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT" - fi +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac fi -# For Darwin, add options to specify how the application appears in the dock -if $darwin; then - GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\"" -fi +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. # For Cygwin or MSYS, switch paths to Windows format before running java -if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then - APP_HOME=`cygpath --path --mixed "$APP_HOME"` - CLASSPATH=`cygpath --path --mixed "$CLASSPATH"` - JAVACMD=`cygpath --unix "$JAVACMD"` - - # We build the pattern for arguments to be converted via cygpath - ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null` - SEP="" - for dir in $ROOTDIRSRAW ; do - ROOTDIRS="$ROOTDIRS$SEP$dir" - SEP="|" - done - OURCYGPATTERN="(^($ROOTDIRS))" - # Add a user-defined pattern to the cygpath arguments - if [ "$GRADLE_CYGPATTERN" != "" ] ; then - OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)" - fi +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + # Now convert the arguments - kludge to limit ourselves to /bin/sh - i=0 - for arg in "$@" ; do - CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -` - CHECK2=`echo "$arg"|egrep -c "^-"` ### Determine if an option - - if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then ### Added a condition - eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"` - else - eval `echo args$i`="\"$arg\"" + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) fi - i=`expr $i + 1` + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg done - case $i in - 0) set -- ;; - 1) set -- "$args0" ;; - 2) set -- "$args0" "$args1" ;; - 3) set -- "$args0" "$args1" "$args2" ;; - 4) set -- "$args0" "$args1" "$args2" "$args3" ;; - 5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;; - 6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;; - 7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;; - 8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;; - 9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;; - esac fi -# Escape application args -save () { - for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done - echo " " -} -APP_ARGS=`save "$@"` -# Collect all arguments for the java command, following the shell quoting and substitution rules -eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS" +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' exec "$JAVACMD" "$@" diff --git a/gradlew.bat b/gradlew.bat index 9109989e..9b42019c 100755 --- a/gradlew.bat +++ b/gradlew.bat @@ -13,8 +13,10 @@ @rem See the License for the specific language governing permissions and @rem limitations under the License. @rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem -@if "%DEBUG%" == "" @echo off +@if "%DEBUG%"=="" @echo off @rem ########################################################################## @rem @rem Gradle startup script for Windows @@ -25,7 +27,8 @@ if "%OS%"=="Windows_NT" setlocal set DIRNAME=%~dp0 -if "%DIRNAME%" == "" set DIRNAME=. +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused set APP_BASE_NAME=%~n0 set APP_HOME=%DIRNAME% @@ -40,13 +43,13 @@ if defined JAVA_HOME goto findJavaFromJavaHome set JAVA_EXE=java.exe %JAVA_EXE% -version >NUL 2>&1 -if "%ERRORLEVEL%" == "0" goto init +if %ERRORLEVEL% equ 0 goto execute -echo. -echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail @@ -54,48 +57,36 @@ goto fail set JAVA_HOME=%JAVA_HOME:"=% set JAVA_EXE=%JAVA_HOME%/bin/java.exe -if exist "%JAVA_EXE%" goto init +if exist "%JAVA_EXE%" goto execute -echo. -echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% -echo. -echo Please set the JAVA_HOME variable in your environment to match the -echo location of your Java installation. +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 goto fail -:init -@rem Get command-line arguments, handling Windows variants - -if not "%OS%" == "Windows_NT" goto win9xME_args - -:win9xME_args -@rem Slurp the command line arguments. -set CMD_LINE_ARGS= -set _SKIP=2 - -:win9xME_args_slurp -if "x%~1" == "x" goto execute - -set CMD_LINE_ARGS=%* - :execute @rem Setup the command line set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + @rem Execute Gradle -"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS% +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* :end @rem End local scope for the variables with windows NT shell -if "%ERRORLEVEL%"=="0" goto mainEnd +if %ERRORLEVEL% equ 0 goto mainEnd :fail rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of rem the _cmd.exe /c_ return code! -if not "" == "%GRADLE_EXIT_CONSOLE%" exit 1 -exit /b 1 +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% :mainEnd if "%OS%"=="Windows_NT" endlocal diff --git a/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversation.java b/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversation.java index fdf89de0..9718aa1f 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversation.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversation.java @@ -15,177 +15,189 @@ import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.dyio.IChannelEventListener; - // Auto-generated Javadoc /** * The Class DyIOConversation. */ public class DyIOConversation implements IConversation, MessageListener, IChannelEventListener { - + /** The listeners. */ private ArrayList listeners = new ArrayList(); - + /** The log. */ private IChatLog log; - + /** * Instantiates a new dy io conversation. * - * @param log the log + * @param log + * the log */ public DyIOConversation(IChatLog log) { - this.log=log; + this.log = log; } - /* (non-Javadoc) - * @see org.jivesoftware.smack.MessageListener#processMessage(org.jivesoftware.smack.Chat, org.jivesoftware.smack.packet.Message) + /* + * (non-Javadoc) + * + * @see + * org.jivesoftware.smack.MessageListener#processMessage(org.jivesoftware.smack. + * Chat, org.jivesoftware.smack.packet.Message) */ public void processMessage(Chat chat, Message message) { Message msg = new Message(message.getFrom(), Message.Type.chat); - if(message.getType().equals(Message.Type.chat) && message.getBody() != null) { - com.neuronrobotics.sdk.common.Log.error("Received: " + message.getBody()+" from: "+message.getFrom()); - if(log!=null){ - log.onLogEvent(""+message.getFrom()+">> "+ message.getBody()); - } - try { - String ret =onMessage(message.getBody(),chat, message.getFrom()); - msg.setBody(ret); - com.neuronrobotics.sdk.common.Log.error("Sending: "+msg.getBody()); - if(log!=null){ - log.onLogEvent(""+message.getFrom()+"<< "+ ret); - } - chat.sendMessage(msg); - } catch (XMPPException ex) { - ex.printStackTrace(); - com.neuronrobotics.sdk.common.Log.error("Failed to send message"); - } - } else { - com.neuronrobotics.sdk.common.Log.error("I got a message I didn't understand\n\n"+message.getType()); - } + if (message.getType().equals(Message.Type.chat) && message.getBody() != null) { + com.neuronrobotics.sdk.common.Log.error("Received: " + message.getBody() + " from: " + message.getFrom()); + if (log != null) { + log.onLogEvent("" + message.getFrom() + ">> " + message.getBody()); + } + try { + String ret = onMessage(message.getBody(), chat, message.getFrom()); + msg.setBody(ret); + com.neuronrobotics.sdk.common.Log.error("Sending: " + msg.getBody()); + if (log != null) { + log.onLogEvent("" + message.getFrom() + "<< " + ret); + } + chat.sendMessage(msg); + } catch (XMPPException ex) { + ex.printStackTrace(); + com.neuronrobotics.sdk.common.Log.error("Failed to send message"); + } + } else { + com.neuronrobotics.sdk.common.Log.error("I got a message I didn't understand\n\n" + message.getType()); + } } - /* (non-Javadoc) - * @see com.neuronrobotics.application.xmpp.IConversation#onMessage(java.lang.String, org.jivesoftware.smack.Chat, java.lang.String) + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.application.xmpp.IConversation#onMessage(java.lang.String, + * org.jivesoftware.smack.Chat, java.lang.String) */ @Override - public String onMessage(String input,Chat chat,String from) { - String [] packet = input.split("\\ "); - if(packet[0].toLowerCase().contains("ping")){ - return "ping: \n"+((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).ping(); - }else if(packet[0].toLowerCase().contains("state")){ - return "state: \n"+((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).toString(); - }else if(packet[0].toLowerCase().contains("setmode")){ + public String onMessage(String input, Chat chat, String from) { + String[] packet = input.split("\\ "); + if (packet[0].toLowerCase().contains("ping")) { + return "ping: \n" + ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).ping(); + } else if (packet[0].toLowerCase().contains("state")) { + return "state: \n" + ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).toString(); + } else if (packet[0].toLowerCase().contains("setmode")) { DyIOChannelMode m = DyIOChannelMode.DIGITAL_IN; boolean found = false; String options = ""; - for(DyIOChannelMode cm : EnumSet.allOf(DyIOChannelMode.class)) { - options+=cm.toSlug()+"\n"; - if(packet[2].toLowerCase().equals(cm.toSlug())){ - m=cm; + for (DyIOChannelMode cm : EnumSet.allOf(DyIOChannelMode.class)) { + options += cm.toSlug() + "\n"; + if (packet[2].toLowerCase().equals(cm.toSlug())) { + m = cm; found = true; } } - try{ + try { int port = Integer.parseInt(packet[1]); - if(found && ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(port).canBeMode(m)){ + if (found && ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(port).canBeMode(m)) { ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).setMode(port, m); - return "setMode "+port+" "+m.toSlug(); + return "setMode " + port + " " + m.toSlug(); } - }catch(Exception ex){ + } catch (Exception ex) { ex.printStackTrace(); } - return "error: Mode not settible on channel #"+packet[1]+" mode options are:\n"+options; - }else if(packet[0].toLowerCase().contains("setvalue")){ + return "error: Mode not settible on channel #" + packet[1] + " mode options are:\n" + options; + } else if (packet[0].toLowerCase().contains("setvalue")) { int port = Integer.parseInt(packet[1]); int value = Integer.parseInt(packet[2]); ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(port).setValue(value); - return "setValue "+port+" "+value; - }else if(packet[0].toLowerCase().contains("getvalue")){ + return "setValue " + port + " " + value; + } else if (packet[0].toLowerCase().contains("getvalue")) { int port = Integer.parseInt(packet[1]); int value = ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(port).getValue(); - return "getValue "+port+" "+value; - }else if(packet[0].toLowerCase().contains("addasync")){ + return "getValue " + port + " " + value; + } else if (packet[0].toLowerCase().contains("addasync")) { int port = Integer.parseInt(packet[1]); int rate = 500; - try{ + try { rate = Integer.parseInt(packet[2]); - }catch (Exception ex){ + } catch (Exception ex) { rate = 500; } - if(rate < 500) + if (rate < 500) rate = 500; ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(port).setAsync(true); - ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(port).configAdvancedAsyncNotEqual(rate); - ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(port).addChannelEventListener( getListener(chat, from)); - return "async "+port+" "+rate; - } - else if(packet[0].toLowerCase().contains("removeasync")){ + ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(port) + .configAdvancedAsyncNotEqual(rate); + ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(port) + .addChannelEventListener(getListener(chat, from)); + return "async " + port + " " + rate; + } else if (packet[0].toLowerCase().contains("removeasync")) { int port = Integer.parseInt(packet[1]); - ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(port).removeChannelEventListener( getListener(chat, from)); - return "async removed "+port+" "; - } - else if(packet[0].toLowerCase().contains("reset")){ - for (int i=0;i<24;i++){ - ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(i).removeAllChannelEventListeners(); + ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(port) + .removeChannelEventListener(getListener(chat, from)); + return "async removed " + port + " "; + } else if (packet[0].toLowerCase().contains("reset")) { + for (int i = 0; i < 24; i++) { + ((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(i) + .removeAllChannelEventListeners(); } return "system reset!"; - }else{ + } else { return help(); } } - + /** * Gets the listener. * - * @param c the c - * @param from the from + * @param c + * the c + * @param from + * the from * @return the listener */ - private ChatAsyncListener getListener(Chat c,String from){ - ChatAsyncListener back=null; - for(ChatAsyncListener l:listeners ){ - if(l.getFrom().equals(from) && l.getChat()==c){ + private ChatAsyncListener getListener(Chat c, String from) { + ChatAsyncListener back = null; + for (ChatAsyncListener l : listeners) { + if (l.getFrom().equals(from) && l.getChat() == c) { back = l; com.neuronrobotics.sdk.common.Log.error("Found old listener"); } } - if(back == null){ + if (back == null) { com.neuronrobotics.sdk.common.Log.error("Adding new listener"); back = new ChatAsyncListener(c, from); listeners.add(back); } return back; } - + /** - * The listener interface for receiving chatAsync events. - * The class that is interested in processing a chatAsync - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addChatAsyncListener method. When - * the chatAsync event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving chatAsync events. The class that is + * interested in processing a chatAsync event implements this interface, and the + * object created with that class is registered with a component using the + * component's addChatAsyncListener method. When the chatAsync event occurs, + * that object's appropriate method is invoked. * */ - private class ChatAsyncListener implements IChannelEventListener{ - + private class ChatAsyncListener implements IChannelEventListener { + /** The chat. */ private Chat chat; - + /** The from. */ private String from; - + /** * Instantiates a new chat async listener. * - * @param c the c - * @param from the from + * @param c + * the c + * @param from + * the from */ - public ChatAsyncListener(Chat c,String from){ + public ChatAsyncListener(Chat c, String from) { setChat(c); this.setFrom(from); } - + /** * Gets the chat. * @@ -194,42 +206,47 @@ public ChatAsyncListener(Chat c,String from){ public Chat getChat() { return chat; } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com.neuronrobotics.sdk.dyio.DyIOChannelEvent) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com. + * neuronrobotics.sdk.dyio.DyIOChannelEvent) */ @Override public void onChannelEvent(DyIOChannelEvent e) { Message msg = new Message(getFrom(), Message.Type.chat); - String body = "asyncData "+e.getChannel().getChannelNumber()+" "+e.getValue(); + String body = "asyncData " + e.getChannel().getChannelNumber() + " " + e.getValue(); msg.setBody(body); - com.neuronrobotics.sdk.common.Log.error("async: "+msg.getBody()); - try { + com.neuronrobotics.sdk.common.Log.error("async: " + msg.getBody()); + try { chat.sendMessage(msg); } catch (XMPPException e1) { // Auto-generated catch block e1.printStackTrace(); } } - + /** * Sets the chat. * - * @param chat the new chat + * @param chat + * the new chat */ public void setChat(Chat chat) { this.chat = chat; } - + /** * Sets the from. * - * @param from the new from + * @param from + * the new from */ public void setFrom(String from) { this.from = from; } - + /** * Gets the from. * @@ -239,37 +256,39 @@ public String getFrom() { return from; } } - + /** * Help. * * @return the string */ - private String help(){ - String s="This is a REPL loop for talking to the DyIO\n" + - "Commands use a command name, which DyIO port your connected to, and a value\n" + - "The 3 fields are seperated by a single space charrector\n" + - "The name is a string, and the 2 data fields are integers\n" + - "If a field is unused, it will be displayed as 'none'\n" + - "Commands are: \n" ; - s+="ping \tnone \tnone :returns ping message\n"; - s+="state \tnone \tnone :returns state information\n"; - s+="reset \tnone \tnone :returns none Removes all async listeners\n"; - s+="setMode \t(int)channel \t(String)mode :returns the mode if successful, 'error' if not sucessful\n"; - s+="setValue \t(int)channel \t(int)value :returns the value if successful, 'error' if not sucessful\n"; - s+="getValue \t(int)channel \tnone :returns (int)value\n"; - s+="addAsync \t(int)channel \t(int)update rate in Ms :returns (int)value: Async of any incoming data\n"; - s+="removeAsync \t(int)channel \tnone :returns none Removes one async listener\n"; + private String help() { + String s = "This is a REPL loop for talking to the DyIO\n" + + "Commands use a command name, which DyIO port your connected to, and a value\n" + + "The 3 fields are seperated by a single space charrector\n" + + "The name is a string, and the 2 data fields are integers\n" + + "If a field is unused, it will be displayed as 'none'\n" + "Commands are: \n"; + s += "ping \tnone \tnone :returns ping message\n"; + s += "state \tnone \tnone :returns state information\n"; + s += "reset \tnone \tnone :returns none Removes all async listeners\n"; + s += "setMode \t(int)channel \t(String)mode :returns the mode if successful, 'error' if not sucessful\n"; + s += "setValue \t(int)channel \t(int)value :returns the value if successful, 'error' if not sucessful\n"; + s += "getValue \t(int)channel \tnone :returns (int)value\n"; + s += "addAsync \t(int)channel \t(int)update rate in Ms :returns (int)value: Async of any incoming data\n"; + s += "removeAsync \t(int)channel \tnone :returns none Removes one async listener\n"; return s; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com.neuronrobotics.sdk.dyio.DyIOChannelEvent) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com. + * neuronrobotics.sdk.dyio.DyIOChannelEvent) */ @Override public void onChannelEvent(DyIOChannelEvent e) { // Auto-generated method stub - + } } diff --git a/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversationFactory.java b/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversationFactory.java index 07cafb79..1e5663e3 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversationFactory.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/DyIOConversationFactory.java @@ -2,27 +2,30 @@ import com.neuronrobotics.application.xmpp.GoogleChat.IChatLog; - // Auto-generated Javadoc /** * A factory for creating DyIOConversation objects. */ -public class DyIOConversationFactory implements IConversationFactory{ - +public class DyIOConversationFactory implements IConversationFactory { + /** The log. */ private IChatLog log; - + /** * Instantiates a new dy io conversation factory. * - * @param mine the mine + * @param mine + * the mine */ public DyIOConversationFactory(IChatLog mine) { - log=mine; + log = mine; } - /* (non-Javadoc) - * @see com.neuronrobotics.application.xmpp.IConversationFactory#getConversation() + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.application.xmpp.IConversationFactory#getConversation() */ @Override public IConversation getConversation() { diff --git a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChat.java b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChat.java index f78504cc..519c27d5 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChat.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChat.java @@ -10,58 +10,64 @@ * The Class GoogleChat. */ public class GoogleChat { - + /** The chat. */ private Chat chat; - + /** * Instantiates a new google chat. * - * @param chat the chat + * @param chat + * the chat */ GoogleChat(Chat chat) { - this.chat=chat; + this.chat = chat; } - + /** * Send message. * - * @param body the body - * @throws XMPPException the XMPP exception + * @param body + * the body + * @throws XMPPException + * the XMPP exception */ - public void sendMessage(String body) throws XMPPException{ + public void sendMessage(String body) throws XMPPException { Message msg = new Message(chat.getParticipant(), Message.Type.chat); - msg.setBody(body); - chat.sendMessage(msg); - + msg.setBody(body); + chat.sendMessage(msg); + } - + /** * Checks if is alive. * * @return true, if is alive */ - public boolean isAlive(){ - if(chat!= null) + public boolean isAlive() { + if (chat != null) return true; return false; } - + /** * Adds the message listener. * - * @param listener the listener + * @param listener + * the listener */ - public void addMessageListener(MessageListener listener){ + public void addMessageListener(MessageListener listener) { chat.addMessageListener(listener); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ - public String toString(){ - String s=""; - + public String toString() { + String s = ""; + return s; } } diff --git a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversation.java b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversation.java index 55e6f515..a35c2c86 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversation.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversation.java @@ -7,53 +7,60 @@ import com.neuronrobotics.application.xmpp.IConversation; - // Auto-generated Javadoc /** * The Class GoogleChatConversation. */ -public class GoogleChatConversation implements MessageListener,IConversation{ - +public class GoogleChatConversation implements MessageListener, IConversation { + /** The num conversations. */ private static int numConversations = 0; - + /** The my index. */ private int myIndex = 0; - + /** * Instantiates a new google chat conversation. */ - public GoogleChatConversation(){ - myIndex = numConversations++; + public GoogleChatConversation() { + myIndex = numConversations++; } - - /* (non-Javadoc) - * @see com.neuronrobotics.application.xmpp.IConversation#onMessage(java.lang.String, org.jivesoftware.smack.Chat, java.lang.String) + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.application.xmpp.IConversation#onMessage(java.lang.String, + * org.jivesoftware.smack.Chat, java.lang.String) */ @Override - public String onMessage(String input,Chat chat, String from) { - - return "I am Artillect bot index: "+myIndex+". You said: " + input; + public String onMessage(String input, Chat chat, String from) { + + return "I am Artillect bot index: " + myIndex + ". You said: " + input; } - /* (non-Javadoc) - * @see org.jivesoftware.smack.MessageListener#processMessage(org.jivesoftware.smack.Chat, org.jivesoftware.smack.packet.Message) + /* + * (non-Javadoc) + * + * @see + * org.jivesoftware.smack.MessageListener#processMessage(org.jivesoftware.smack. + * Chat, org.jivesoftware.smack.packet.Message) */ public void processMessage(Chat chat, Message message) { Message msg = new Message(message.getFrom(), Message.Type.chat); - if(message.getType().equals(Message.Type.chat) && message.getBody() != null) { - com.neuronrobotics.sdk.common.Log.error("Received: " + message.getBody()); - try { - msg.setBody(onMessage(message.getBody(),chat, message.getFrom())); - com.neuronrobotics.sdk.common.Log.error("Sending: "+msg.getBody()); - chat.sendMessage(msg); - } catch (XMPPException ex) { - ex.printStackTrace(); - com.neuronrobotics.sdk.common.Log.error("Failed to send message"); - } - } else { - com.neuronrobotics.sdk.common.Log.error("I got a message I didn't understand\n\n"+message.getType()); - } + if (message.getType().equals(Message.Type.chat) && message.getBody() != null) { + com.neuronrobotics.sdk.common.Log.error("Received: " + message.getBody()); + try { + msg.setBody(onMessage(message.getBody(), chat, message.getFrom())); + com.neuronrobotics.sdk.common.Log.error("Sending: " + msg.getBody()); + chat.sendMessage(msg); + } catch (XMPPException ex) { + ex.printStackTrace(); + com.neuronrobotics.sdk.common.Log.error("Failed to send message"); + } + } else { + com.neuronrobotics.sdk.common.Log.error("I got a message I didn't understand\n\n" + message.getType()); + } } } diff --git a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversationFactory.java b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversationFactory.java index 3e6dd13b..ec88bf58 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversationFactory.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatConversationFactory.java @@ -3,15 +3,17 @@ import com.neuronrobotics.application.xmpp.IConversation; import com.neuronrobotics.application.xmpp.IConversationFactory; - // Auto-generated Javadoc /** * A factory for creating GoogleChatConversation objects. */ -public class GoogleChatConversationFactory implements IConversationFactory { - - /* (non-Javadoc) - * @see com.neuronrobotics.application.xmpp.IConversationFactory#getConversation() +public class GoogleChatConversationFactory implements IConversationFactory { + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.application.xmpp.IConversationFactory#getConversation() */ @Override public IConversation getConversation() { diff --git a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatEngine.java b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatEngine.java index 0b8965fc..f3ebf867 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatEngine.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/GoogleChatEngine.java @@ -1,7 +1,5 @@ package com.neuronrobotics.application.xmpp.GoogleChat; - - import java.io.IOException; import java.io.InputStream; import java.util.ArrayList; @@ -26,106 +24,114 @@ import com.neuronrobotics.application.xmpp.IConversationFactory; - - - // Auto-generated Javadoc /** * The Class GoogleChatEngine. */ public class GoogleChatEngine implements ChatManagerListener { - + /** The username. */ private static String username = "user@gmail.com"; - + /** The password. */ private static String password = "pass1234"; - - + /** The host. */ private static String host = "talk.google.com"; - + /** The service. */ private static String service = "gmail.com"; - + /** The port. */ private static int port = 5222; - + /** The conn config. */ private ConnectionConfiguration connConfig; - + /** The connection. */ private XMPPConnection connection; - + /** The presence. */ private Presence presence; - + /** The chatmanager. */ private ChatManager chatmanager; - + /** The google chats. */ - ArrayList googleChats = new ArrayList (); - + ArrayList googleChats = new ArrayList(); + /** The responder. */ private IConversationFactory responder; - + /** * Instantiates a new google chat engine. * - * @param responder the responder - * @param user the user - * @param pass the pass - * @throws XMPPException the XMPP exception + * @param responder + * the responder + * @param user + * the user + * @param pass + * the pass + * @throws XMPPException + * the XMPP exception */ - public GoogleChatEngine(IConversationFactory responder,String user,String pass) throws XMPPException { - username=user; - password=pass; - setup(responder); + public GoogleChatEngine(IConversationFactory responder, String user, String pass) throws XMPPException { + username = user; + password = pass; + setup(responder); } - + /** * Instantiates a new google chat engine. * - * @param responder the responder - * @param config the config - * @throws XMPPException the XMPP exception + * @param responder + * the responder + * @param config + * the config + * @throws XMPPException + * the XMPP exception */ - public GoogleChatEngine(IConversationFactory responder,InputStream config) throws XMPPException { - setLoginInfo(config); - setup(responder); + public GoogleChatEngine(IConversationFactory responder, InputStream config) throws XMPPException { + setLoginInfo(config); + setup(responder); } - + /** * Sets the up. * - * @param responder the new up - * @throws XMPPException the XMPP exception + * @param responder + * the new up + * @throws XMPPException + * the XMPP exception */ private void setup(IConversationFactory responder) throws XMPPException { - this.responder=responder; - if((MessageListener.class.isInstance(responder))) - throw new RuntimeException("Instance of IConversationFactory must also implement org.jivesoftware.smack.MessageListener"); + this.responder = responder; + if ((MessageListener.class.isInstance(responder))) + throw new RuntimeException( + "Instance of IConversationFactory must also implement org.jivesoftware.smack.MessageListener"); connConfig = new ConnectionConfiguration(host, port, service); - connection = new XMPPConnection(connConfig); - connection.connect(); - connection.login(username, password); - presence = new Presence(Presence.Type.available); - connection.sendPacket(presence); - chatmanager = connection.getChatManager(); - chatmanager.addChatListener(this); + connection = new XMPPConnection(connConfig); + connection.connect(); + connection.login(username, password); + presence = new Presence(Presence.Type.available); + connection.sendPacket(presence); + chatmanager = connection.getChatManager(); + chatmanager.addChatListener(this); } - + /** * Sets the login info. * - * @param config the new login info + * @param config + * the new login info */ private void setLoginInfo(InputStream config) { - //InputStream config = GoogleChatEngine.class.getResourceAsStream("loginInfo.xml"); + // InputStream config = + // GoogleChatEngine.class.getResourceAsStream("loginInfo.xml"); DocumentBuilderFactory dbFactory = DocumentBuilderFactory.newInstance(); - DocumentBuilder dBuilder; - Document doc = null; - try { + DocumentBuilder dBuilder; + Document doc = null; + try { dBuilder = dbFactory.newDocumentBuilder(); doc = dBuilder.parse(config); doc.getDocumentElement().normalize(); @@ -136,104 +142,112 @@ private void setLoginInfo(InputStream config) { } catch (IOException e) { throw new RuntimeException(e); } - //com.neuronrobotics.sdk.common.Log.error("Parsing File..."); + // com.neuronrobotics.sdk.common.Log.error("Parsing File..."); NodeList nList = doc.getElementsByTagName("login"); for (int temp = 0; temp < nList.getLength(); temp++) { - //com.neuronrobotics.sdk.common.Log.error("Leg # "+temp); - Element eElement = (Element)nList.item(temp); - username = getTagValue("username",eElement); - password = getTagValue("password",eElement); - + // com.neuronrobotics.sdk.common.Log.error("Leg # "+temp); + Element eElement = (Element) nList.item(temp); + username = getTagValue("username", eElement); + password = getTagValue("password", eElement); + } } - + /** * Gets the tag value. * - * @param sTag the s tag - * @param eElement the e element + * @param sTag + * the s tag + * @param eElement + * the e element * @return the tag value */ - public static String getTagValue(String sTag, Element eElement){ - NodeList nlList= eElement.getElementsByTagName(sTag).item(0).getChildNodes(); - Node nValue = (Node) nlList.item(0); - //com.neuronrobotics.sdk.common.Log.error("\t\t"+sTag+" = "+nValue.getNodeValue()); - return nValue.getNodeValue(); + public static String getTagValue(String sTag, Element eElement) { + NodeList nlList = eElement.getElementsByTagName(sTag).item(0).getChildNodes(); + Node nValue = (Node) nlList.item(0); + // com.neuronrobotics.sdk.common.Log.error("\t\t"+sTag+" = + // "+nValue.getNodeValue()); + return nValue.getNodeValue(); } - + /** * Gets the new message listener. * * @return the new message listener */ - private MessageListener getNewMessageListener(){ - return (MessageListener)responder.getConversation(); + private MessageListener getNewMessageListener() { + return (MessageListener) responder.getConversation(); } - - /* (non-Javadoc) - * @see org.jivesoftware.smack.ChatManagerListener#chatCreated(org.jivesoftware.smack.Chat, boolean) + + /* + * (non-Javadoc) + * + * @see + * org.jivesoftware.smack.ChatManagerListener#chatCreated(org.jivesoftware.smack + * .Chat, boolean) */ @Override public void chatCreated(Chat arg0, boolean arg1) { // Auto-generated method stub - arg0.addMessageListener( getNewMessageListener()); + arg0.addMessageListener(getNewMessageListener()); googleChats.add(new GoogleChat(arg0)); } - + /** * Start chat. * - * @param user the user + * @param user + * the user * @return the google chat */ - public GoogleChat startChat(String user){ - Chat chat = chatmanager.createChat(user,getNewMessageListener()); - GoogleChat c = new GoogleChat(chat); - googleChats.add(c); + public GoogleChat startChat(String user) { + Chat chat = chatmanager.createChat(user, getNewMessageListener()); + GoogleChat c = new GoogleChat(chat); + googleChats.add(c); return c; } - + /** * Start chat. * - * @param user the user - * @param listener the listener + * @param user + * the user + * @param listener + * the listener * @return the google chat */ - public GoogleChat startChat(String user, MessageListener listener){ - Chat chat = chatmanager.createChat(user, listener); - GoogleChat c = new GoogleChat(chat); - googleChats.add(c); + public GoogleChat startChat(String user, MessageListener listener) { + Chat chat = chatmanager.createChat(user, listener); + GoogleChat c = new GoogleChat(chat); + googleChats.add(c); return c; } - + /** * Gets the chats. * * @return the chats */ - public ArrayList getChats(){ + public ArrayList getChats() { ArrayList tmp = new ArrayList(); - for(GoogleChat c:googleChats){ - if(c!=null && c.isAlive() ) + for (GoogleChat c : googleChats) { + if (c != null && c.isAlive()) tmp.add(c); } - googleChats=tmp; + googleChats = tmp; tmp = new ArrayList(); - for(GoogleChat c:googleChats){ - if(c!=null && c.isAlive() ) + for (GoogleChat c : googleChats) { + if (c != null && c.isAlive()) tmp.add(c); } return tmp; } - + /** * Disconnect. */ - public void disconnect(){ + public void disconnect() { connection.disconnect(); } - - } diff --git a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/IChatLog.java b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/IChatLog.java index e1cb2cce..948cd68b 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/IChatLog.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/GoogleChat/IChatLog.java @@ -5,11 +5,12 @@ * The Interface IChatLog. */ public interface IChatLog { - + /** * On log event. * - * @param newText the new text + * @param newText + * the new text */ public void onLogEvent(String newText); } diff --git a/src/main/java/com/neuronrobotics/application/xmpp/IConversation.java b/src/main/java/com/neuronrobotics/application/xmpp/IConversation.java index a71c210a..19399807 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/IConversation.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/IConversation.java @@ -7,14 +7,17 @@ * The Interface IConversation. */ public interface IConversation { - + /** * On message. * - * @param input the input - * @param chat the chat - * @param from the from + * @param input + * the input + * @param chat + * the chat + * @param from + * the from * @return the string */ - public String onMessage(String input,Chat chat, String from); + public String onMessage(String input, Chat chat, String from); } diff --git a/src/main/java/com/neuronrobotics/application/xmpp/IConversationFactory.java b/src/main/java/com/neuronrobotics/application/xmpp/IConversationFactory.java index 3397ef47..8d052c55 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/IConversationFactory.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/IConversationFactory.java @@ -5,7 +5,7 @@ * A factory for creating IConversation objects. */ public interface IConversationFactory { - + /** * Gets the conversation. * diff --git a/src/main/java/com/neuronrobotics/application/xmpp/Parser.java b/src/main/java/com/neuronrobotics/application/xmpp/Parser.java index af2657ee..d7984021 100644 --- a/src/main/java/com/neuronrobotics/application/xmpp/Parser.java +++ b/src/main/java/com/neuronrobotics/application/xmpp/Parser.java @@ -5,7 +5,7 @@ */ public class Parser { /** - * The goal of this module is to act as a front end to accecing information - * This will be the point of contact between the real world and the thought machine + * The goal of this module is to act as a front end to accecing information This + * will be the point of contact between the real world and the thought machine */ } diff --git a/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaJointAngles.java b/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaJointAngles.java index 29788b18..b723d0af 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaJointAngles.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaJointAngles.java @@ -5,32 +5,36 @@ * The Class DeltaJointAngles. */ public class DeltaJointAngles { - + /** The theta3. */ - private double theta1, theta2, theta3; - + private double theta1, theta2, theta3; + /** * All angles in radians. * - * @param theta1 the theta1 - * @param theta2 the theta2 - * @param theta3 the theta3 + * @param theta1 + * the theta1 + * @param theta2 + * the theta2 + * @param theta3 + * the theta3 */ - public DeltaJointAngles(double theta1, double theta2, double theta3){ + public DeltaJointAngles(double theta1, double theta2, double theta3) { setTheta1(theta1); setTheta2(theta2); setTheta3(theta3); } - + /** * Sets the theta1. * - * @param theta1 the new theta1 + * @param theta1 + * the new theta1 */ private void setTheta1(double theta1) { this.theta1 = theta1; } - + /** * Gets the theta1. * @@ -39,16 +43,17 @@ private void setTheta1(double theta1) { public double getTheta1() { return theta1; } - + /** * Sets the theta2. * - * @param theta2 the new theta2 + * @param theta2 + * the new theta2 */ private void setTheta2(double theta2) { this.theta2 = theta2; } - + /** * Gets the theta2. * @@ -57,16 +62,17 @@ private void setTheta2(double theta2) { public double getTheta2() { return theta2; } - + /** * Sets the theta3. * - * @param theta3 the new theta3 + * @param theta3 + * the new theta3 */ private void setTheta3(double theta3) { this.theta3 = theta3; } - + /** * Gets the theta3. * diff --git a/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotConfig.java b/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotConfig.java index 6276a8fe..55d7bca4 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotConfig.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotConfig.java @@ -5,52 +5,59 @@ * The Class DeltaRobotConfig. */ public class DeltaRobotConfig { - //Sample code from http://forums.trossenrobotics.com/tutorials/introduction-129/delta-robot-kinematics-3276/ - // robot geometry - /** The e. */ + // Sample code from + // http://forums.trossenrobotics.com/tutorials/introduction-129/delta-robot-kinematics-3276/ + // robot geometry + /** The e. */ // (look at pics above for explanation) - private double e ; // end effector - - /** The f. */ - private double f; // base - - /** The re. */ - private double re ; - - /** The rf. */ - private double rf; - + private double e; // end effector + + /** The f. */ + private double f; // base + + /** The re. */ + private double re; + + /** The rf. */ + private double rf; + /** * Instantiates a new delta robot config. * - * @param e the e - * @param f the f - * @param re the re - * @param rf the rf + * @param e + * the e + * @param f + * the f + * @param re + * the re + * @param rf + * the rf */ - public DeltaRobotConfig(double e, double f, double re, double rf){ - setE(e); - setF(f); - setRe(re); - setRf(rf); + public DeltaRobotConfig(double e, double f, double re, double rf) { + setE(e); + setF(f); + setRe(re); + setRf(rf); } - + /** * Instantiates a new delta robot config. * - * @param config the config + * @param config + * the config */ public DeltaRobotConfig(DeltaRobotConfig config) { setE(config.getE()); - setF(config.getF()); - setRe(config.getRe()); - setRf(config.getRf()); + setF(config.getF()); + setRe(config.getRe()); + setRf(config.getRf()); } - + /** * Sets the e. * - * @param e the new e + * @param e + * the new e */ private void setE(double e) { this.e = e; @@ -68,7 +75,8 @@ public double getE() { /** * Sets the f. * - * @param f the new f + * @param f + * the new f */ private void setF(double f) { this.f = f; @@ -86,7 +94,8 @@ public double getF() { /** * Sets the re. * - * @param re the new re + * @param re + * the new re */ private void setRe(double re) { this.re = re; @@ -104,7 +113,8 @@ public double getRe() { /** * Sets the rf. * - * @param rf the new rf + * @param rf + * the new rf */ private void setRf(double rf) { this.rf = rf; diff --git a/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotKinematics.java b/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotKinematics.java index b3e3cdca..bf2a69ab 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotKinematics.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/delta/DeltaRobotKinematics.java @@ -8,154 +8,163 @@ * The Class DeltaRobotKinematics. */ public class DeltaRobotKinematics { - //Sample code from http://forums.trossenrobotics.com/tutorials/introduction-129/delta-robot-kinematics-3276/ - // robot geometry - /** The configuration. */ + // Sample code from + // http://forums.trossenrobotics.com/tutorials/introduction-129/delta-robot-kinematics-3276/ + // robot geometry + /** The configuration. */ // (look at pics above for explanation) DeltaRobotConfig configuration; - - /** - * All units in milimeters. - * - * @param config the config - */ - public DeltaRobotKinematics(DeltaRobotConfig config){ - configuration=new DeltaRobotConfig(config); - } - - - /** The sqrt3. */ - // trigonometric private ants - private double sqrt3 = Math.sqrt(3.0); - - /** The pi. */ - private double pi = Math.PI; // PI - - /** The sin120. */ - private double sin120 = sqrt3/2.0; - - /** The cos120. */ - private double cos120 = -0.5; - - /** The tan60. */ - private double tan60 = sqrt3; - - /** The sin30. */ - private double sin30 = 0.5; - - /** The tan30. */ - private double tan30 = 1/sqrt3; - - // forward kinematics: (theta1, theta2, theta3) -> (x0, y0, z0) - /** - * Delta_calc forward. - * - * @param input the input - * @return the transform nr - */ - // returned status: CartesianCoordinante=OK, null=non-existing position - public TransformNR delta_calcForward(double [] input) { - double x0, y0, z0; - for(int i=0;i<3;i++){ - if(input[i]>=85) - throw new RuntimeException("Angle hit toggle point: "+input[i] ); - } - double theta1 = Math.toRadians(input[0]); - double theta2 = Math.toRadians(input[1]); - double theta3 = Math.toRadians(input[2]); - double t = (getF()-getE())*tan30/2; - - double y1 = -(t + getRf()*Math.cos(theta1)); - double z1 = -getRf()*Math.sin(theta1); - - double y2 = (t + getRf()*Math.cos(theta2))*sin30; - double x2 = y2*tan60; - double z2 = -getRf()*Math.sin(theta2); - - double y3 = (t + getRf()*Math.cos(theta3))*sin30; - double x3 = -y3*tan60; - double z3 = -getRf()*Math.sin(theta3); - - double dnm = (y2-y1)*x3-(y3-y1)*x2; - - double w1 = y1*y1 + z1*z1; - double w2 = x2*x2 + y2*y2 + z2*z2; - double w3 = x3*x3 + y3*y3 + z3*z3; - - // x = (a1*z + b1)/dnm - double a1 = (z2-z1)*(y3-y1)-(z3-z1)*(y2-y1); - double b1 = -((w2-w1)*(y3-y1)-(w3-w1)*(y2-y1))/2.0; - - // y = (a2*z + b2)/dnm; - double a2 = -(z2-z1)*x3+(z3-z1)*x2; - double b2 = ((w2-w1)*x3 - (w3-w1)*x2)/2.0; - - // a*z^2 + b*z + c = 0 - double a = a1*a1 + a2*a2 + dnm*dnm; - double b = 2*(a1*b1 + a2*(b2-y1*dnm) - z1*dnm*dnm); - double c = (b2-y1*dnm)*(b2-y1*dnm) + b1*b1 + dnm*dnm*(z1*z1 - getRe()*getRe()); - - // discriminant - double d = b*b - (double)4.0*a*c; - if (d < 0) return null; // non-existing point - - z0 = -(double)0.5*(b+Math.sqrt(d))/a; - x0 = (a1*z0 + b1)/dnm; - y0 = (a2*z0 + b2)/dnm; - return new TransformNR(x0, y0, z0, new RotationNR()); - } - - // inverse kinematics - /** - * Delta_calc angle yz. - * - * @param x0 the x0 - * @param y0 the y0 - * @param z0 the z0 - * @return the double - */ - // helper functions, calculates angle theta1 (for YZ-pane) - private double delta_calcAngleYZ(double x0, double y0, double z0 ) { - double theta; -// if(z0<=0) -// throw new RuntimeException("Z values must be greater then zero"); - double y1 = -0.5 * 0.57735 * getF(); // f/2 * tg 30 - y0 -= 0.5 * 0.57735 * getE(); // shift center to edge - // z = a + b*y - double a = (x0*x0 + y0*y0 + z0*z0 +getRf()*getRf() - getRe()*getRe() - y1*y1)/(2*z0); - double b = (y1-y0)/z0; - // discriminant - double d = -(a+b*y1)*(a+b*y1)+getRf()*(b*b*getRf()+getRf()); - if (d < 0) - throw new RuntimeException("Out Of Workspace! Inverse kinematics failed, D < 0"); // non-existing point - double yj = (y1 - a*b - Math.sqrt(d))/(b*b + 1); // chooMath.sing outer point - double zj = a + b*yj; - theta = Math.atan(-zj/(y1 - yj)) + ((yj>y1)?180.0:0.0); - return theta; - } - - // inverse kinematics: (x0, y0, z0) -> (theta1, theta2, theta3) - /** - * Delta_calc inverse. - * - * @param input the input - * @return the double[] - */ - // returned status: 0=OK, -1=non-existing position - public double [] delta_calcInverse(TransformNR input ) { - double theta1, theta2, theta3; - double x0 = input.getX(); - double y0 = input.getY(); - double z0 = input.getZ(); - if(z0==0) { - z0=.0001; - } - theta1 = theta2 = theta3 = 0; - theta1 = delta_calcAngleYZ(x0, y0, z0); - theta2 = delta_calcAngleYZ(x0*cos120 + y0*sin120, y0*cos120-x0*sin120, z0); // rotate coords to +120 deg - theta3 = delta_calcAngleYZ(x0*cos120 - y0*sin120, y0*cos120+x0*sin120, z0); // rotate coords to -120 deg - return new double[] {Math.toDegrees(theta1),Math.toDegrees(theta2),Math.toDegrees(theta3)}; - } + + /** + * All units in milimeters. + * + * @param config + * the config + */ + public DeltaRobotKinematics(DeltaRobotConfig config) { + configuration = new DeltaRobotConfig(config); + } + + /** The sqrt3. */ + // trigonometric private ants + private double sqrt3 = Math.sqrt(3.0); + + /** The pi. */ + private double pi = Math.PI; // PI + + /** The sin120. */ + private double sin120 = sqrt3 / 2.0; + + /** The cos120. */ + private double cos120 = -0.5; + + /** The tan60. */ + private double tan60 = sqrt3; + + /** The sin30. */ + private double sin30 = 0.5; + + /** The tan30. */ + private double tan30 = 1 / sqrt3; + + // forward kinematics: (theta1, theta2, theta3) -> (x0, y0, z0) + /** + * Delta_calc forward. + * + * @param input + * the input + * @return the transform nr + */ + // returned status: CartesianCoordinante=OK, null=non-existing position + public TransformNR delta_calcForward(double[] input) { + double x0, y0, z0; + for (int i = 0; i < 3; i++) { + if (input[i] >= 85) + throw new RuntimeException("Angle hit toggle point: " + input[i]); + } + double theta1 = Math.toRadians(input[0]); + double theta2 = Math.toRadians(input[1]); + double theta3 = Math.toRadians(input[2]); + double t = (getF() - getE()) * tan30 / 2; + + double y1 = -(t + getRf() * Math.cos(theta1)); + double z1 = -getRf() * Math.sin(theta1); + + double y2 = (t + getRf() * Math.cos(theta2)) * sin30; + double x2 = y2 * tan60; + double z2 = -getRf() * Math.sin(theta2); + + double y3 = (t + getRf() * Math.cos(theta3)) * sin30; + double x3 = -y3 * tan60; + double z3 = -getRf() * Math.sin(theta3); + + double dnm = (y2 - y1) * x3 - (y3 - y1) * x2; + + double w1 = y1 * y1 + z1 * z1; + double w2 = x2 * x2 + y2 * y2 + z2 * z2; + double w3 = x3 * x3 + y3 * y3 + z3 * z3; + + // x = (a1*z + b1)/dnm + double a1 = (z2 - z1) * (y3 - y1) - (z3 - z1) * (y2 - y1); + double b1 = -((w2 - w1) * (y3 - y1) - (w3 - w1) * (y2 - y1)) / 2.0; + + // y = (a2*z + b2)/dnm; + double a2 = -(z2 - z1) * x3 + (z3 - z1) * x2; + double b2 = ((w2 - w1) * x3 - (w3 - w1) * x2) / 2.0; + + // a*z^2 + b*z + c = 0 + double a = a1 * a1 + a2 * a2 + dnm * dnm; + double b = 2 * (a1 * b1 + a2 * (b2 - y1 * dnm) - z1 * dnm * dnm); + double c = (b2 - y1 * dnm) * (b2 - y1 * dnm) + b1 * b1 + dnm * dnm * (z1 * z1 - getRe() * getRe()); + + // discriminant + double d = b * b - (double) 4.0 * a * c; + if (d < 0) + return null; // non-existing point + + z0 = -(double) 0.5 * (b + Math.sqrt(d)) / a; + x0 = (a1 * z0 + b1) / dnm; + y0 = (a2 * z0 + b2) / dnm; + return new TransformNR(x0, y0, z0, new RotationNR()); + } + + // inverse kinematics + /** + * Delta_calc angle yz. + * + * @param x0 + * the x0 + * @param y0 + * the y0 + * @param z0 + * the z0 + * @return the double + */ + // helper functions, calculates angle theta1 (for YZ-pane) + private double delta_calcAngleYZ(double x0, double y0, double z0) { + double theta; + // if(z0<=0) + // throw new RuntimeException("Z values must be greater then zero"); + double y1 = -0.5 * 0.57735 * getF(); // f/2 * tg 30 + y0 -= 0.5 * 0.57735 * getE(); // shift center to edge + // z = a + b*y + double a = (x0 * x0 + y0 * y0 + z0 * z0 + getRf() * getRf() - getRe() * getRe() - y1 * y1) / (2 * z0); + double b = (y1 - y0) / z0; + // discriminant + double d = -(a + b * y1) * (a + b * y1) + getRf() * (b * b * getRf() + getRf()); + if (d < 0) + throw new RuntimeException("Out Of Workspace! Inverse kinematics failed, D < 0"); // non-existing point + double yj = (y1 - a * b - Math.sqrt(d)) / (b * b + 1); // chooMath.sing outer point + double zj = a + b * yj; + theta = Math.atan(-zj / (y1 - yj)) + ((yj > y1) ? 180.0 : 0.0); + return theta; + } + + // inverse kinematics: (x0, y0, z0) -> (theta1, theta2, theta3) + /** + * Delta_calc inverse. + * + * @param input + * the input + * @return the double[] + */ + // returned status: 0=OK, -1=non-existing position + public double[] delta_calcInverse(TransformNR input) { + double theta1, theta2, theta3; + double x0 = input.getX(); + double y0 = input.getY(); + double z0 = input.getZ(); + if (z0 == 0) { + z0 = .0001; + } + theta1 = theta2 = theta3 = 0; + theta1 = delta_calcAngleYZ(x0, y0, z0); + theta2 = delta_calcAngleYZ(x0 * cos120 + y0 * sin120, y0 * cos120 - x0 * sin120, z0); // rotate coords to +120 + // deg + theta3 = delta_calcAngleYZ(x0 * cos120 - y0 * sin120, y0 * cos120 + x0 * sin120, z0); // rotate coords to -120 + // deg + return new double[]{Math.toDegrees(theta1), Math.toDegrees(theta2), Math.toDegrees(theta3)}; + } /** * Gets the e. diff --git a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/CodeHandler.java b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/CodeHandler.java index 74a5acce..0836ea09 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/CodeHandler.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/CodeHandler.java @@ -3,47 +3,54 @@ import java.util.List; // Auto-generated Javadoc -/** +/** * Encapsulates a handler for a particular G or M code. - * + * * @author Jonathan D.K. Gibbons * @version 1 */ public abstract class CodeHandler { - + /** - * - * Execute the action associated with this handler. - * this is permitted to modify the values stored in line; prev should be considered immutable. * - * @param prev The register values for the previous line of G code. Contains such things as the last set position, for interpolation schemes. - * @param line The current set of register values for this line of G code. - * @throws Exception the exception + * Execute the action associated with this handler. this is permitted + * to modify the values stored in line; prev should be considered immutable. + * + * @param prev + * The register values for the previous line of G code. Contains such + * things as the last set position, for interpolation schemes. + * @param line + * The current set of register values for this line of G code. + * @throws Exception + * the exception */ public abstract void execute(GCodeLineData prev, GCodeLineData line) throws Exception; /** The sub handlers. */ List subHandlers; - + /** * Sets the sub handlers. * - * @param subHandlers the new sub handlers + * @param subHandlers + * the new sub handlers */ public void setSubHandlers(List subHandlers) { - this.subHandlers=subHandlers; + this.subHandlers = subHandlers; } /** * Call sub methods. * - * @param prev the prev - * @param line the line - * @throws Exception the exception + * @param prev + * the prev + * @param line + * the line + * @throws Exception + * the exception */ public void callSubMethods(GCodeLineData prev, GCodeLineData line) throws Exception { - for(CodeHandler handler: subHandlers) + for (CodeHandler handler : subHandlers) handler.execute(prev, line); } } - diff --git a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/EmptyCodeHandler.java b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/EmptyCodeHandler.java index 1b10af48..70adc79b 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/EmptyCodeHandler.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/EmptyCodeHandler.java @@ -1,19 +1,24 @@ package com.neuronrobotics.replicator.driver.interpreter; // Auto-generated Javadoc -/** +/** * An empty code handler, for noting that "do nothing" is the correct action. - * Presently used for absolute positioning and programming in mm, because those are the internal representations. - * + * Presently used for absolute positioning and programming in mm, because those + * are the internal representations. + * */ public class EmptyCodeHandler extends CodeHandler { - - /* (non-Javadoc) - * @see com.neuronrobotics.replicator.driver.interpreter.CodeHandler#execute(com.neuronrobotics.replicator.driver.interpreter.GCodeLineData, com.neuronrobotics.replicator.driver.interpreter.GCodeLineData) + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.replicator.driver.interpreter.CodeHandler#execute(com. + * neuronrobotics.replicator.driver.interpreter.GCodeLineData, + * com.neuronrobotics.replicator.driver.interpreter.GCodeLineData) */ public void execute(GCodeLineData prev, GCodeLineData line) throws Exception { - - //throw new RuntimeException("No handler available " + line); + + // throw new RuntimeException("No handler available " + line); } } - diff --git a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeInterpreter.java b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeInterpreter.java index 513f17fa..8139da13 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeInterpreter.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeInterpreter.java @@ -20,16 +20,15 @@ * can register additional handlers using addGHandler and addMHandler, which * compose with, rather than replacing, the previous implementations. * {@link GCodeInterpreter#addDefaultHandlers} - * + * * To use, bind handlers to at least G00 and G01, and feed in a stream of - * G-code. An example can be found in - * + * G-code. An example can be found in + * * @author Jonathan D.K. Gibbons * @version 1 */ public class GCodeInterpreter { - /** * The list of currently active M-codes. This defines what handlers will be * called for M codes, and must be kept in a useful order. @@ -45,13 +44,13 @@ public class GCodeInterpreter { // implementations // are allowed to // modify the line. - + /** The error handler. */ - private CodeHandler errorHandler=null; + private CodeHandler errorHandler = null; /** - * The list of handlers for G codes. gHandlers[0] is the list of handlers - * for G0. The handlers must be called from last to first, to preserve - * composition semantics. + * The list of handlers for G codes. gHandlers[0] is the list of handlers for + * G0. The handlers must be called from last to first, to preserve composition + * semantics. */ List gHandlers[]; @@ -62,37 +61,36 @@ public class GCodeInterpreter { List gClearOnSet[]; /** - * The list of one-shot G codes. These are codes such as cycle times or - * setting offsets, which happen exactly once when they are in the stream. + * The list of one-shot G codes. These are codes such as cycle times or setting + * offsets, which happen exactly once when they are in the stream. */ List gOneShot; /** - * The list of handlers for M codes. This is stored and handled the same as - * for G codes. + * The list of handlers for M codes. This is stored and handled the same as for + * G codes. */ List mHandlers[]; /** - * A comparator to define G code ordering. This gives the order in which G - * codes must be interpreted in a line - units conversion happens before - * conversion to absolute, which happens before motion modes. + * A comparator to define G code ordering. This gives the order in which G codes + * must be interpreted in a line - units conversion happens before conversion to + * absolute, which happens before motion modes. */ Comparator gCodeOrdering; /** - * What axes are motion - this mostly defines which axes get - * relative/absolute and units conversion. + * What axes are motion - this mostly defines which axes get relative/absolute + * and units conversion. */ - char motion_axes[] = { 'X', 'Y', 'Z' }; + char motion_axes[] = {'X', 'Y', 'Z'}; /** - * Stores the previous position and other data for the previous line of G - * code. + * Stores the previous position and other data for the previous line of G code. */ GCodeLineData lastLine; /** - * Stores the currently in-progress position and other data for this line of - * G code. + * Stores the currently in-progress position and other data for this line of G + * code. */ GCodeLineData nextLine; @@ -105,13 +103,12 @@ public class GCodeInterpreter { /** The executing lock. */ ReentrantLock executingLock; - + /** The line number. */ - private int lineNumber=0; + private int lineNumber = 0; /** - * Default Constructor. This builds an interpreter and adds the default set - * of handlers and configuration to it. @see - * GCodeInterpreter#addDefaultHandlers + * Default Constructor. This builds an interpreter and adds the default set of + * handlers and configuration to it. @see GCodeInterpreter#addDefaultHandlers */ @SuppressWarnings("unchecked") public GCodeInterpreter() { @@ -126,123 +123,126 @@ public GCodeInterpreter() { addDefaultHandlers(); executingLock = new ReentrantLock(); } - - + /** * Process single gcode line. * - * @param line the line - * @throws Exception the exception + * @param line + * the line + * @throws Exception + * the exception */ - public void processSingleGCODELine(String line) throws Exception{ + public void processSingleGCODELine(String line) throws Exception { String delims; String[] tokens; - + delims = "[ ]+"; tokens = line.split(delims); nextLine.storeWord('G', 0); nextLine.storeWord('M', 0); nextLine.storeWord('P', lineNumber); - com.neuronrobotics.sdk.common.Log.error("GCODE: "+line); - - for(int i=0;i-1){ - //this line contains a comment - if(line.indexOf(';') ==0){ + if (line.indexOf(';') > -1) { + // this line contains a comment + if (line.indexOf(';') == 0) { // this is just a comment line = null; - }else{ + } else { delims = "[;]+"; tokens = line.split(delims); - //strip the comment and place the rest of the line + // strip the comment and place the rest of the line // in the to-be-parsed variable line = tokens[0]; } - }else{ + } else { // no comment on this line } - //Check for the block comment case - if(line != null){ - if(line.indexOf('(')>-1){ + // Check for the block comment case + if (line != null) { + if (line.indexOf('(') > -1) { // block comment section inCommentSection = true; line = null; } - + } - if(line != null){ - if(line.indexOf(')')>-1){ + if (line != null) { + if (line.indexOf(')') > -1) { // end block comment section inCommentSection = false; line = null; } } - if(inCommentSection) + if (inCommentSection) line = null; - + // Check for the empty line case - if(line != null){ - if (line.trim().isEmpty()){ - //empty line detect + if (line != null) { + if (line.trim().isEmpty()) { + // empty line detect line = null; } } // OK, now we have a valid line - if(line !=null){ - - - processSingleGCODELine( line); + if (line != null) { + + processSingleGCODELine(line); } - + } br.close(); } - /** * Execute the action(s) specified by the already built-up line of G-code. * - * @param rawLine the raw line - * @throws Exception the exception + * @param rawLine + * the raw line + * @throws Exception + * the exception */ private void executeLine(String rawLine) throws Exception { - + Log.debug("Next Gcode Line " + nextLine); Log.debug("Active Gcodes: " + gcodes); Log.debug("Active Mcodes: " + mcodes); @@ -253,9 +253,9 @@ private void executeLine(String rawLine) throws Exception { } } else { // Log.debug("No implementation found for M"+m); - if(getErrorHandler() ==null) + if (getErrorHandler() == null) throw new RuntimeException("No implementation found for M" + m); - else{ + else { getErrorHandler().execute(lastLine, nextLine); } } @@ -265,9 +265,9 @@ private void executeLine(String rawLine) throws Exception { handler.execute(lastLine, nextLine); } } else { - if(getErrorHandler() ==null) + if (getErrorHandler() == null) throw new RuntimeException("No implementation found for G" + g); - else{ + else { getErrorHandler().execute(lastLine, nextLine); } } @@ -282,26 +282,30 @@ private void executeLine(String rawLine) throws Exception { * Main entry point; take an InputStream of G code and run the sequence of * actions it describes. * - * @param in the in - * @throws Exception the exception + * @param in + * the in + * @throws Exception + * the exception */ public void interpretStream(InputStream in) throws Exception { executingLock.lock(); interpretingThread = Thread.currentThread(); - + parseLine(in); interpretingThread = null; executingLock.unlock(); - + } /** * Nonblocking version of interpretStream(); fails rather than waiting. * - * @param in the in - * @throws Exception the exception + * @param in + * the in + * @throws Exception + * the exception */ public void tryInterpretStream(InputStream in) throws Exception { @@ -312,13 +316,13 @@ public void tryInterpretStream(InputStream in) throws Exception { executingLock.unlock(); } } else { - throw(new RuntimeException("Printer not ready")); + throw (new RuntimeException("Printer not ready")); } } /** - * Cancel a run of a G-code stream. This interrupts the thread that is - * currently parsing a G-code stream, canceling its execution. + * Cancel a run of a G-code stream. This interrupts the thread that is currently + * parsing a G-code stream, canceling its execution. * * @return true, if successful */ @@ -331,13 +335,12 @@ public boolean cancel() { } /** - * Add a handler for a G code. The new handler executes before any - * previously installed handler for the code, to permit composition; for - * instance, where the first-installed G01 handler specifies motion and - * flushes the commands to device, a handler installed later could handle - * tool behavior without flushing the device, and provide coordinated - * behavior. - * + * Add a handler for a G code. The new handler executes before any previously + * installed handler for the code, to permit composition; for instance, where + * the first-installed G01 handler specifies motion and flushes the commands to + * device, a handler installed later could handle tool behavior without flushing + * the device, and provide coordinated behavior. + * * @param code * the G code to bind this handler to. * @param handler @@ -355,9 +358,9 @@ public void addGHandler(int code, CodeHandler handler) { // Should really do /** * Clear any previous handlers for a code, and install a new one. This is - * usually unneccessary, but it allows you to clear a handler set and start - * from scratch. - * + * usually unneccessary, but it allows you to clear a handler set and start from + * scratch. + * * @param code * the G code to bind this handler to. * @param handler @@ -373,13 +376,12 @@ public void setGHandler(int code, CodeHandler handler) { // For overriding } /** - * Add a handler for an M code. The new handler executes before any - * previously installed handler for the code, to permit composition; for - * instance, where the first-installed G01 handler specifies motion and - * flushes the commands to device, a handler installed later could handle - * tool behavior without flushing the device, and provide coordinated - * behavior. - * + * Add a handler for an M code. The new handler executes before any previously + * installed handler for the code, to permit composition; for instance, where + * the first-installed G01 handler specifies motion and flushes the commands to + * device, a handler installed later could handle tool behavior without flushing + * the device, and provide coordinated behavior. + * * @param code * the G code to bind this handler to. * @param handler @@ -397,9 +399,9 @@ public void addMHandler(int code, CodeHandler handler) { // Should really do /** * Clear any previous handlers for a code, and install a new one. This is - * usually unneccessary, but it allows you to clear a handler set and start - * from scratch. - * + * usually unneccessary, but it allows you to clear a handler set and start from + * scratch. + * * @param code * the G code to bind this handler to. * @param handler @@ -416,12 +418,12 @@ public void setMHandler(int code, CodeHandler handler) { // For overriding /** * Add rules for how to sort G codes before executing them. The new and old - * Comparators are combined; whenever the new comparator returns equal, the - * old comparator is consulted, permitting straightforward overridability. - * + * Comparators are combined; whenever the new comparator returns equal, the old + * comparator is consulted, permitting straightforward overridability. + * * For instance, to add a rule stating that the handlers for code G07 should * always execute after those for G09: - * + * * 

 	 * interp.addGSorting(new Comparator<Integer>() {
 	 * 	public int compare(Integer c1, Integer c2) {
@@ -433,11 +435,10 @@ public void setMHandler(int code, CodeHandler handler) { // For overriding
 	 * 	}
 	 * });
 	 *
- * - * Note: this does not implement any sort of transitivity, that is - * left to the new comparator, and is required for the contract of a - * comparator. - * + * + * Note: this does not implement any sort of transitivity, that is left + * to the new comparator, and is required for the contract of a comparator. + * * @param c * the comparator implementing the new ordering rules. */ @@ -472,10 +473,9 @@ public boolean equals(Integer o1, Integer o2) { } /** - * Override the default sort for G codes. Not recommended unless all G codes - * are being written by the user; this can break dependencies between - * handlers. - * + * Override the default sort for G codes. Not recommended unless all G codes are + * being written by the user; this can break dependencies between handlers. + * * @param c * the new comparator. */ @@ -486,7 +486,7 @@ public void setGSorting(@SuppressWarnings("rawtypes") Comparator c) { /** * Add the default set of handlers to this interpreter. - * + * * */ public void addDefaultHandlers() { @@ -496,8 +496,7 @@ public void addDefaultHandlers() { // G0 - no handler. addGHandler(0, new CodeHandler() { public void execute(GCodeLineData prev, GCodeLineData next) { - Log.debug("Rapid move to " + next.getWord('X') + ", " - + next.getWord('Y') + ", " + next.getWord('Z')); + Log.debug("Rapid move to " + next.getWord('X') + ", " + next.getWord('Y') + ", " + next.getWord('Z')); } }); // G1 - no handler. @@ -505,8 +504,7 @@ public void execute(GCodeLineData prev, GCodeLineData next) { public void execute(GCodeLineData prev, GCodeLineData next) { if (next.getWord('F') == 0.0) Log.error("Zero feedrate; action will never complete."); - Log.debug("Feed move to " + next.getWord('X') + ", " - + next.getWord('Y') + ", " + next.getWord('Z') + Log.debug("Feed move to " + next.getWord('X') + ", " + next.getWord('Y') + ", " + next.getWord('Z') + " at feed " + next.getWord('F')); } }); @@ -515,7 +513,7 @@ public void execute(GCodeLineData prev, GCodeLineData next) { // G22 - program in in - convert to mm. Only on xyz for now. addGHandler(22, new CodeHandler() { public void execute(GCodeLineData prev, GCodeLineData next) { - char axes[] = { 'X', 'Y', 'Z' }; + char axes[] = {'X', 'Y', 'Z'}; for (char c : axes) { next.storeWord(c, next.getWord(c) * 25.4); } @@ -527,7 +525,7 @@ public void execute(GCodeLineData prev, GCodeLineData next) { // xyz by default. addGHandler(91, new CodeHandler() { public void execute(GCodeLineData prev, GCodeLineData next) { - char axes[] = { 'X', 'Y', 'Z' }; + char axes[] = {'X', 'Y', 'Z'}; for (char c : axes) { next.storeWord(c, next.getWord(c) + prev.getWord(c)); } @@ -538,7 +536,7 @@ public void execute(GCodeLineData prev, GCodeLineData next) { addGHandler(92, new CodeHandler() { public void execute(GCodeLineData prev, GCodeLineData next) { Log.debug("G92 is not complete"); - char axes[] = { 'X', 'Y', 'Z' }; + char axes[] = {'X', 'Y', 'Z'}; for (char c : axes) { next.storeWord(c, next.getWord(c) + curOffset[c - 'A']); } @@ -570,10 +568,11 @@ public int compare(Integer o1, Integer o2) { }); @SuppressWarnings("unchecked") - List[] exclGroups = (List[]) new List[] { - Arrays.asList(0, 1, 4, 28), // All of these might need to change - // to be mutable later. - Arrays.asList(20, 21), Arrays.asList(90, 91) }; + List[] exclGroups = (List[]) new List[]{Arrays.asList(0, 1, 4, 28), // All of these might + // need to change + // to be mutable + // later. + Arrays.asList(20, 21), Arrays.asList(90, 91)}; for (List group : exclGroups) { for (int code : group) { gClearOnSet[code] = group; @@ -586,11 +585,13 @@ public int compare(Integer o1, Integer o2) { } /** - * Default executable; runs as a pipe, parsing standard input with the - * default handlers. + * Default executable; runs as a pipe, parsing standard input with the default + * handlers. * - * @param args the arguments - * @throws Exception the exception + * @param args + * the arguments + * @throws Exception + * the exception */ public static void main(String args[]) throws Exception { GCodeInterpreter interp = new GCodeInterpreter(); @@ -609,7 +610,8 @@ public CodeHandler getErrorHandler() { /** * Sets the error handler. * - * @param errorHandler the new error handler + * @param errorHandler + * the new error handler */ public void setErrorHandler(CodeHandler errorHandler) { this.errorHandler = errorHandler; diff --git a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeLineData.java b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeLineData.java index 7834f58a..b2f18f14 100644 --- a/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeLineData.java +++ b/src/main/java/com/neuronrobotics/replicator/driver/interpreter/GCodeLineData.java @@ -1,77 +1,87 @@ package com.neuronrobotics.replicator.driver.interpreter; import java.util.Arrays; - // Auto-generated Javadoc -/** - * Encapsulates the register information in a line of G code, stored as double-precision floating point values. +/** + * Encapsulates the register information in a line of G code, stored as + * double-precision floating point values. * * @author Jonathan D.K. Gibbons * @version 1 */ public class GCodeLineData { - + /** The line values. */ double lineValues[]; - /** + /** * Construct a new object, initialized to zero. */ - public GCodeLineData(){ - lineValues=new double[26]; + public GCodeLineData() { + lineValues = new double[26]; } - /** - * Copies a GCodeLineData object. By default, registers are copied between every line, such that a Y1.5 setting is kept if Y is not mentioned. - * @param toCopy Usually the data for the previous line of G code. + /** + * Copies a GCodeLineData object. By default, registers are copied between every + * line, such that a Y1.5 setting is kept if Y is not mentioned. + * + * @param toCopy + * Usually the data for the previous line of G code. */ public GCodeLineData(GCodeLineData toCopy) { - lineValues=Arrays.copyOf(toCopy.lineValues,26); + lineValues = Arrays.copyOf(toCopy.lineValues, 26); } - - /** + + /** * Set the value for register c in the line to val. - * @param c the register letter. May be upper or lower case. - * @param val the new value. + * + * @param c + * the register letter. May be upper or lower case. + * @param val + * the new value. */ public void storeWord(char c, double val) { - int i=Character.toUpperCase(c)-'A'; - lineValues[i]=val; + int i = Character.toUpperCase(c) - 'A'; + lineValues[i] = val; } - + /** * Retrieve the value for register c. - * @param c the register letter. must be upper case. + * + * @param c + * the register letter. must be upper case. * @return the value of the register for c */ public double getWord(char c) { - return lineValues[c-'A']; + return lineValues[c - 'A']; } - /** - * + * * Retrieve an array of values for the registers named in words. * - * @param words the words + * @param words + * the words * @return the values of the registers in words */ public double[] getWords(char words[]) { - double[] d=new double[words.length]; - for(int i=0; i listeners = new ArrayList(); - + /** * Instantiates a new creates the. * - * @param chan the chan + * @param chan + * the chan */ - public Create(UARTChannel chan){ - channel= chan; + public Create(UARTChannel chan) { + channel = chan; channel.setUARTBaudrate(57600); channel.addUARTStreamListener(this); - byte [] init = {(byte) 128,(byte) 131}; + byte[] init = {(byte) 128, (byte) 131}; try { send(init); } catch (Exception e) { @@ -74,39 +75,40 @@ public Create(UARTChannel chan){ } requestSensors(); } - + /** * Sets the full mode. */ - public void setFullMode(){ - byte [] init = {(byte) 128,(byte) 132}; + public void setFullMode() { + byte[] init = {(byte) 128, (byte) 132}; try { send(init); } catch (Exception e) { throw new DyIOPeripheralException("Failed to initialize iRobot Create in Full Mode"); } } - + /** * Inits the create. */ - public void InitCreate(){ - byte [] init = {(byte) 128,(byte) 131}; + public void InitCreate() { + byte[] init = {(byte) 128, (byte) 131}; try { send(init); } catch (Exception e) { throw new DyIOPeripheralException("Failed to initialize iRobot Create in Full Mode"); } } - + /** * Inits the create blocking. * - * @param timeout the timeout + * @param timeout + * the timeout */ - public void InitCreateBlocking(int timeout){ - byte [] init = {(byte) 128,(byte) 131}; - while(true){ + public void InitCreateBlocking(int timeout) { + byte[] init = {(byte) 128, (byte) 131}; + while (true) { try { Thread.sleep(500); Log.info("Initializing Create.."); @@ -117,84 +119,89 @@ public void InitCreateBlocking(int timeout){ } } } - + /** - * wrapper for the drive command - * NOTE, this is not a positional, only velocity. It will run forever until you tell it to stop - * Special cases for radius param: - straight = 32768 = hex 8000 - Turn in place clockwise = -1 - Turn in place counter-clockwise = 1 - - * @param velocity mm/s 32768 to -32768 - * @param radius mm 32768 to -32768 + * wrapper for the drive command NOTE, this is not a positional, only velocity. + * It will run forever until you tell it to stop Special cases for radius param: + * straight = 32768 = hex 8000 Turn in place clockwise = -1 Turn in place + * counter-clockwise = 1 + * + * @param velocity + * mm/s 32768 to -32768 + * @param radius + * mm 32768 to -32768 */ - public void move(short velocity,short radius){ - if((velocity == previousVel) &&(radius == previousRad) ) + public void move(short velocity, short radius) { + if ((velocity == previousVel) && (radius == previousRad)) return; previousRad = radius; - previousVel = velocity; - byte[] drv = {(byte) 137,(byte) (velocity>>8),(byte) velocity,(byte) (radius>>8),(byte) radius}; + previousVel = velocity; + byte[] drv = {(byte) 137, (byte) (velocity >> 8), (byte) velocity, (byte) (radius >> 8), (byte) radius}; try { send(drv); } catch (Exception e) { throw new DyIOPeripheralException("Failed to send drive command"); } } - + /** * Drive straight. * - * @param distance mm Distance from current location to drive + * @param distance + * mm Distance from current location to drive */ - public void driveStraight(short distance){ - driveStraight((short)0x7fff,distance); + public void driveStraight(short distance) { + driveStraight((short) 0x7fff, distance); } /** * Driving macro. This will drive for a distance and stop. - * @param velocity mm/s - * @param distance mm + * + * @param velocity + * mm/s + * @param distance + * mm */ - public void driveStraight(short velocity,short distance){ - if((distance > 0 && velocity < 0) || (distance < 0 && velocity > 0)){ + public void driveStraight(short velocity, short distance) { + if ((distance > 0 && velocity < 0) || (distance < 0 && velocity > 0)) { velocity *= -1; } - byte[] drv = {(byte) 152,13, - (byte) 137,(byte) (velocity>>8),(byte) velocity,(byte) (128),0, - (byte) 156,(byte) (distance>>8),(byte) (distance), - (byte) 137,0,0,0,0, - (byte) 153}; + byte[] drv = {(byte) 152, 13, (byte) 137, (byte) (velocity >> 8), (byte) velocity, (byte) (128), 0, (byte) 156, + (byte) (distance >> 8), (byte) (distance), (byte) 137, 0, 0, 0, 0, (byte) 153}; try { send(drv); } catch (Exception e) { throw new DyIOPeripheralException("Failed to send drive command"); - + } } - + /** * Drive straight blocking. * - * @param timeout the timeout - * @param velocity mm/s - * @param distance mm + * @param timeout + * the timeout + * @param velocity + * mm/s + * @param distance + * mm * @return true, if successful - * @throws InterruptedException the interrupted exception + * @throws InterruptedException + * the interrupted exception */ - public boolean driveStraightBlocking(int timeout,short velocity,short distance) throws InterruptedException{ - int tries=0; + public boolean driveStraightBlocking(int timeout, short velocity, short distance) throws InterruptedException { + int tries = 0; Log.info("Driving..."); try { - driveStraight(velocity,distance); + driveStraight(velocity, distance); } catch (Exception e) { Log.error(e.toString()); } - myDistance=0; - while (myDistance==0) { + myDistance = 0; + while (myDistance == 0) { tries++; // try to get a good sensor reading. break on sucsess - while(true){ - try{ + while (true) { + try { Log.info("Trying to get a good sensor reading"); Thread.sleep(1000); this.requestSensors(); @@ -203,77 +210,82 @@ public boolean driveStraightBlocking(int timeout,short velocity,short distance) Log.error(e.toString()); } } - Log.info("Driving Attempt "+Integer.toBinaryString(tries)); - if (tries==10){ + Log.info("Driving Attempt " + Integer.toBinaryString(tries)); + if (tries == 10) { Log.info("Re attempting to send command"); - tries=0; - try{ - driveStraight(velocity,distance); + tries = 0; + try { + driveStraight(velocity, distance); } catch (Exception e) { Log.error(e.toString()); } Thread.sleep(1000); } } - + return false; - + } - + /** * Turn. * - * @param angle degrees Distance from current location to drive + * @param angle + * degrees Distance from current location to drive */ - public void turn(short angle){ - turn((short)0x7fff,angle); + public void turn(short angle) { + turn((short) 0x7fff, angle); } /** * Driving macro. This will drive for a distance and stop. - * @param velocity mm/s - * @param angle degrees + * + * @param velocity + * mm/s + * @param angle + * degrees */ - public void turn(short velocity,short angle){ - if(velocity<0){ + public void turn(short velocity, short angle) { + if (velocity < 0) { velocity *= -1; } - short turn = (short) ((angle>0)? 1:-1); - byte[] drv = {(byte) 152,13, - (byte) 137,(byte) (velocity>>8),(byte) velocity,(byte) (turn>>8),(byte) (turn), - (byte) 157,(byte) (angle>>8),(byte) (angle), - (byte) 137,0,0,0,0, - (byte) 153}; - //Log.info("Turning: "+new ByteList(drv)); + short turn = (short) ((angle > 0) ? 1 : -1); + byte[] drv = {(byte) 152, 13, (byte) 137, (byte) (velocity >> 8), (byte) velocity, (byte) (turn >> 8), + (byte) (turn), (byte) 157, (byte) (angle >> 8), (byte) (angle), (byte) 137, 0, 0, 0, 0, (byte) 153}; + // Log.info("Turning: "+new ByteList(drv)); try { send(drv); } catch (Exception e) { throw new DyIOPeripheralException("Failed to send drive command"); } } - + /** * Turn blocking. * - * @param timeout the timeout - * @param velocity the velocity - * @param angle the angle + * @param timeout + * the timeout + * @param velocity + * the velocity + * @param angle + * the angle * @return true, if successful - * @throws InterruptedException the interrupted exception + * @throws InterruptedException + * the interrupted exception */ - public boolean turnBlocking(int timeout,short velocity,short angle) throws InterruptedException{ - int tries=0; + public boolean turnBlocking(int timeout, short velocity, short angle) throws InterruptedException { + int tries = 0; Log.info("Driving..."); try { - turn(velocity,angle); + turn(velocity, angle); } catch (Exception e) { Log.error(e.toString()); } - myAngle=0; - while (myAngle==0) { + myAngle = 0; + while (myAngle == 0) { tries++; // try to get a good sensor reading. break on sucsess - while(true){ - try{ + while (true) { + try { Log.info("Trying to get a good sensor reading"); Thread.sleep(1000); this.requestSensors(); @@ -283,93 +295,103 @@ public boolean turnBlocking(int timeout,short velocity,short angle) throws Inter } Thread.sleep(1000); } - Log.info("Driving Attempt "+Integer.toBinaryString(tries)); - if (tries==10){ + Log.info("Driving Attempt " + Integer.toBinaryString(tries)); + if (tries == 10) { Log.info("Re attempting to send command"); - tries=0; - try{ - turn(velocity,angle); + tries = 0; + try { + turn(velocity, angle); } catch (Exception e) { Log.error(e.toString()); } Thread.sleep(1000); } } - + return false; } - + /** * Sets the led. * - * @param max sets the state of the "max" led - * @param spot sets the state of the "spot" led + * @param max + * sets the state of the "max" led + * @param spot + * sets the state of the "spot" led */ - public void setLed(boolean max,boolean spot){ - int led=0; - led+=max? (1<<1):0; - led+=spot? (1<<3):0; - ledState[1]=(byte)led; + public void setLed(boolean max, boolean spot) { + int led = 0; + led += max ? (1 << 1) : 0; + led += spot ? (1 << 3) : 0; + ledState[1] = (byte) led; setLed(); } - + /** * Sets the status led. * - * @param color Power Color (0 – 255), 0 = green, 255 = red - * @param intensity Power Intensity (0 – 255), 0 = off, 255 = full intensity + * @param color + * Power Color (0 – 255), 0 = green, 255 = red + * @param intensity + * Power Intensity (0 – 255), 0 = off, 255 = full intensity */ - public void setStatusLed(int color,int intensity){ - ledState[2]=(byte)color; - ledState[3]=(byte)intensity; + public void setStatusLed(int color, int intensity) { + ledState[2] = (byte) color; + ledState[3] = (byte) intensity; setLed(); } - + /** * Request sensors. */ - public void requestSensors(){ + public void requestSensors() { requestSensors(CreateSensorRequest.ALL); } - + /** * Request sensors. * - * @param req the req + * @param req + * the req */ - public void requestSensors(CreateSensorRequest req){ - senReq=req; - byte []all={(byte)142,req.getValue()}; + public void requestSensors(CreateSensorRequest req) { + senReq = req; + byte[] all = {(byte) 142, req.getValue()}; try { send(all); } catch (Exception e) { throw new DyIOPeripheralException("Failed to send sensor request"); } } - + /** * Sets the led. */ - private void setLed(){ + private void setLed() { try { send(ledState); } catch (Exception e) { // ignore } } - + /** * Send. * - * @param b the b - * @throws Exception the exception + * @param b + * the b + * @throws Exception + * the exception */ - private void send(byte[]b) throws Exception{ + private void send(byte[] b) throws Exception { channel.sendBytes(new ByteList(b)); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com.neuronrobotics.sdk.dyio.DyIOChannelEvent) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com. + * neuronrobotics.sdk.dyio.DyIOChannelEvent) */ public void onChannelEvent(DyIOChannelEvent e) { try { @@ -377,108 +399,109 @@ public void onChannelEvent(DyIOChannelEvent e) { } catch (InterruptedException e1) { // ignore } - byte [] in = channel.getBytes(); - switch(senReq){ - case ALL: - if(in.length==26){ - //Log.info("Got ALL packet from Create"); - for (int i=0;i<26;i++){ - sensor[i]=in[i]; + byte[] in = channel.getBytes(); + switch (senReq) { + case ALL : + if (in.length == 26) { + // Log.info("Got ALL packet from Create"); + for (int i = 0; i < 26; i++) { + sensor[i] = in[i]; + } + } else { + Log.error("malformed ALL packet from Create" + new ByteList(in)); + return; } - }else{ - Log.error("malformed ALL packet from Create"+new ByteList(in)); - return; - } - break; - case IO: - if(in.length==10){ - //Log.info("Got IO packet from Create"); - for (int i=0;i<10;i++){ - sensor[i]=in[i]; + break; + case IO : + if (in.length == 10) { + // Log.info("Got IO packet from Create"); + for (int i = 0; i < 10; i++) { + sensor[i] = in[i]; + } + } else { + Log.error("malformed IO packet from Create" + new ByteList(in)); + return; } - }else{ - Log.error("malformed IO packet from Create"+new ByteList(in)); - return; - } - - break; - case DRIVE: - if(in.length==6){ - //Log.info("Got DRIVE packet from Create"); - for (int i=0;i<6;i++){ - sensor[i+10]=in[i]; + + break; + case DRIVE : + if (in.length == 6) { + // Log.info("Got DRIVE packet from Create"); + for (int i = 0; i < 6; i++) { + sensor[i + 10] = in[i]; + } + } else { + Log.error("malformed DRIVE packet from Create" + new ByteList(in)); + return; } - }else{ - Log.error("malformed DRIVE packet from Create"+new ByteList(in)); - return; - } - break; - case BATTERY: - if(in.length==10){ - //Log.info("Got BATTERY packet from Create"); - for (int i=0;i<10;i++){ - sensor[i+16]=in[i]; + break; + case BATTERY : + if (in.length == 10) { + // Log.info("Got BATTERY packet from Create"); + for (int i = 0; i < 10; i++) { + sensor[i + 16] = in[i]; + } + } else { + Log.error("malformed BATTERY packet from Create" + new ByteList(in)); + return; } - }else{ - Log.error("malformed BATTERY packet from Create"+new ByteList(in)); - return; - } - break; - case NONE: - Log.error("Create sent packet upstream unexpectedally: "+new ByteList(in)); + break; + case NONE : + Log.error("Create sent packet upstream unexpectedally: " + new ByteList(in)); } fireCreatePacket(new CreateSensors(sensor)); - senReq=CreateSensorRequest.NONE; + senReq = CreateSensorRequest.NONE; } - + /** * removeAllCreateSensorListeners clears the list of async packet listeners. */ public void removeAllCreateSensorListeners() { listeners.clear(); } - + /** * removeCreateSensorListener. - * + * * @param l * remove the specified listener */ public void removeCreateSensorListener(ICreateSensorListener l) { - if(!listeners.contains(l)) { + if (!listeners.contains(l)) { return; } - + listeners.remove(l); } - + /** * addCreateSensorListener. - * + * * @param l * add the specified listener */ public void addCreateSensorListener(ICreateSensorListener l) { - if(listeners.contains(l)) { + if (listeners.contains(l)) { return; } listeners.add(l); } - + /** * Fire create packet. * - * @param packet the packet + * @param packet + * the packet */ private void fireCreatePacket(CreateSensors packet) { // for the blocking drive funcs - myAngle=packet.angle; + myAngle = packet.angle; myDistance = packet.distance; - //packetRecieved = true; - - for(ICreateSensorListener l : listeners) { + // packetRecieved = true; + + for (ICreateSensorListener l : listeners) { l.onCreateSensor(packet); } } - + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateArm.java b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateArm.java index a188d065..ea1728f9 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateArm.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateArm.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -23,86 +23,85 @@ * The Class CreateArm. */ public class CreateArm { - + /** The links. */ - ServoChannel [] links; - + ServoChannel[] links; + /** The Constant l1. */ private static final double l1 = 6.0; - + /** The Constant l2. */ private static final double l2 = 3.93; - + /** The Constant l3. */ private static final double l3 = 4.75; - + /** The Constant M_PI. */ - //private static final double l3 = .0001; - private static final double M_PI = Math.PI; - + // private static final double l3 = .0001; + private static final double M_PI = Math.PI; + /** The scale. */ - private double scale[]={1.55,1.50,-1.76}; - + private double scale[] = {1.55, 1.50, -1.76}; + /** The positions. */ - private double [] positions=new double[4]; - + private double[] positions = new double[4]; + /** The angles. */ - private double [] angles=new double[3]; - + private double[] angles = new double[3]; + /** The pose. */ - private double [] pose=new double[3]; - + private double[] pose = new double[3]; + /** The centers. */ - private double [] centers={134,136,128,48}; - + private double[] centers = {134, 136, 128, 48}; + /** The blocking. */ private boolean blocking = false; - + /** The xy thresh hold. */ private double xyThreshHold = .1; - + /** The orient thresh hold. */ private double orientThreshHold = 1; - + /** * Instantiates a new creates the arm. * - * @param links this is an array of servo channel links. - * 0th element is shoulder - * 1th element is elbow - * 2th element is is wrist - * 3th element is the gripper + * @param links + * this is an array of servo channel links. 0th element is shoulder + * 1th element is elbow 2th element is is wrist 3th element is the + * gripper */ - public CreateArm(ServoChannel [] links){ + public CreateArm(ServoChannel[] links) { check(links); home(); - pose=getCartesianPose(); + pose = getCartesianPose(); } - + /** * Home. */ - public void home(){ - setAngles(90,-90,0); + public void home() { + setAngles(90, -90, 0); setCartesianPose(getCartesianPose()); gripOpen(); } - + /** * Rest. */ - public void rest(){ - setAngles(110,-110,0); + public void rest() { + setAngles(110, -110, 0); setCartesianPose(getCartesianPose()); gripOpen(); } - + /** * Grip close. */ - public void gripClose(){ - links[3].SetPosition((int) centers[3]+75,(float).5); - if (isBlocking()){ + public void gripClose() { + links[3].SetPosition((int) centers[3] + 75, (float) .5); + if (isBlocking()) { try { Thread.sleep(500); } catch (InterruptedException e1) { @@ -110,13 +109,13 @@ public void gripClose(){ } } } - + /** * Grip open. */ - public void gripOpen(){ - links[3].SetPosition((int) centers[3],(float) .5); - if (isBlocking()){ + public void gripOpen() { + links[3].SetPosition((int) centers[3], (float) .5); + if (isBlocking()) { try { Thread.sleep(500); } catch (InterruptedException e1) { @@ -124,309 +123,339 @@ public void gripOpen(){ } } } - + /** * Check. * - * @param links the links + * @param links + * the links */ - private void check(ServoChannel [] links){ - if(links.length != 4){ + private void check(ServoChannel[] links) { + if (links.length != 4) { throw new DyIOPeripheralException("This perpheral needs 4 links."); } - for(int i=0;i<4;i++){ - if(links[i]==null){ + for (int i = 0; i < 4; i++) { + if (links[i] == null) { throw new DyIOPeripheralException("All links must already be instantiated."); } - links[i].SetPosition((int) getCenters()[i],2); - positions[i]=(double)getCenters()[i]; + links[i].SetPosition((int) getCenters()[i], 2); + positions[i] = (double) getCenters()[i]; } this.links = links; } - + /** * Sets the shouler. * - * @param angle set just the shoulder angle + * @param angle + * set just the shoulder angle */ - public void setShouler(double angle){ - setAngles(angle,angles[1],angles[2]); + public void setShouler(double angle) { + setAngles(angle, angles[1], angles[2]); } - + /** * Sets the elbow. * - * @param angle set just the elbow angle + * @param angle + * set just the elbow angle */ - public void setElbow(double angle){ - setAngles(angles[0],angle,angles[2]); + public void setElbow(double angle) { + setAngles(angles[0], angle, angles[2]); } - + /** * Sets the wrist. * - * @param angle set just the wrist angle + * @param angle + * set just the wrist angle */ - public void setWrist(double angle){ - setAngles(angles[0],angles[1],angle); + public void setWrist(double angle) { + setAngles(angles[0], angles[1], angle); } - + /** - * This takes angles in degrees and converts them to servo positions; Note: - * All zeros would be the arm completely horizontal, all links pointing out. + * This takes angles in degrees and converts them to servo positions; Note: All + * zeros would be the arm completely horizontal, all links pointing out. * - * @param shoulder the shoulder - * @param elbow the elbow - * @param wrist the wrist + * @param shoulder + * the shoulder + * @param elbow + * the elbow + * @param wrist + * the wrist */ - public void setAngles(double shoulder, double elbow, double wrist){ - setAngles(shoulder, elbow, wrist,(float) 1.0); + public void setAngles(double shoulder, double elbow, double wrist) { + setAngles(shoulder, elbow, wrist, (float) 1.0); } - + /** - * This takes angles in degrees and converts them to servo positions; Note: - * All zeros would be the arm completely horizontal, all links pointing out. + * This takes angles in degrees and converts them to servo positions; Note: All + * zeros would be the arm completely horizontal, all links pointing out. * - * @param shoulder the shoulder - * @param elbow the elbow - * @param wrist the wrist - * @param time the time it should take for the transition to take - */ - public void setAngles(double shoulder, double elbow, double wrist,float time) { - angles[0]=shoulder; - angles[1]=elbow; - angles[2]=wrist; - double s,e,w; - s =shoulder-90; - s *=getScale()[0]; - positions[0]=getCenters()[0]+s; - - e =(elbow+90); - e *=getScale()[1]; - positions[1]=getCenters()[1]+e; - double interference = centers[0]-45; - double limit = 255 - (1.1*(positions[0]-interference)); - if(positions[0]>interference){ - Log.info("In interference zone: "+interference+" with limit: "+limit ); - if (positions[1]>limit){ - System.err.print("\nAttempting to set angle that interferes, fixing. Was: "+positions[0]+","+positions[1]); - positions[1]=limit; - System.err.print(" Is: "+positions[0]+" , "+positions[1]+"\n"); + * @param shoulder + * the shoulder + * @param elbow + * the elbow + * @param wrist + * the wrist + * @param time + * the time it should take for the transition to take + */ + public void setAngles(double shoulder, double elbow, double wrist, float time) { + angles[0] = shoulder; + angles[1] = elbow; + angles[2] = wrist; + double s, e, w; + s = shoulder - 90; + s *= getScale()[0]; + positions[0] = getCenters()[0] + s; + + e = (elbow + 90); + e *= getScale()[1]; + positions[1] = getCenters()[1] + e; + double interference = centers[0] - 45; + double limit = 255 - (1.1 * (positions[0] - interference)); + if (positions[0] > interference) { + Log.info("In interference zone: " + interference + " with limit: " + limit); + if (positions[1] > limit) { + System.err.print( + "\nAttempting to set angle that interferes, fixing. Was: " + positions[0] + "," + positions[1]); + positions[1] = limit; + System.err.print(" Is: " + positions[0] + " , " + positions[1] + "\n"); } Log.info("\n"); } - - if(positions[1]<(centers[1]-83)){ - positions[1]=(centers[1]-83); + + if (positions[1] < (centers[1] - 83)) { + positions[1] = (centers[1] - 83); } - - double [] an= getAngles(); - w =(int) ((pose[2]-an[0]-an[1])*getScale()[2]); - positions[2]=getCenters()[2]+w; - - - for (int i=0;i<3;i++){ - if (positions[i]>255){ - positions[i]=255; + + double[] an = getAngles(); + w = (int) ((pose[2] - an[0] - an[1]) * getScale()[2]); + positions[2] = getCenters()[2] + w; + + for (int i = 0; i < 3; i++) { + if (positions[i] > 255) { + positions[i] = 255; } - if (positions[i]<0){ - positions[i]=0; + if (positions[i] < 0) { + positions[i] = 0; } - links[i].SetPosition((int) positions[i],time); + links[i].SetPosition((int) positions[i], time); } - Log.info("Set positions Shoulder: "+positions[0]+" Elbow: "+positions[1]+" Wrist: "+positions[2]); - if (isBlocking()){ + Log.info("Set positions Shoulder: " + positions[0] + " Elbow: " + positions[1] + " Wrist: " + positions[2]); + if (isBlocking()) { try { - Thread.sleep((long) (time*1000)); + Thread.sleep((long) (time * 1000)); } catch (InterruptedException e1) { // ignore } } - + } - + /** * Gets the angles. * - * @return an array of angles in degrees. This should correspond to pose of the arm. + * @return an array of angles in degrees. This should correspond to pose of the + * arm. */ - public double [] getAngles(){ - double [] a=new double [3]; - for (int i=0;i<3;i++){ - a[i]=(positions[i]-getCenters()[i])/getScale()[i]; + public double[] getAngles() { + double[] a = new double[3]; + for (int i = 0; i < 3; i++) { + a[i] = (positions[i] - getCenters()[i]) / getScale()[i]; } - a[0]+=90; - a[1]-=90; + a[0] += 90; + a[1] -= 90; return a; } - + /** * Gets the cartesian pose. * * @return pose vector, X,Y,Orientation */ - public double [] getCartesianPose(){ - double [] angles =getAngles(); + public double[] getCartesianPose() { + double[] angles = getAngles(); pose[2] = GetOrientation(); - - pose[0]=(l1* cos(ToRadians(angles[0]))+l2* cos(ToRadians(angles[0])+ToRadians(angles[1]))+(l3* cos(ToRadians(GetOrientation())))); - pose[1]=(l1* sin(ToRadians(angles[0]))+l2* sin(ToRadians(angles[0])+ToRadians(angles[1]))+(l3* sin(ToRadians(GetOrientation())))); - double [] p = new double [3]; - for ( int i = 0; i<3; i++){ - p[i]=pose[i]; + + pose[0] = (l1 * cos(ToRadians(angles[0])) + l2 * cos(ToRadians(angles[0]) + ToRadians(angles[1])) + + (l3 * cos(ToRadians(GetOrientation())))); + pose[1] = (l1 * sin(ToRadians(angles[0])) + l2 * sin(ToRadians(angles[0]) + ToRadians(angles[1])) + + (l3 * sin(ToRadians(GetOrientation())))); + double[] p = new double[3]; + for (int i = 0; i < 3; i++) { + p[i] = pose[i]; } return p; } - + /** * Gets the cartesian pose string. * * @return the cartesian pose string */ - public String getCartesianPoseString(){ + public String getCartesianPoseString() { getCartesianPose(); - String s="["; - for(int i=0;i 35) - orientation=35; - if (!updateCartesian(x,y,orientation)){ + * @param x + * the x + * @param y + * the y + * @param orientation + * the orientation + * @param time + * the time + */ + public void setCartesianPose(double x, double y, double orientation, float time) { + if (orientation < -35) + orientation = -35; + if (orientation > 35) + orientation = 35; + if (!updateCartesian(x, y, orientation)) { return; } - - pose[0]=x; - pose[1]=y; - pose[2]=orientation; - - Log.info("Setting Pose X: "+x+" Y: "+y+" Orientation: "+orientation ); - - x -= (l3*cos(orientation*M_PI/180)); - y -= (l3*sin(orientation*M_PI/180)); - if (sqrt(x*x+y*y) > l1+l2) { - com.neuronrobotics.sdk.common.Log.error("Hypotenus too long"+x+" "+y+"\r\n"); + + pose[0] = x; + pose[1] = y; + pose[2] = orientation; + + Log.info("Setting Pose X: " + x + " Y: " + y + " Orientation: " + orientation); + + x -= (l3 * cos(orientation * M_PI / 180)); + y -= (l3 * sin(orientation * M_PI / 180)); + if (sqrt(x * x + y * y) > l1 + l2) { + com.neuronrobotics.sdk.common.Log.error("Hypotenus too long" + x + " " + y + "\r\n"); return; } double elbow = 0; - elbow =(-1*acos(((x*x+y*y)-(l1*l1+l2*l2))/(2*l1*l2))); - elbow *=(180.0/M_PI); + elbow = (-1 * acos(((x * x + y * y) - (l1 * l1 + l2 * l2)) / (2 * l1 * l2))); + elbow *= (180.0 / M_PI); + + double shoulder = 0; + shoulder = (atan2(y, x) + acos((x * x + y * y + l1 * l1 - l2 * l2) / (2 * l1 * sqrt(x * x + y * y)))); + shoulder *= (180.0 / M_PI); + + double wrist = orientation - elbow - shoulder; + setAngles(shoulder, elbow, wrist, time); - double shoulder =0; - shoulder =(atan2(y,x)+acos((x*x+y*y+l1*l1-l2*l2)/(2*l1*sqrt(x*x+y*y)))); - shoulder *=(180.0/M_PI); - - double wrist = orientation-elbow-shoulder; - setAngles(shoulder,elbow,wrist,time); - - } - + /** * Update cartesian. * - * @param x the x - * @param y the y - * @param orientation the orientation + * @param x + * the x + * @param y + * the y + * @param orientation + * the orientation * @return true, if successful */ private boolean updateCartesian(double x, double y, double orientation) { - if(((x>(pose[0]+xyThreshHold))) || (x<(pose[0]-xyThreshHold))){ + if (((x > (pose[0] + xyThreshHold))) || (x < (pose[0] - xyThreshHold))) { Log.info("X changed"); return true; - }else{ - Log.info("X set: "+x+" was: "+pose[0]); + } else { + Log.info("X set: " + x + " was: " + pose[0]); } - if(((y>(pose[1]+xyThreshHold))) || (y<(pose[1]-xyThreshHold))){ + if (((y > (pose[1] + xyThreshHold))) || (y < (pose[1] - xyThreshHold))) { Log.info("Y changed"); return true; - }else{ - Log.info("Y set: "+y+" was: "+pose[1]); + } else { + Log.info("Y set: " + y + " was: " + pose[1]); } - if((orientation>pose[2]+orientThreshHold) || (orientation pose[2] + orientThreshHold) || (orientation < pose[2] - orientThreshHold)) { Log.info("Orientation changed"); return true; } Log.info("No signifigant change"); return false; } - + /** * Sets the cartesian x. * - * @param x the new cartesian x + * @param x + * the new cartesian x */ - public void setCartesianX(double x){ + public void setCartesianX(double x) { setCartesianPose(x, pose[1], pose[2]); } - + /** * Sets the cartesian y. * - * @param y the new cartesian y + * @param y + * the new cartesian y */ - public void setCartesianY(double y){ + public void setCartesianY(double y) { setCartesianPose(pose[0], y, pose[2]); } - + /** * Sets the cartesian orientation. * - * @param o the new cartesian orientation + * @param o + * the new cartesian orientation */ - public void setCartesianOrientation(double o){ + public void setCartesianOrientation(double o) { setCartesianPose(pose[0], pose[1], o); } - + /** * Sqrt. * - * @param d the d + * @param d + * the d * @return the double */ /* @@ -435,95 +464,103 @@ public void setCartesianOrientation(double o){ private double sqrt(double d) { return Math.sqrt(d); } - + /** * Atan2. * - * @param y the y - * @param x the x + * @param y + * the y + * @param x + * the x * @return the double */ private double atan2(double y, double x) { return Math.atan2(y, x); } - + /** * Acos. * - * @param d the d + * @param d + * the d * @return the double */ private double acos(double d) { return Math.acos(d); } - + /** * Sin. * - * @param angle the angle + * @param angle + * the angle * @return the double */ private double sin(double angle) { return Math.sin(angle); } - + /** * Cos. * - * @param angle the angle + * @param angle + * the angle * @return the double */ private double cos(double angle) { return Math.cos(angle); } - + /** * To radians. * - * @param degrees the degrees + * @param degrees + * the degrees * @return the double */ - private double ToRadians(double degrees){ - return degrees*M_PI/180.0; + private double ToRadians(double degrees) { + return degrees * M_PI / 180.0; } - + /** * Gets the orientation. * * @return the current approach orientation of the wrist */ public double GetOrientation() { - double [] angles =getAngles(); - return angles[0]+angles[1]+angles[2]; + double[] angles = getAngles(); + return angles[0] + angles[1] + angles[2]; } - + /** * Sets the centers. * - * @param centers the new centers + * @param centers + * the new centers */ - public void setCenters(double [] centers) { + public void setCenters(double[] centers) { this.centers = centers; } - + /** * Gets the centers. * * @return the centers */ - public double [] getCenters() { + public double[] getCenters() { return centers; } - + /** * Sets the blocking. * - * @param blocking the new blocking + * @param blocking + * the new blocking */ public void setBlocking(boolean blocking) { this.blocking = blocking; } - + /** * Checks if is blocking. * @@ -532,16 +569,17 @@ public void setBlocking(boolean blocking) { public boolean isBlocking() { return blocking; } - + /** * Sets the scale. * - * @param scale the new scale + * @param scale + * the new scale */ public void setScale(double scale[]) { this.scale = scale; } - + /** * Gets the scale. * @@ -550,5 +588,5 @@ public void setScale(double scale[]) { public double[] getScale() { return scale; } - + } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensorRequest.java b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensorRequest.java index 0fb6d8c6..e2781c3d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensorRequest.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensorRequest.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -22,71 +22,75 @@ * The Enum CreateSensorRequest. */ public enum CreateSensorRequest { - + /** The all. */ ALL(0x00), - + /** The io. */ IO(0x01), - + /** The drive. */ DRIVE(0x02), - + /** The battery. */ BATTERY(0x03), - + /** The none. */ NONE(0xFF); - + /** The value. */ private byte value; - + /** The Constant lookup. */ - private static final Map lookup = new HashMap(); - + private static final Map lookup = new HashMap(); + /** * Instantiates a new creates the sensor request. * - * @param val the val + * @param val + * the val */ private CreateSensorRequest(int val) { value = (byte) val; } - + /** * Gets the value. * * @return the value */ public byte getValue() { - return value; + return value; } - + /** * Gets the. * - * @param code the code + * @param code + * the code * @return the creates the sensor request */ - public static CreateSensorRequest get(byte code) { - return lookup.get(code); - } - - /* (non-Javadoc) + public static CreateSensorRequest get(byte code) { + return lookup.get(code); + } + + /* + * (non-Javadoc) + * * @see java.lang.Enum#toString() */ - public String toString(){ - switch (this){ - case ALL: - return "All sensors"; - case IO: - return "IO sensors sensors"; - case DRIVE: - return "Drive sensors"; - case BATTERY: - return "Battery sensors"; - default: - return "Unknown, dont know how that would happen"; + public String toString() { + switch (this) { + case ALL : + return "All sensors"; + case IO : + return "IO sensors sensors"; + case DRIVE : + return "Drive sensors"; + case BATTERY : + return "Battery sensors"; + default : + return "Unknown, dont know how that would happen"; } } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensors.java b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensors.java index 262f4f5b..b4ded870 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensors.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateSensors.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -21,114 +21,117 @@ * The Class CreateSensors. */ public class CreateSensors { - + /** The right bump. */ - public boolean rightBump=false; - + public boolean rightBump = false; + /** The left bump. */ - public boolean leftBump=false; - + public boolean leftBump = false; + /** The right drop. */ - public boolean rightDrop=false; - + public boolean rightDrop = false; + /** The left drop. */ - public boolean leftDrop=false; - + public boolean leftDrop = false; + /** The center drop. */ - public boolean centerDrop=false; - + public boolean centerDrop = false; + /** The wall. */ - public boolean wall=false; - + public boolean wall = false; + /** The clif front left. */ - public boolean clifFrontLeft=false; - + public boolean clifFrontLeft = false; + /** The clif front right. */ - public boolean clifFrontRight=false; - + public boolean clifFrontRight = false; + /** The clif left. */ - public boolean clifLeft=false; - + public boolean clifLeft = false; + /** The clif right. */ - public boolean clifRight=false; - + public boolean clifRight = false; + /** The vitrual wall. */ - public boolean vitrualWall=false; - + public boolean vitrualWall = false; + /** The distance. */ - public short distance=0; - + public short distance = 0; + /** The angle. */ - public short angle=0; - + public short angle = 0; + /** The tempreture. */ - public int tempreture=0; - + public int tempreture = 0; + /** The charge. */ - public int charge=0; - + public int charge = 0; + /** The capacity. */ - public int capacity=0; - + public int capacity = 0; + /** The voltage. */ - public float voltage=0; - + public float voltage = 0; + /** The data. */ - byte [] data; - + byte[] data; + /** * Instantiates a new creates the sensors. * - * @param packet the packet + * @param packet + * the packet */ - public CreateSensors(byte [] packet){ - data=packet; + public CreateSensors(byte[] packet) { + data = packet; bumps(data[0]); - clifLeft = data[1]==1; - clifFrontLeft = data[2]==1; - clifFrontRight = data[3]==1; - clifRight = data[4]==1; - vitrualWall = data[5]==1; - distance = (short) ((((short)data[12])<<8)+data[13]); - angle = (short) ((((short)data[14])<<8)+data[15]); - voltage = (float) ((((int)data[17])<<8)+data[18])/1000; - tempreture=(char) data[21]; - charge = (int) ((((int)data[22])<<8)+data[23]); - capacity = (int) ((((int)data[24])<<8)+data[25]); + clifLeft = data[1] == 1; + clifFrontLeft = data[2] == 1; + clifFrontRight = data[3] == 1; + clifRight = data[4] == 1; + vitrualWall = data[5] == 1; + distance = (short) ((((short) data[12]) << 8) + data[13]); + angle = (short) ((((short) data[14]) << 8) + data[15]); + voltage = (float) ((((int) data[17]) << 8) + data[18]) / 1000; + tempreture = (char) data[21]; + charge = (int) ((((int) data[22]) << 8) + data[23]); + capacity = (int) ((((int) data[24]) << 8) + data[25]); } - + /** * Bumps. * - * @param data the data + * @param data + * the data */ - private void bumps(byte data){ - rightBump=(data&0x01)>0; - leftBump=(data&0x02)>0; - rightDrop=(data&0x04)>0; - leftDrop=(data&0x08)>0; - centerDrop=(data&0x10)>0; + private void bumps(byte data) { + rightBump = (data & 0x01) > 0; + leftBump = (data & 0x02) > 0; + rightDrop = (data & 0x04) > 0; + leftDrop = (data & 0x08) > 0; + centerDrop = (data & 0x10) > 0; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ - public String toString(){ - String s="Raw: "+new ByteList(data); - s+="\nDistance: "+distance; - s+="\nAngle: "+angle; - s+="\nTempreture: "+tempreture; - s+="\nCharge: "+charge; - s+="\nCapacity: "+capacity; - s+="\nVoltage: "+voltage; - s+="\nBump right: "+rightBump; - s+="\nBump left: "+leftBump; - - s+="\nDrop right: "+rightDrop; - s+="\nDrop left: "+leftDrop; - s+="\nDrop center: "+centerDrop; - - + public String toString() { + String s = "Raw: " + new ByteList(data); + s += "\nDistance: " + distance; + s += "\nAngle: " + angle; + s += "\nTempreture: " + tempreture; + s += "\nCharge: " + charge; + s += "\nCapacity: " + capacity; + s += "\nVoltage: " + voltage; + s += "\nBump right: " + rightBump; + s += "\nBump left: " + leftBump; + + s += "\nDrop right: " + rightDrop; + s += "\nDrop left: " + leftDrop; + s += "\nDrop center: " + centerDrop; + return s; } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/irobot/ICreateSensorListener.java b/src/main/java/com/neuronrobotics/sdk/addons/irobot/ICreateSensorListener.java index a7ed7660..307451a4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/irobot/ICreateSensorListener.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/irobot/ICreateSensorListener.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,21 +16,20 @@ // Auto-generated Javadoc /** - * The listener interface for receiving ICreateSensor events. - * The class that is interested in processing a ICreateSensor - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addICreateSensorListener method. When - * the ICreateSensor event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving ICreateSensor events. The class that is + * interested in processing a ICreateSensor event implements this interface, and + * the object created with that class is registered with a component using the + * component's addICreateSensorListener method. When the ICreateSensor event + * occurs, that object's appropriate method is invoked. * */ public interface ICreateSensorListener { - + /** * On create sensor. * - * @param packet the packet + * @param packet + * the packet */ public void onCreateSensor(CreateSensors packet); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java index dc76104a..ba8a6842 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractKinematicsNR.java @@ -1,11 +1,9 @@ package com.neuronrobotics.sdk.addons.kinematics; import java.io.InputStream; -import java.sql.Timestamp; import java.util.ArrayList; //import java.util.concurrent.CountDownLatch; - import org.w3c.dom.Document; import org.w3c.dom.Element; import org.w3c.dom.Node; @@ -14,15 +12,11 @@ import Jama.Matrix; import com.neuronrobotics.sdk.addons.kinematics.imu.IMU; -import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.time.ITimeProvider; -import com.neuronrobotics.sdk.addons.kinematics.time.TimeKeeper; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.BowlerAbstractDevice; -import com.neuronrobotics.sdk.common.BowlerDatagram; import com.neuronrobotics.sdk.common.IDeviceConnectionEventListener; -import com.neuronrobotics.sdk.common.InvalidConnectionException; //import com.neuronrobotics.sdk.addons.kinematics.PidRotoryLink; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.common.NonBowlerDevice; @@ -36,19 +30,15 @@ import com.neuronrobotics.sdk.pid.PIDConfiguration; import com.neuronrobotics.sdk.pid.PIDEvent; import com.neuronrobotics.sdk.pid.PIDLimitEvent; -import com.neuronrobotics.sdk.util.ThreadUtil; // Auto-generated Javadoc //import javax.swing.JFrame; //import javax.swing.JOptionPane; - /** * The Class AbstractKinematicsNR. */ @SuppressWarnings("restriction") public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IPIDEventListener, ILinkListener { - - /** The configurations. */ private ArrayList pidConfigurations = new ArrayList(); @@ -66,19 +56,19 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP private ArrayList mobileBases = new ArrayList(); /** The dh engine. */ - private String[] dhEngine = new String[] { "https://github.com/madhephaestus/carl-the-hexapod.git", - "DefaultDhSolver.groovy" }; + private String[] dhEngine = new String[]{"https://github.com/madhephaestus/carl-the-hexapod.git", + "DefaultDhSolver.groovy"}; /** The cad engine. */ - private String[] cadEngine = new String[] { "https://github.com/madhephaestus/carl-the-hexapod.git", - "ThreeDPrintCad.groovy" }; + private String[] cadEngine = new String[]{"https://github.com/madhephaestus/carl-the-hexapod.git", + "ThreeDPrintCad.groovy"}; /** The current joint space positions. */ /* This is in RAW joint level ticks */ - //protected double[] currentJointSpacePositions = null; + // protected double[] currentJointSpacePositions = null; /** The current joint space target. */ -// public double[] currentJointSpaceTarget; + // public double[] currentJointSpaceTarget; /** The current pose target. */ private TransformNR currentPoseTarget = new TransformNR(); @@ -113,9 +103,9 @@ public abstract class AbstractKinematicsNR extends NonBowlerDevice implements IP * hardware */ private IMU imu = new IMU(); - - private Runnable renderWrangler=null; - + + private Runnable renderWrangler = null; + public int getLinkIndex(AbstractLink l) { for (int i = 0; i < getNumberOfLinks(); i++) { if (getAbstractLink(i) == l) @@ -143,7 +133,8 @@ public Object getRootListener() { /** * Sets the root listener. * - * @param listener the new root listener + * @param listener + * the new root listener */ public void setRootListener(Object listener) { this.root = listener; @@ -165,7 +156,7 @@ public void setRootListener(Object listener) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.common.NonBowlerDevice#getNamespacesImp() */ @Override @@ -178,7 +169,7 @@ public ArrayList getNamespacesImp() { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.common.NonBowlerDevice#disconnectDeviceImp() */ public void disconnectDeviceImp() { @@ -192,7 +183,7 @@ public void disconnectDeviceImp() { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.common.NonBowlerDevice#connectDeviceImp() */ public boolean connectDeviceImp() { @@ -203,23 +194,27 @@ public boolean connectDeviceImp() { * Instantiates a new abstract kinematics nr. */ public AbstractKinematicsNR() { -// File l = new File("RobotLog_"+getDate()+"_"+System.currentTimeMillis()+".txt"); -// //File e = new File("RobotError_"+getDate()+"_"+System.currentTimeMillis()+".txt"); -// try { -// PrintStream p =new PrintStream(l); -// Log.setOutStream(new PrintStream(p)); -// Log.setErrStream(new PrintStream(p)); -// } catch (FileNotFoundException e1) { -// e1.printStackTrace(); -// } + // File l = new + // File("RobotLog_"+getDate()+"_"+System.currentTimeMillis()+".txt"); + // //File e = new + // File("RobotError_"+getDate()+"_"+System.currentTimeMillis()+".txt"); + // try { + // PrintStream p =new PrintStream(l); + // Log.setOutStream(new PrintStream(p)); + // Log.setErrStream(new PrintStream(p)); + // } catch (FileNotFoundException e1) { + // e1.printStackTrace(); + // } setDhParametersChain(new DHChain(this)); } /** * Instantiates a new abstract kinematics nr. * - * @param configFile the config file - * @param f the f + * @param configFile + * the config file + * @param f + * the f */ public AbstractKinematicsNR(InputStream configFile, LinkFactory f) { this(); @@ -239,15 +234,16 @@ public AbstractKinematicsNR(InputStream configFile, LinkFactory f) { Log.info("Not Element Node"); } } - } /** * Instantiates a new abstract kinematics nr. * - * @param doc the doc - * @param f the f + * @param doc + * the doc + * @param f + * the f */ public AbstractKinematicsNR(Element doc, LinkFactory f) { this(); @@ -262,7 +258,8 @@ public AbstractKinematicsNR(Element doc, LinkFactory f) { * Load XML configuration file, then store in LinkConfiguration (ArrayList * type). * - * @param doc the doc + * @param doc + * the doc * @return the array list */ protected ArrayList loadConfig(Element doc) { @@ -279,13 +276,14 @@ protected ArrayList loadConfig(Element doc) { localConfigsFromXml.add(newLinkConf); NodeList dHParameters = linkNode.getChildNodes(); - // com.neuronrobotics.sdk.common.Log.error("Link "+newLinkConf.getName()+" has "+dHParameters + // com.neuronrobotics.sdk.common.Log.error("Link "+newLinkConf.getName()+" has + // "+dHParameters // .getLength()+" children"); for (int x = 0; x < dHParameters.getLength(); x++) { Node nNode = dHParameters.item(x); if (nNode.getNodeType() == Node.ELEMENT_NODE && nNode.getNodeName().contentEquals("DHParameters")) { Element dhNode = (Element) nNode; - DHLink newLink = new DHLink(dhNode,newLinkConf); + DHLink newLink = new DHLink(dhNode, newLinkConf); getDhParametersChain().addLink(newLink);// 0->1 NodeList mobileBasesNodeList = dhNode.getChildNodes(); for (int j = 0; j < mobileBasesNodeList.getLength(); j++) { @@ -295,12 +293,12 @@ protected ArrayList loadConfig(Element doc) { mobileBases.add(newMobileBase); newLink.setMobileBaseXml(newMobileBase); addConnectionEventListener(new IDeviceConnectionEventListener() { - + @Override public void onDisconnect(BowlerAbstractDevice source) { mobileBases.remove(newMobileBase); } - + @Override public void onConnect(BowlerAbstractDevice source) { } @@ -356,7 +354,7 @@ public void onConnect(BowlerAbstractDevice source) { * @return the xml */ /* - * + * * Generate the xml configuration to generate an XML of this robot. */ public String getXml() { @@ -383,7 +381,8 @@ public String getXml() { /** * Gets the link configuration. * - * @param linkIndex the link index + * @param linkIndex + * the link index * @return the link configuration */ public LinkConfiguration getLinkConfiguration(int linkIndex) { @@ -404,7 +403,8 @@ public ArrayList getLinkConfigurations() { /** * Gets the link current configuration. * - * @param chan the chan + * @param chan + * the chan * @return the link current configuration */ public PIDConfiguration getLinkCurrentConfiguration(int chan) { @@ -414,8 +414,10 @@ public PIDConfiguration getLinkCurrentConfiguration(int chan) { /** * Sets the link current configuration. * - * @param chan the chan - * @param c the c + * @param chan + * the chan + * @param c + * the c */ public void setLinkCurrentConfiguration(int chan, PIDConfiguration c) { getAxisPidConfiguration().set(chan, c); @@ -433,7 +435,8 @@ protected LinkFactory getDevice() { /** * Gets the abstract link. * - * @param index the index + * @param index + * the index * @return the abstract link */ public AbstractLink getAbstractLink(int index) { @@ -443,8 +446,10 @@ public AbstractLink getAbstractLink(int index) { /** * Sets the device. * - * @param f the f - * @param linkConfigs the link configs + * @param f + * the f + * @param linkConfigs + * the link configs */ protected void setDevice(LinkFactory f, ArrayList linkConfigs) { Log.info("Loading device: " + f.getClass() + " " + f); @@ -537,14 +542,14 @@ public double[] getCurrentJointSpaceVector() { // Here the RAW values are converted to engineering units try { jointSpaceVect[i] = readLinkValue(i); - }catch(Exception e) { - jointSpaceVect[i]=0; + } catch (Exception e) { + jointSpaceVect[i] = 0; } } return jointSpaceVect; } - + public double[] getCurrentJointSpaceTarget() { double[] currentJointSpaceTarget = new double[getNumberOfLinks()]; @@ -560,11 +565,14 @@ public double getCurrentLinkEngineeringUnits(int linkIndex) { /** * This calculates the target pose . * - * @param taskSpaceTransform the task space transform - * @param seconds the time for the transition to take from current - * position to target, unit seconds + * @param taskSpaceTransform + * the task space transform + * @param seconds + * the time for the transition to take from current position to + * target, unit seconds * @return The joint space vector is returned for target arrival referance - * @throws Exception If there is a workspace error + * @throws Exception + * If there is a workspace error */ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, double seconds) throws Exception { TickToc.tic("setDesiredTaskSpaceTransform start"); @@ -579,13 +587,13 @@ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, dou TickToc.tic("checkVector success"); if (jointSpaceVect == null) throw new RuntimeException("The kinematics model must return an array, not null"); - + _setDesiredJointSpaceVector(jointSpaceVect, seconds, false); TickToc.tic("_setDesiredJointSpaceVector complete"); return jointSpaceVect; } else TickToc.tic("checkVector fail"); - + double[] currentJointSpaceTarget2 = getCurrentJointSpaceTarget(); TickToc.tic("getCurrentJointSpaceTarget"); return currentJointSpaceTarget2; @@ -594,52 +602,59 @@ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, dou /** * Checks the desired pose for ability for the IK to calculate a valid pose. * - * @param taskSpaceTransform the task space transform + * @param taskSpaceTransform + * the task space transform * @return True if pose is reachable, false if it is not */ - public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev, TransformNR taskSpaceTransform, double seconds) { + public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev, TransformNR taskSpaceTransform, + double seconds) { try { double[] jointSpaceVect = dev.inverseKinematics(dev.inverseOffset(taskSpaceTransform)); - return checkVector(dev, jointSpaceVect,seconds); + return checkVector(dev, jointSpaceVect, seconds); } catch (Throwable ex) { - //Log.error(ex); - //ex.printStackTrace(); + // Log.error(ex); + // ex.printStackTrace(); return false; } } /** * Checks the desired pose for ability for the IK to calculate a valid pose. * - * @param taskSpaceTransform the task space transform + * @param taskSpaceTransform + * the task space transform * @return True if pose is reachable, false if it is not */ public static boolean checkTaskSpaceTransform(AbstractKinematicsNR dev, TransformNR taskSpaceTransform) { - return checkTaskSpaceTransform(dev,taskSpaceTransform,0); + return checkTaskSpaceTransform(dev, taskSpaceTransform, 0); } private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpaceVect, double seconds) { double[] current = dev.getCurrentJointSpaceTarget(); for (int i = 0; i < jointSpaceVect.length; i++) { AbstractLink link = dev.factory.getLink(dev.getLinkConfiguration(i)); double val = jointSpaceVect[i]; - + if (Double.isNaN(val) || Double.isInfinite(val)) { Log.error(dev.getScriptingName() + " Link " + i + " Invalid input " + val); return false; } if (val > link.getMaxEngineeringUnits()) { - Log.error(dev.getScriptingName() + " Link " + i + " can not reach " + val + " limited to " + link.getMaxEngineeringUnits()); + Log.error(dev.getScriptingName() + " Link " + i + " can not reach " + val + " limited to " + + link.getMaxEngineeringUnits()); return false; } if (val < link.getMinEngineeringUnits()) { - Log.error(dev.getScriptingName() + " Link " + i + " can not reach " + val + " limited to " + link.getMinEngineeringUnits()); + Log.error(dev.getScriptingName() + " Link " + i + " can not reach " + val + " limited to " + + link.getMinEngineeringUnits()); return false; } if (seconds > 0) { double maxVel = Math.abs(link.getMaxVelocityEngineeringUnits()); double deltaPosition = Math.abs(current[i] - jointSpaceVect[i]); - double computedVelocity = deltaPosition / seconds; - if ((computedVelocity-maxVel)>0.0001) { - Log.error("Link " + i + " can not move at rate of " + computedVelocity + " capped at " + maxVel + " requested position of " + jointSpaceVect[i] + " from current position of " + current[i] + " in " + seconds + " seconds"); + double computedVelocity = deltaPosition / seconds; + if ((computedVelocity - maxVel) > 0.0001) { + Log.error("Link " + i + " can not move at rate of " + computedVelocity + " capped at " + maxVel + + " requested position of " + jointSpaceVect[i] + " from current position of " + current[i] + + " in " + seconds + " seconds"); return false; } } @@ -647,11 +662,11 @@ private static boolean checkVector(AbstractKinematicsNR dev, double[] jointSpace return true; } - /** * Checks the desired pose for ability for the IK to calculate a valid pose. * - * @param taskSpaceTransform the task space transform + * @param taskSpaceTransform + * the task space transform * @return True if pose is reachable, false if it is not */ public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform, double seconds) { @@ -660,18 +675,21 @@ public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform, double se /** * Checks the desired pose for ability for the IK to calculate a valid pose. * - * @param taskSpaceTransform the task space transform + * @param taskSpaceTransform + * the task space transform * @return True if pose is reachable, false if it is not */ public boolean checkTaskSpaceTransform(TransformNR taskSpaceTransform) { return checkTaskSpaceTransform(this, taskSpaceTransform, 0); } - + /** * get the best possible time for a translation by checking the joint velocities - * - * @param currentTaskSpaceTransform new tip location to check - * @return the time of translation at best possible speed based on checking each link + * + * @param currentTaskSpaceTransform + * new tip location to check + * @return the time of translation at best possible speed based on checking each + * link */ public double getBestTime(TransformNR currentTaskSpaceTransform) { double[] jointSpaceVect; @@ -686,9 +704,11 @@ public double getBestTime(TransformNR currentTaskSpaceTransform) { } /** * get the best possible time for a translation by checking the joint velocities - * - * @param jointSpaceVect new joint pose - * @return the time of translation at best possible speed based on checking each link + * + * @param jointSpaceVect + * new joint pose + * @return the time of translation at best possible speed based on checking each + * link */ public double getBestTime(double[] jointSpaceVect) { double best = 0; @@ -703,30 +723,36 @@ public double getBestTime(double[] jointSpaceVect) { } return best; } - - + /** * This calculates the target pose . * - * @param jointSpaceVect the joint space vect - * @param seconds the time for the transition to take from current - * position to target, unit seconds + * @param jointSpaceVect + * the joint space vect + * @param seconds + * the time for the transition to take from current position to + * target, unit seconds * @return The joint space vector is returned for target arrival referance - * @throws Exception If there is a workspace error + * @throws Exception + * If there is a workspace error */ - public double[] setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds) throws Exception { - return _setDesiredJointSpaceVector(jointSpaceVect,seconds,true); + public double[] setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds) throws Exception { + return _setDesiredJointSpaceVector(jointSpaceVect, seconds, true); } /** * This calculates the target pose . * - * @param jointSpaceVect the joint space vect - * @param seconds the time for the transition to take from current - * position to target, unit seconds + * @param jointSpaceVect + * the joint space vect + * @param seconds + * the time for the transition to take from current position to + * target, unit seconds * @return The joint space vector is returned for target arrival referance - * @throws Exception If there is a workspace error + * @throws Exception + * If there is a workspace error */ - private double[] _setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds, boolean fireTaskUpdate) throws Exception { + private double[] _setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds, boolean fireTaskUpdate) + throws Exception { if (jointSpaceVect.length != getNumberOfLinks()) { throw new IndexOutOfBoundsException("Vector must be " + getNumberOfLinks() + " links, actual number of links = " + jointSpaceVect.length); @@ -734,48 +760,49 @@ private double[] _setDesiredJointSpaceVector(double[] jointSpaceVect, double se double best = getBestTime(jointSpaceVect); if (seconds < best) seconds = best; - //synchronized(AbstractKinematicsNR.class) { - int except = 0; - Exception e = null; - TickToc.tic("Set hardware values start"); - do { - try { - factory.setCachedTargets(jointSpaceVect); - TickToc.tic("Cached targets "); - if (!isNoFlush()) { - // - factory.flush(seconds); - TickToc.tic("_setDesiredJointSpaceVector flush "+seconds); - // - } - except = 0; - e = null; - } catch (Exception ex) { - except++; - e = ex; - e.printStackTrace(); + // synchronized(AbstractKinematicsNR.class) { + int except = 0; + Exception e = null; + TickToc.tic("Set hardware values start"); + do { + try { + factory.setCachedTargets(jointSpaceVect); + TickToc.tic("Cached targets "); + if (!isNoFlush()) { + // + factory.flush(seconds); + TickToc.tic("_setDesiredJointSpaceVector flush " + seconds); + // } - } while (except > 0 && except < getRetryNumberBeforeFail()); - if (e != null) - throw new RuntimeException("Limit On "+getScriptingName()+" "+e.getMessage()); - - TickToc.tic("Copy Vector"); - TransformNR fwd = forwardKinematics(getCurrentJointSpaceTarget()); - TickToc.tic("FK from vector"); - fireTargetJointsUpdate(getCurrentJointSpaceTarget(), fwd); - TickToc.tic("Joint space updates"); - if (fireTaskUpdate) { - setCurrentPoseTarget(forwardOffset(fwd)); - TickToc.tic("task space updates"); + except = 0; + e = null; + } catch (Exception ex) { + except++; + e = ex; + e.printStackTrace(); } - - //} + } while (except > 0 && except < getRetryNumberBeforeFail()); + if (e != null) + throw new RuntimeException("Limit On " + getScriptingName() + " " + e.getMessage()); + + TickToc.tic("Copy Vector"); + TransformNR fwd = forwardKinematics(getCurrentJointSpaceTarget()); + TickToc.tic("FK from vector"); + fireTargetJointsUpdate(getCurrentJointSpaceTarget(), fwd); + TickToc.tic("Joint space updates"); + if (fireTaskUpdate) { + setCurrentPoseTarget(forwardOffset(fwd)); + TickToc.tic("task space updates"); + } + + // } return jointSpaceVect; } /** * Calc forward. * - * @param jointSpaceVect the joint space vect + * @param jointSpaceVect + * the joint space vect * @return the transform nr */ public TransformNR calcForward(double[] jointSpaceVect) { @@ -798,50 +825,55 @@ public TransformNR calcHome() { /** * Sets an individual target joint position . * - * @param axis the joint index to set - * @param value the value to set it to - * @param seconds the time for the transition to take from current position to - * target, unit seconds - * @throws Exception If there is a workspace error - */ - public void setDesiredJointAxisValue(int axis, double value, double seconds) throws Exception { - //synchronized(AbstractKinematicsNR.class) { - LinkConfiguration c = getLinkConfiguration(axis); - - Log.info("Setting single target joint in mm/deg, axis=" + axis + " value=" + value); - try { - getFactory().getLink(c).setTargetEngineeringUnits(value); - } catch (Exception ex) { - throw new Exception("Joint hit software bound, index " + axis + " attempted: " + value + " boundes: U=" - + c.getUpperLimit() + ", L=" + c.getLowerLimit()); - } - if (!isNoFlush()) { - int except = 0; - Exception e = null; - do { - try { - getFactory().getLink(c).flush(seconds); - except = 0; - e = null; - } catch (Exception ex) { - except++; - e = ex; - } - } while (except > 0 && except < getRetryNumberBeforeFail()); - if (e != null) - throw e; - } - TransformNR fwd = forwardKinematics(getCurrentJointSpaceTarget()); - fireTargetJointsUpdate(getCurrentJointSpaceTarget(), fwd); - setCurrentPoseTarget(forwardOffset(fwd)); - //} + * @param axis + * the joint index to set + * @param value + * the value to set it to + * @param seconds + * the time for the transition to take from current position to + * target, unit seconds + * @throws Exception + * If there is a workspace error + */ + public void setDesiredJointAxisValue(int axis, double value, double seconds) throws Exception { + // synchronized(AbstractKinematicsNR.class) { + LinkConfiguration c = getLinkConfiguration(axis); + + Log.info("Setting single target joint in mm/deg, axis=" + axis + " value=" + value); + try { + getFactory().getLink(c).setTargetEngineeringUnits(value); + } catch (Exception ex) { + throw new Exception("Joint hit software bound, index " + axis + " attempted: " + value + " boundes: U=" + + c.getUpperLimit() + ", L=" + c.getLowerLimit()); + } + if (!isNoFlush()) { + int except = 0; + Exception e = null; + do { + try { + getFactory().getLink(c).flush(seconds); + except = 0; + e = null; + } catch (Exception ex) { + except++; + e = ex; + } + } while (except > 0 && except < getRetryNumberBeforeFail()); + if (e != null) + throw e; + } + TransformNR fwd = forwardKinematics(getCurrentJointSpaceTarget()); + fireTargetJointsUpdate(getCurrentJointSpaceTarget(), fwd); + setCurrentPoseTarget(forwardOffset(fwd)); + // } return; } /** * Fire pose transform. * - * @param transform the transform + * @param transform + * the transform */ protected void firePoseTransform(TransformNR transform) { for (int i = 0; i < taskSpaceUpdateListeners.size(); i++) { @@ -868,12 +900,13 @@ public void firePoseUpdate() { /** * Fire target joints update. * - * @param jointSpaceVector the joint space vector - * @param fwd the fwd + * @param jointSpaceVector + * the joint space vector + * @param fwd + * the fwd */ protected void fireTargetJointsUpdate(double[] jointSpaceVector, TransformNR fwd) { - for (IJointSpaceUpdateListenerNR p : jointSpaceUpdateListeners) { p.onJointSpaceTargetUpdate(this, getCurrentJointSpaceTarget()); } @@ -882,8 +915,10 @@ protected void fireTargetJointsUpdate(double[] jointSpaceVector, TransformNR fwd /** * Fire joint space limit update. * - * @param axis the axis - * @param event the event + * @param axis + * the axis + * @param event + * the event */ private void fireJointSpaceLimitUpdate(int axis, JointLimit event) { for (IJointSpaceUpdateListenerNR p : jointSpaceUpdateListeners) { @@ -900,15 +935,15 @@ public TransformNR getFiducialToGlobalTransform() { return fiducial2RAS; } -// /** -// * Sets the base to zframe transform. -// * -// * @param baseToFiducial the new base to zframe transform -// */ -// @Deprecated -// public void setBaseToZframeTransform(TransformNR baseToFiducial) { -// setRobotToFiducialTransform(baseToFiducial); -// } + // /** + // * Sets the base to zframe transform. + // * + // * @param baseToFiducial the new base to zframe transform + // */ + // @Deprecated + // public void setBaseToZframeTransform(TransformNR baseToFiducial) { + // setRobotToFiducialTransform(baseToFiducial); + // } public void setRobotToFiducialTransform(TransformNR baseToFiducial) { if (baseToFiducial == null) { Log.error("Fiducial can not be null " + baseToFiducial); @@ -920,18 +955,18 @@ public void setRobotToFiducialTransform(TransformNR baseToFiducial) { for (IRegistrationListenerNR r : regListeners) { r.onBaseToFiducialUpdate(this, baseToFiducial); } - + runRenderWrangler(); } -// /** -// * Sets the zframe to global transform. -// * -// * @param fiducialToRAS the new zframe to global transform -// */ -// @Deprecated -// private void setZframeToGlobalTransform(TransformNR fiducialToRAS) { -// setGlobalToFiducialTransform(fiducialToRAS); -// } + // /** + // * Sets the zframe to global transform. + // * + // * @param fiducialToRAS the new zframe to global transform + // */ + // @Deprecated + // private void setZframeToGlobalTransform(TransformNR fiducialToRAS) { + // setGlobalToFiducialTransform(fiducialToRAS); + // } /** * Gets the robot to fiducial transform. @@ -945,7 +980,8 @@ public TransformNR getRobotToFiducialTransform() { /** * Sets the global to fiducial transform. * - * @param frameToBase the new global to fiducial transform + * @param frameToBase + * the new global to fiducial transform */ public void setGlobalToFiducialTransform(TransformNR frameToBase, boolean fireUpdate) { if (frameToBase == null) { @@ -960,14 +996,15 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase, boolean fireUp IRegistrationListenerNR r = regListeners.get(i); r.onFiducialToGlobalUpdate(this, frameToBase); } - + runRenderWrangler(); - + } /** * Sets the global to fiducial transform. * - * @param frameToBase the new global to fiducial transform + * @param frameToBase + * the new global to fiducial transform */ public void setGlobalToFiducialTransform(TransformNR frameToBase) { setGlobalToFiducialTransform(frameToBase, true); @@ -975,13 +1012,15 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { /** * Inverse offset. * - * @param t the t + * @param t + * the t * @return the transform nr */ public TransformNR inverseOffset(TransformNR t) { // com.neuronrobotics.sdk.common.Log.error("RobotToFiducialTransform // "+getRobotToFiducialTransform()); - // com.neuronrobotics.sdk.common.Log.error("FiducialToRASTransform "+getFiducialToRASTransform()); + // com.neuronrobotics.sdk.common.Log.error("FiducialToRASTransform + // "+getFiducialToRASTransform()); Matrix globalToFeducialInverse = getFiducialToGlobalTransform().getMatrixTransform().inverse(); Matrix feducialToLimbInverse = getRobotToFiducialTransform().getMatrixTransform().inverse(); @@ -994,7 +1033,8 @@ public TransformNR inverseOffset(TransformNR t) { /** * Forward offset. * - * @param t the t + * @param t + * the t * @return the transform nr */ public TransformNR forwardOffset(TransformNR t) { @@ -1008,7 +1048,8 @@ public TransformNR forwardOffset(TransformNR t) { /** * Adds the joint space listener. * - * @param l the l + * @param l + * the l */ public void addJointSpaceListener(IJointSpaceUpdateListenerNR l) { if (jointSpaceUpdateListeners.contains(l) || (l == null)) @@ -1020,7 +1061,8 @@ public void addJointSpaceListener(IJointSpaceUpdateListenerNR l) { /** * Removes the joint space update listener. * - * @param l the l + * @param l + * the l */ public void removeJointSpaceUpdateListener(IJointSpaceUpdateListenerNR l) { if (jointSpaceUpdateListeners.contains(l)) @@ -1030,7 +1072,8 @@ public void removeJointSpaceUpdateListener(IJointSpaceUpdateListenerNR l) { /** * Adds the registration listener. * - * @param l the l + * @param l + * the l */ public void addRegistrationListener(IRegistrationListenerNR l) { if (regListeners.contains(l) || (l == null)) @@ -1043,7 +1086,8 @@ public void addRegistrationListener(IRegistrationListenerNR l) { /** * Removes the regestration update listener. * - * @param l the l + * @param l + * the l */ public void removeRegestrationUpdateListener(IRegistrationListenerNR l) { if (regListeners.contains(l)) @@ -1053,7 +1097,8 @@ public void removeRegestrationUpdateListener(IRegistrationListenerNR l) { /** * Adds the pose update listener. * - * @param l the l + * @param l + * the l */ public void addPoseUpdateListener(ITaskSpaceUpdateListenerNR l) { if (taskSpaceUpdateListeners.contains(l) || (l == null)) { @@ -1066,7 +1111,8 @@ public void addPoseUpdateListener(ITaskSpaceUpdateListenerNR l) { /** * Removes the pose update listener. * - * @param l the l + * @param l + * the l */ public void removePoseUpdateListener(ITaskSpaceUpdateListenerNR l) { if (taskSpaceUpdateListeners.contains(l)) { @@ -1077,7 +1123,7 @@ public void removePoseUpdateListener(ITaskSpaceUpdateListenerNR l) { /* * (non-Javadoc) - * + * * @see * com.neuronrobotics.sdk.addons.kinematics.ILinkListener#onLinkPositionUpdate( * com.neuronrobotics.sdk.addons.kinematics.AbstractLink, double) @@ -1087,30 +1133,28 @@ public void onLinkPositionUpdate(AbstractLink source, double engineeringUnitsVal for (LinkConfiguration c : getLinkConfigurations()) { AbstractLink tmp = getFactory().getLink(c); if (tmp == source) {// Check to see if this lines up with a known link -// // Log.info("Got PID event " + source + " value=" + engineeringUnitsValue); -// if (new Double(engineeringUnitsValue).isNaN()) { -// new RuntimeException("Link values can not be NaN").printStackTrace(); -// engineeringUnitsValue = 0; -// } -// ArrayList linkConfigurations = getLinkConfigurations(); -// if (linkConfigurations!=null) { -// int indexOf = linkConfigurations.indexOf(c); -// if (currentJointSpacePositions != null) -// if ((indexOf >= 0) && (indexOf < currentJointSpacePositions.length)) -// currentJointSpacePositions[indexOf] = engineeringUnitsValue; -// } + // // Log.info("Got PID event " + source + " value=" + engineeringUnitsValue); + // if (new Double(engineeringUnitsValue).isNaN()) { + // new RuntimeException("Link values can not be NaN").printStackTrace(); + // engineeringUnitsValue = 0; + // } + // ArrayList linkConfigurations = getLinkConfigurations(); + // if (linkConfigurations!=null) { + // int indexOf = linkConfigurations.indexOf(c); + // if (currentJointSpacePositions != null) + // if ((indexOf >= 0) && (indexOf < currentJointSpacePositions.length)) + // currentJointSpacePositions[indexOf] = engineeringUnitsValue; + // } firePoseUpdate(); return; } } Log.error("Got UKNOWN PID event " + source); } - - /* * (non-Javadoc) - * + * * @see * com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDEvent(com.neuronrobotics. * sdk.pid.PIDEvent) @@ -1122,7 +1166,7 @@ public void onPIDEvent(PIDEvent e) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDLimitEvent(com. * neuronrobotics.sdk.pid.PIDLimitEvent) */ @@ -1136,7 +1180,7 @@ public void onPIDLimitEvent(PIDLimitEvent e) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.pid.IPIDEventListener#onPIDReset(int, int) */ @Override @@ -1166,8 +1210,10 @@ public void homeAllLinks() { /** * Run home. * - * @param joint the joint - * @param tps the tps + * @param joint + * the joint + * @param tps + * the tps */ private void runHome(PIDChannel joint, int tps) { IPIDEventListener listen = new IPIDEventListener() { @@ -1201,7 +1247,8 @@ public void onPIDEvent(PIDEvent e) { /** * Home link. * - * @param link the link + * @param link + * the link */ public void homeLink(int link) { if ((link < 0) || (link >= getNumberOfLinks())) { @@ -1261,9 +1308,9 @@ public void emergencyStop() { getFactory().getPid(lf).killAllPidGroups(); } -// public void setAxisPidConfiguration(ArrayList conf) { -// this.pidConfigurations = conf; -// } + // public void setAxisPidConfiguration(ArrayList conf) { + // this.pidConfigurations = conf; + // } /** * Gets the axis pid configuration. @@ -1277,16 +1324,19 @@ public ArrayList getAxisPidConfiguration() { /** * Inverse kinematics. * - * @param taskSpaceTransform the task space transform + * @param taskSpaceTransform + * the task space transform * @return Nx1 vector in task space, in mm where N is number of links - * @throws Exception the exception + * @throws Exception + * the exception */ public abstract double[] inverseKinematics(TransformNR taskSpaceTransform) throws Exception; /** * Forward kinematics. * - * @param jointSpaceVector the joint space vector + * @param jointSpaceVector + * the joint space vector * @return 6x1 vector in task space, unit in mm,radians [x,y,z,rotx,rotY,rotZ] */ public abstract TransformNR forwardKinematics(double[] jointSpaceVector); @@ -1305,7 +1355,8 @@ public TransformNR getCurrentPoseTarget() { /** * Sets the current pose target. * - * @param currentPoseTarget the new current pose target + * @param currentPoseTarget + * the new current pose target */ public void setCurrentPoseTarget(TransformNR currentPoseTarget) { this.currentPoseTarget = currentPoseTarget; @@ -1317,7 +1368,8 @@ public void setCurrentPoseTarget(TransformNR currentPoseTarget) { /** * Sets the factory. * - * @param factory the new factory + * @param factory + * the new factory */ public void setFactory(LinkFactory factory) { this.factory = factory; @@ -1337,7 +1389,8 @@ public LinkFactory getFactory() { /** * Sets the no flush. * - * @param noFlush the new no flush + * @param noFlush + * the new no flush */ public void setNoFlush(boolean noFlush) { this.noFlush = noFlush; @@ -1364,7 +1417,8 @@ public int getRetryNumberBeforeFail() { /** * Sets the retry number before fail. * - * @param retryNumberBeforeFail the new retry number before fail + * @param retryNumberBeforeFail + * the new retry number before fail */ public void setRetryNumberBeforeFail(int retryNumberBeforeFail) { this.retryNumberBeforeFail = retryNumberBeforeFail; @@ -1372,7 +1426,7 @@ public void setRetryNumberBeforeFail(int retryNumberBeforeFail) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.addons.kinematics.ILinkListener#onLinkLimit(com. * neuronrobotics.sdk.addons.kinematics.AbstractLink, * com.neuronrobotics.sdk.pid.PIDLimitEvent) @@ -1385,7 +1439,6 @@ public void onLinkLimit(AbstractLink arg0, PIDLimitEvent arg1) { } } - /** * Gets the dh parameters chain. * @@ -1398,7 +1451,8 @@ public DHChain getDhParametersChain() { /** * Sets the dh parameters chain. * - * @param dhParametersChain the new dh parameters chain + * @param dhParametersChain + * the new dh parameters chain */ public void setDhParametersChain(DHChain dhParametersChain) { this.dhParametersChain = dhParametersChain; @@ -1416,7 +1470,8 @@ public String[] getGitDhEngine() { /** * Sets the dh engine. * - * @param dhEngine the new dh engine + * @param dhEngine + * the new dh engine */ public void setGitDhEngine(String[] dhEngine) { if (dhEngine != null && dhEngine[0] != null && dhEngine[1] != null) @@ -1435,7 +1490,8 @@ public String[] getGitCadEngine() { /** * Sets the cad engine. * - * @param cadEngine the new cad engine + * @param cadEngine + * the new cad engine */ public void setGitCadEngine(String[] cadEngine) { if (cadEngine != null && cadEngine[0] != null && cadEngine[1] != null) @@ -1445,8 +1501,10 @@ public void setGitCadEngine(String[] cadEngine) { /** * Gets the code. * - * @param e the e - * @param tag the tag + * @param e + * the e + * @param tag + * the tag * @return the code */ protected String getCode(Element e, String tag) { @@ -1468,8 +1526,10 @@ protected String getCode(Element e, String tag) { /** * Gets the gist codes. * - * @param doc the doc - * @param tag the tag + * @param doc + * the doc + * @param tag + * the tag * @return the gist codes */ protected String[] getGitCodes(Element doc, String tag) { @@ -1554,11 +1614,12 @@ public double getMinEngineeringUnits(int linkIndex) { return getAbstractLink(linkIndex).getMinEngineeringUnits(); } - + /** * Sets the max engineering units. * - * @param maxLimit the max engineering units + * @param maxLimit + * the max engineering units */ public void setMaxEngineeringUnits(int linkIndex, double maxLimit) { getAbstractLink(linkIndex).setMaxEngineeringUnits(maxLimit); @@ -1567,25 +1628,26 @@ public void setMaxEngineeringUnits(int linkIndex, double maxLimit) { /** * Sets the min engineering units. * - * @param minLimit the min engineering units + * @param minLimit + * the min engineering units */ public void setMinEngineeringUnits(int linkIndex, double minLimit) { getAbstractLink(linkIndex).setMinEngineeringUnits(minLimit); } public String getElectroMechanicalType(int linkIndex) { - return getLinkConfiguration(linkIndex).getElectroMechanicalType() ; + return getLinkConfiguration(linkIndex).getElectroMechanicalType(); } - public void setElectroMechanicalType(int linkIndex,String electroMechanicalType) { + public void setElectroMechanicalType(int linkIndex, String electroMechanicalType) { getLinkConfiguration(linkIndex).setElectroMechanicalType(electroMechanicalType); } public String getElectroMechanicalSize(int linkIndex) { - return getLinkConfiguration(linkIndex).getElectroMechanicalSize() ; + return getLinkConfiguration(linkIndex).getElectroMechanicalSize(); } - public void setElectroMechanicalSize(int linkIndex,String electroMechanicalSize) { + public void setElectroMechanicalSize(int linkIndex, String electroMechanicalSize) { getLinkConfiguration(linkIndex).setElectroMechanicalSize(electroMechanicalSize); } @@ -1593,7 +1655,7 @@ public String getShaftType(int linkIndex) { return getLinkConfiguration(linkIndex).getShaftType(); } - public void setShaftType(int linkIndex,String shaftType) { + public void setShaftType(int linkIndex, String shaftType) { getLinkConfiguration(linkIndex).setShaftType(shaftType); } @@ -1603,18 +1665,19 @@ public String getShaftSize(int linkIndex) { /** * Override this method to specify a larger range */ - public void setDeviceMaximumValue(int linkIndex,double max) { + public void setDeviceMaximumValue(int linkIndex, double max) { getLinkConfiguration(linkIndex).setDeviceTheoreticalMax(max); } /** * Override this method to specify a larger range - + * */ - public void setDeviceMinimumValue(int linkIndex,double min) { + public void setDeviceMinimumValue(int linkIndex, double min) { getLinkConfiguration(linkIndex).setDeviceTheoreticalMin(min); } /** * Override this method to specify a larger range + * * @return the maximum value possible for a link */ public double getDeviceMaximumValue(int linkIndex) { @@ -1622,29 +1685,28 @@ public double getDeviceMaximumValue(int linkIndex) { } /** * Override this method to specify a larger range + * * @return the minimum value possible for a link */ public double getDeviceMinimumValue(int linkIndex) { return getLinkConfiguration(linkIndex).getDeviceTheoreticalMin(); } - public void addChangeListener(int linkIndex,ILinkConfigurationChangeListener l) { + public void addChangeListener(int linkIndex, ILinkConfigurationChangeListener l) { getLinkConfiguration(linkIndex).addChangeListener(l); } - public void removeChangeListener(int linkIndex,ILinkConfigurationChangeListener l) { + public void removeChangeListener(int linkIndex, ILinkConfigurationChangeListener l) { getLinkConfiguration(linkIndex).removeChangeListener(l); } public void clearChangeListener(int linkIndex) { getLinkConfiguration(linkIndex).clearChangeListener(); } - - public void runRenderWrangler() { firePoseUpdate(); if (renderWrangler != null) try { renderWrangler.run(); - }catch(Throwable t) { + } catch (Throwable t) { t.printStackTrace(); } } @@ -1658,27 +1720,30 @@ public TransformNR getDeltaToTarget(TransformNR target) { // create a transform thats a delta from the current pose to the new pose return startingPoint.inverse().times(target); } - - public TransformNR getTipAlongTrajectory(TransformNR startingPoint,TransformNR deltaToTarget,double unitIncrement) { + + public TransformNR getTipAlongTrajectory(TransformNR startingPoint, TransformNR deltaToTarget, + double unitIncrement) { return startingPoint.times(deltaToTarget.scale(unitIncrement)); } - public void asyncInterpolatedMove(TransformNR target, double seconds, InterpolationType type,IOnInterpolationDone listener, double ...conf ) { - new Thread(()->{ + public void asyncInterpolatedMove(TransformNR target, double seconds, InterpolationType type, + IOnInterpolationDone listener, double... conf) { + new Thread(() -> { try { InterpolationMoveState s = blockingInterpolatedMove(target, seconds, type, conf); listener.done(s); - }catch(Throwable t) { + } catch (Throwable t) { t.printStackTrace(); listener.done(InterpolationMoveState.FAULT); } }).start(); - + } - - public InterpolationMoveState blockingInterpolatedMove(TransformNR target, double seconds, InterpolationType type, double ...conf ) { + + public InterpolationMoveState blockingInterpolatedMove(TransformNR target, double seconds, InterpolationType type, + double... conf) { InterpolationEngine engine = new InterpolationEngine(getTimeProvider()); long currentTimeMillis = currentTimeMillis(); - TransformNR delta =getDeltaToTarget(target); + TransformNR delta = getDeltaToTarget(target); TransformNR startingPoint = getCurrentPoseTarget(); if (checkTaskSpaceTransform(target)) { if (!checkTaskSpaceTransform(target, seconds)) { @@ -1689,8 +1754,8 @@ public InterpolationMoveState blockingInterpolatedMove(TransformNR target, doubl seconds = bestTime; } } - - engine.setSetpointWithTime(currentTimeMillis,1,seconds,type,conf); + + engine.setSetpointWithTime(currentTimeMillis, 1, seconds, type, conf); double ms = seconds * 1000; double msPerStep = 10; double steps = ms / msPerStep; @@ -1702,7 +1767,8 @@ public InterpolationMoveState blockingInterpolatedMove(TransformNR target, doubl // of the translation // the new tip point here calculated is multiplied by the starting point to get // a global space tip target - TransformNR nextPoint = getTipAlongTrajectory(startingPoint,delta,engine.getInterpolationUnitIncrement(currentTimeMillis())); + TransformNR nextPoint = getTipAlongTrajectory(startingPoint, delta, + engine.getInterpolationUnitIncrement(currentTimeMillis())); // now the best time for this increment is calculated double bestTime = getBestTime(nextPoint); // error check for the best time being below the commanded time @@ -1729,7 +1795,7 @@ public InterpolationMoveState blockingInterpolatedMove(TransformNR target, doubl return InterpolationMoveState.READY; } @Override - public void setTimeProvider(ITimeProvider t) { + public void setTimeProvider(ITimeProvider t) { super.setTimeProvider(t); imu.setTimeProvider(getTimeProvider()); for (int i = 0; i < getNumberOfLinks(); i++) { @@ -1739,6 +1805,6 @@ public void setTimeProvider(ITimeProvider t) { } @Override public String toString() { - return "Bowler Device "+getScriptingName(); + return "Bowler Device " + getScriptingName(); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java index 1f8f2b64..20a42861 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractLink.java @@ -2,7 +2,6 @@ import java.util.ArrayList; - import com.neuronrobotics.sdk.addons.kinematics.imu.IMU; import com.neuronrobotics.sdk.addons.kinematics.time.ITimeProvider; import com.neuronrobotics.sdk.addons.kinematics.time.TimeKeeper; @@ -15,32 +14,34 @@ /** * The Class AbstractLink. */ -// Kevin Shouldn't the Link's channel be kept in this level of Abstraction? The way I designg AbstractCartesianPositonDevice Requires this -public abstract class AbstractLink extends TimeKeeper implements IFlushable,IVitaminHolder { +// Kevin Shouldn't the Link's channel be kept in this level of Abstraction? The +// way I designg AbstractCartesianPositonDevice Requires this +public abstract class AbstractLink extends TimeKeeper implements IFlushable, IVitaminHolder { /** The target value. */ - private double targetValue=0; - + private double targetValue = 0; + /** The target engineering units. */ - private double targetEngineeringUnits=0; - + private double targetEngineeringUnits = 0; + /** The links. */ private ArrayList links = new ArrayList(); - + /** The conf. */ - private LinkConfiguration conf =null; + private LinkConfiguration conf = null; private ArrayList slaveLinks; private LinkFactory slaveFactory = new LinkFactory(); /** The use limits. */ - private boolean useLimits=true; + private boolean useLimits = true; + + private Object linksLocation = null; - private Object linksLocation=null; - /** - * The object for communicating IMU information and registering it with the hardware + * The object for communicating IMU information and registering it with the + * hardware */ private IMU imu = new IMU(); - + public VitaminLocation getShaftVitamin() { return conf.getShaftVitamin(); } @@ -57,12 +58,13 @@ public void addVitaminInternal(VitaminLocation location) { public void removeVitamin(VitaminLocation loc) { conf.removeVitamin(loc); } - public ArrayListgetNonActuatorVitamins(){ + public ArrayList getNonActuatorVitamins() { return conf.getNonActuatorVitamins(); } - + /** * Override this method to specify a larger range + * * @return the maximum value possible for a link */ public double getDeviceMaximumValue() { @@ -70,6 +72,7 @@ public double getDeviceMaximumValue() { } /** * Override this method to specify a larger range + * * @return the minimum value possible for a link */ public double getDeviceMinimumValue() { @@ -79,14 +82,14 @@ public double getDeviceMinimumValue() { * Override this method to specify a larger range */ public void setDeviceMaximumValue(double max) { - conf.setDeviceTheoreticalMax(max); + conf.setDeviceTheoreticalMax(max); } /** * Override this method to specify a larger range - + * */ public void setDeviceMinimumValue(double min) { - conf.setDeviceTheoreticalMin(min); + conf.setDeviceTheoreticalMin(min); } /** * Gets the max engineering units. @@ -94,19 +97,19 @@ public void setDeviceMinimumValue(double min) { * @return the max engineering units */ public double getDeviceMaxEngineeringUnits() { - if(conf.getScale()>0) + if (conf.getScale() > 0) return toEngineeringUnits(getDeviceMaximumValue()); else return toEngineeringUnits(getDeviceMinimumValue()); } - + /** * Gets the min engineering units. * * @return the min engineering units */ public double getDeviceMinEngineeringUnits() { - if(conf.getScale()>0) + if (conf.getScale() > 0) return toEngineeringUnits(getDeviceMinimumValue()); else return toEngineeringUnits(getDeviceMaximumValue()); @@ -114,225 +117,243 @@ public double getDeviceMinEngineeringUnits() { /** * Instantiates a new abstract link. * - * @param conf the conf + * @param conf + * the conf */ - public AbstractLink(LinkConfiguration conf){ - this.conf=conf; + public AbstractLink(LinkConfiguration conf) { + this.conf = conf; slaveLinks = conf.getSlaveLinks(); - if(slaveLinks.size()>0) - com.neuronrobotics.sdk.common.Log.error(conf.getName()+" has slaves: "+slaveLinks.size()); - for(LinkConfiguration c:slaveLinks){ - //generate the links + if (slaveLinks.size() > 0) + com.neuronrobotics.sdk.common.Log.error(conf.getName() + " has slaves: " + slaveLinks.size()); + for (LinkConfiguration c : slaveLinks) { + // generate the links getSlaveFactory().getLink(c); } } /** - * This method is called in order to take the target value and pass it to the implementation's target value - * This method should not alter the position of the implementations link - * If the implementation target does not handle chached values, this should be chached in code. + * This method is called in order to take the target value and pass it to the + * implementation's target value This method should not alter the position of + * the implementations link If the implementation target does not handle chached + * values, this should be chached in code. */ - public void cacheTargetValue(){ - for(LinkConfiguration c:slaveLinks){ - //generate the links + public void cacheTargetValue() { + for (LinkConfiguration c : slaveLinks) { + // generate the links AbstractLink link = getSlaveFactory().getLink(c); link.cacheTargetValue(); } cacheTargetValueDevice(); } - + /** - * This method is called in order to take the target value and pass it to the implementation's target value - * This method should not alter the position of the implementations link - * If the implementation target does not handle chached values, this should be chached in code. + * This method is called in order to take the target value and pass it to the + * implementation's target value This method should not alter the position of + * the implementations link If the implementation target does not handle chached + * values, this should be chached in code. */ public abstract void cacheTargetValueDevice(); - + /** - * This method will force one link to update its position in the given time (seconds). + * This method will force one link to update its position in the given time + * (seconds). * - * @param time (seconds) for the position update to take + * @param time + * (seconds) for the position update to take */ - public void flush(double time){ - for(LinkConfiguration c:slaveLinks){ - //generate the links + public void flush(double time) { + for (LinkConfiguration c : slaveLinks) { + // generate the links AbstractLink link = getSlaveFactory().getLink(c); link.flush(time); } flushDevice(time); } - + /** - * This method will force one link to update its position in the given time (seconds) - * This will also flush the host controller. + * This method will force one link to update its position in the given time + * (seconds) This will also flush the host controller. * - * @param time (seconds) for the position update to take + * @param time + * (seconds) for the position update to take */ - public void flushAll(double time){ - for(LinkConfiguration c:slaveLinks){ - //generate the links + public void flushAll(double time) { + for (LinkConfiguration c : slaveLinks) { + // generate the links AbstractLink link = getSlaveFactory().getLink(c); link.flushAll(time); } flushAllDevice(time); } - + /** - * This method will force one link to update its position in the given time (seconds). + * This method will force one link to update its position in the given time + * (seconds). * - * @param time (seconds) for the position update to take + * @param time + * (seconds) for the position update to take */ public abstract void flushDevice(double time); - + /** - * This method will force one link to update its position in the given time (seconds) - * This will also flush the host controller. + * This method will force one link to update its position in the given time + * (seconds) This will also flush the host controller. * - * @param time (seconds) for the position update to take + * @param time + * (seconds) for the position update to take */ public abstract void flushAllDevice(double time); - + /** - * This method should return the current position of the link - * This method is expected to perform a communication with the device . + * This method should return the current position of the link This method is + * expected to perform a communication with the device . * * @return the current position of the link */ public abstract double getCurrentPosition(); - + /** * To engineering units. * - * @param value the value + * @param value + * the value * @return the double */ - public double toEngineeringUnits(double value){ - return ((value-getHome())*getScale()); + public double toEngineeringUnits(double value) { + return ((value - getHome()) * getScale()); } - + /** * To link units. * - * @param euValue the eu value + * @param euValue + * the eu value * @return the int */ - public double toLinkUnits(double euValue){ - return (euValue/getScale())+getHome(); + public double toLinkUnits(double euValue) { + return (euValue / getScale()) + getHome(); } - + /** * Adds the link listener. * - * @param l the l + * @param l + * the l */ - public void addLinkListener(ILinkListener l){ - //Log.info("Adding link listener: "+l); - if(getLinks().contains(l)) + public void addLinkListener(ILinkListener l) { + // Log.info("Adding link listener: "+l); + if (getLinks().contains(l)) return; getLinks().add(l); } - + /** * Removes the link listener. * - * @param l the l + * @param l + * the l */ - public void removeLinkListener(ILinkListener l){ - //Log.info("Removing link listener: "+l); - if(getLinks().contains(l)) + public void removeLinkListener(ILinkListener l) { + // Log.info("Removing link listener: "+l); + if (getLinks().contains(l)) getLinks().remove(l); - //throw new RuntimeException(); + // throw new RuntimeException(); } - + /** * This method sends the updated angle value to all listeners. * - * @param linkUnitsValue the link units value + * @param linkUnitsValue + * the link units value */ - public void fireLinkListener(double linkUnitsValue){ + public void fireLinkListener(double linkUnitsValue) { ArrayList links2 = getLinks(); for (int i = 0; i < links2.size(); i++) { ILinkListener l = links2.get(i); - //Log.info("Link Event, RAW="+linkUnitsValue); + // Log.info("Link Event, RAW="+linkUnitsValue); try { - l.onLinkPositionUpdate(this,toEngineeringUnits(linkUnitsValue)); - }catch( Throwable t) { + l.onLinkPositionUpdate(this, toEngineeringUnits(linkUnitsValue)); + } catch (Throwable t) { t.printStackTrace(System.out); } } } - + /** * This fires off a limit event. * - * @param e the e + * @param e + * the e */ - public void fireLinkLimitEvent(PIDLimitEvent e){ - for(ILinkListener l:getLinks()){ - //Log.info("Link Event, RAW="+linkUnitsValue); + public void fireLinkLimitEvent(PIDLimitEvent e) { + for (ILinkListener l : getLinks()) { + // Log.info("Link Event, RAW="+linkUnitsValue); l.onLinkLimit(this, e); } } - + /** * Home. */ - public void Home(){ + public void Home() { setTargetValue(getHome()); cacheTargetValue(); } - + /** * Increment engineering units. * - * @param inc the inc + * @param inc + * the inc */ - public void incrementEngineeringUnits(double inc){ - setTargetEngineeringUnits(targetEngineeringUnits+inc); + public void incrementEngineeringUnits(double inc) { + setTargetEngineeringUnits(targetEngineeringUnits + inc); } - + /** * Sets the target engineering units. * - * @param pos the new target engineering units + * @param pos + * the new target engineering units */ public void setTargetEngineeringUnits(double pos) { - //TickToc.tic("Nan check link "+getLinkConfiguration().getLinkIndex()); - if(new Double(pos).isNaN()) { + // TickToc.tic("Nan check link "+getLinkConfiguration().getLinkIndex()); + if (new Double(pos).isNaN()) { new RuntimeException("Setpopint in setTargetEngineeringUnits can not be set to nan").printStackTrace(); return; } - //TickToc.tic("Nan check link done"); + // TickToc.tic("Nan check link done"); targetEngineeringUnits = pos; double linkUnits = toLinkUnits(targetEngineeringUnits); - //TickToc.tic("to link units"); + // TickToc.tic("to link units"); setPosition(linkUnits); } /** * Sets the current engineering units. * - * @param angle the new current engineering units + * @param angle + * the new current engineering units */ public void setCurrentEngineeringUnits(double angle) { - double current = (double)(getCurrentPosition()-getHome()); - if(current != 0) - conf.setScale(angle/current); + double current = (double) (getCurrentPosition() - getHome()); + if (current != 0) + conf.setScale(angle / current); } - + /** * Gets the current engineering units. * * @return the current engineering units */ - public double getCurrentEngineeringUnits(){ + public double getCurrentEngineeringUnits() { double link = getCurrentPosition(); - if(new Double(link).isNaN()) - link=0; + if (new Double(link).isNaN()) + link = 0; double back = toEngineeringUnits(link); - //Log.info("Link space: "+link+" Joint space: "+back); + // Log.info("Link space: "+link+" Joint space: "+back); return back; } - + /** * Gets the target engineering units. * @@ -341,56 +362,57 @@ public double getCurrentEngineeringUnits(){ public double getTargetEngineeringUnits() { return toEngineeringUnits(getTargetValue()); } - + /** * Gets the max engineering units. * * @return the max engineering units */ public double getMaxEngineeringUnits() { - if(conf.getScale()>0) + if (conf.getScale() > 0) return toEngineeringUnits(getUpperLimit()); else return toEngineeringUnits(getLowerLimit()); } - + /** * Gets the min engineering units. * * @return the min engineering units */ public double getMinEngineeringUnits() { - if(conf.getScale()>0) + if (conf.getScale() > 0) return toEngineeringUnits(getLowerLimit()); else return toEngineeringUnits(getUpperLimit()); } - + /** * Sets the upper limit. * - * @param upperLimit the new upper limit + * @param upperLimit + * the new upper limit */ - public void setMinEngineeringUnits(double minLimit ) { - if(conf.getScale()>0) - conf.setLowerLimit( toLinkUnits(minLimit)); + public void setMinEngineeringUnits(double minLimit) { + if (conf.getScale() > 0) + conf.setLowerLimit(toLinkUnits(minLimit)); else - conf.setUpperLimit( toLinkUnits(minLimit)); + conf.setUpperLimit(toLinkUnits(minLimit)); } - + /** * Sets the lower limit. * - * @param lowerLimit the new lower limit + * @param lowerLimit + * the new lower limit */ public void setMaxEngineeringUnits(double maxLimit) { - if(conf.getScale()>0) - conf.setUpperLimit( toLinkUnits(maxLimit)); + if (conf.getScale() > 0) + conf.setUpperLimit(toLinkUnits(maxLimit)); else - conf.setLowerLimit( toLinkUnits(maxLimit)); + conf.setLowerLimit(toLinkUnits(maxLimit)); } - - + /** * Gets the max engineering units. * @@ -405,122 +427,112 @@ public double getMaxVelocityEngineeringUnits() { * @return the max engineering units */ public void setMaxVelocityEngineeringUnits(double max) { - conf.setUpperVelocity(toLinkUnits(max)); + conf.setUpperVelocity(toLinkUnits(max)); } - + /** * Checks if is max engineering units. * * @return true, if is max engineering units */ public boolean isMaxEngineeringUnits() { - if(getTargetValue() == getUpperLimit()) { + if (getTargetValue() == getUpperLimit()) { return true; } return false; } - + /** * Checks if is min engineering units. * * @return true, if is min engineering units */ public boolean isMinEngineeringUnits() { - if(getTargetValue() == getLowerLimit()) { + if (getTargetValue() == getLowerLimit()) { return true; } return false; } - + /** * Sets the position. * - * @param val the new position + * @param val + * the new position */ protected void setPosition(double val) { - //if(getTargetValue() != val){ - setTargetValue(val); - //} - for(LinkConfiguration c:slaveLinks){ - //generate the links + // if(getTargetValue() != val){ + setTargetValue(val); + // } + for (LinkConfiguration c : slaveLinks) { + // generate the links AbstractLink link = getSlaveFactory().getLink(c); link.cacheTargetValue(); } cacheTargetValue(); } - - /** * Sets the target value. * - * @param val the new target value + * @param val + * the new target value */ protected void setTargetValue(double val) { - //TickToc.tic("setTargetValue nan check"); + // TickToc.tic("setTargetValue nan check"); - if(new Double(val).isNaN()) { + if (new Double(val).isNaN()) { new RuntimeException("Setpopint in virtual device can not be set to nan").printStackTrace(); return; } - //TickToc.tic("setTargetValue nan check done "); - Log.info("Setting cached value :"+val); + // TickToc.tic("setTargetValue nan check done "); + Log.info("Setting cached value :" + val); this.targetValue = val; - for(LinkConfiguration c:slaveLinks){ - //generate the links + for (LinkConfiguration c : slaveLinks) { + // generate the links AbstractLink link = getSlaveFactory().getLink(c); link.setTargetValue(targetValue); } - //TickToc.tic("followers set "); - + // TickToc.tic("followers set "); + double ub = getMaxEngineeringUnits(); double lb = getMinEngineeringUnits(); - boolean flip = getScale()<0; - boolean belowLower = targetValuegetUpperLimit(); - String execpt = "Attempted="+toEngineeringUnits(targetValue)+" (engineering units) Device Units="+targetValue - +" \nUpper Bound="+ub+" (engineering units) Device Units="+getUpperLimit() - + "\nLower Bound="+lb+" (engineering units) Device Units="+getLowerLimit(); - if(flip?belowLower:aboveUpper){ - this.targetValue = flip?getLowerLimit():getUpperLimit(); - for(LinkConfiguration c:slaveLinks){ - //generate the links + boolean flip = getScale() < 0; + boolean belowLower = targetValue < getLowerLimit(); + boolean aboveUpper = targetValue > getUpperLimit(); + String execpt = "Attempted=" + toEngineeringUnits(targetValue) + " (engineering units) Device Units=" + + targetValue + " \nUpper Bound=" + ub + " (engineering units) Device Units=" + getUpperLimit() + + "\nLower Bound=" + lb + " (engineering units) Device Units=" + getLowerLimit(); + if (flip ? belowLower : aboveUpper) { + this.targetValue = flip ? getLowerLimit() : getUpperLimit(); + for (LinkConfiguration c : slaveLinks) { + // generate the links AbstractLink link = getSlaveFactory().getLink(c); link.setTargetValue(targetValue); } cacheTargetValue(); - fireLinkLimitEvent( - new PIDLimitEvent( - conf.getHardwareIndex(), - targetValue , - PIDLimitEventType.UPPERLIMIT, - currentTimeMillis() - ) - ); - if(isUseLimits())throw new RuntimeException("Joint hit Upper software bound\n"+execpt); + fireLinkLimitEvent(new PIDLimitEvent(conf.getHardwareIndex(), targetValue, PIDLimitEventType.UPPERLIMIT, + currentTimeMillis())); + if (isUseLimits()) + throw new RuntimeException("Joint hit Upper software bound\n" + execpt); } - if(flip?aboveUpper:belowLower) { - this.targetValue =flip?getUpperLimit():getLowerLimit(); - for(LinkConfiguration c:slaveLinks){ - //generate the links + if (flip ? aboveUpper : belowLower) { + this.targetValue = flip ? getUpperLimit() : getLowerLimit(); + for (LinkConfiguration c : slaveLinks) { + // generate the links AbstractLink link = getSlaveFactory().getLink(c); link.setTargetValue(targetValue); } cacheTargetValue(); - fireLinkLimitEvent( - new PIDLimitEvent( - conf.getHardwareIndex(), - targetValue , - PIDLimitEventType.LOWERLIMIT, - currentTimeMillis() - ) - ); - if(isUseLimits())throw new RuntimeException("Joint hit Lower software bound\n"+execpt); - - }else{ + fireLinkLimitEvent(new PIDLimitEvent(conf.getHardwareIndex(), targetValue, PIDLimitEventType.LOWERLIMIT, + currentTimeMillis())); + if (isUseLimits()) + throw new RuntimeException("Joint hit Lower software bound\n" + execpt); + + } else { Log.info("Abstract Link: limits disabled"); } - //TickToc.tic("link bound set done"); + // TickToc.tic("link bound set done"); } /** @@ -531,29 +543,32 @@ protected void setTargetValue(double val) { public double getTargetValue() { return targetValue; } - + /** * Sets the upper limit. * - * @param upperLimit the new upper limit + * @param upperLimit + * the new upper limit */ public void setUpperLimit(int upperLimit) { conf.setUpperLimit(upperLimit); } - + /** * Sets the lower limit. * - * @param lowerLimit the new lower limit + * @param lowerLimit + * the new lower limit */ public void setLowerLimit(int lowerLimit) { conf.setLowerLimit(lowerLimit); } - + /** * Sets the home. * - * @param home the new home + * @param home + * the new home */ public void setHome(int home) { conf.setStaticOffset(home); @@ -562,7 +577,8 @@ public void setHome(int home) { /** * Sets the scale. * - * @param d the new scale + * @param d + * the new scale */ public void setScale(double d) { conf.setScale(d); @@ -575,7 +591,7 @@ public void setScale(double d) { */ public double getScale() { return conf.getScale(); - } + } /** * Gets the upper limit. @@ -592,7 +608,7 @@ public double getUpperLimit() { * @return the lower limit */ public double getLowerLimit() { - return conf.getLowerLimit(); + return conf.getLowerLimit(); } /** @@ -601,16 +617,16 @@ public double getLowerLimit() { * @return the home */ public double getHome() { - return conf.getStaticOffset(); + return conf.getStaticOffset(); } - + /** * Sets the current as upper limit. */ public void setCurrentAsUpperLimit() { conf.setUpperLimit(getCurrentPosition()); } - + /** * Sets the current as lower limit. */ @@ -621,7 +637,8 @@ public void setCurrentAsLowerLimit() { /** * Sets the use limits. * - * @param useLimits the new use limits + * @param useLimits + * the new use limits */ public void setUseLimits(boolean useLimits) { this.useLimits = useLimits; @@ -639,7 +656,8 @@ public boolean isUseLimits() { /** * Sets the link configuration. * - * @param conf the new link configuration + * @param conf + * the new link configuration */ public void setLinkConfiguration(LinkConfiguration conf) { this.conf = conf; @@ -666,7 +684,8 @@ public ArrayList getLinks() { /** * Sets the links. * - * @param links the new links + * @param links + * the new links */ public void setLinks(ArrayList links) { this.links = links; @@ -680,11 +699,12 @@ public void removeAllLinkListener() { } public void setGlobalPositionListener(Object Object) { -// if(!Affine.class.isInstance(Object)) { -// RuntimeException runtimeException = new RuntimeException("Must be an Affine"); -// runtimeException.printStackTrace(); -// throw runtimeException; -// } + // if(!Affine.class.isInstance(Object)) { + // RuntimeException runtimeException = new RuntimeException("Must be an + // Affine"); + // runtimeException.printStackTrace(); + // throw runtimeException; + // } this.linksLocation = Object; } @@ -711,12 +731,13 @@ public void clearChangeListener() { conf.clearChangeListener(); } @Override - public void setTimeProvider(ITimeProvider t) { + public void setTimeProvider(ITimeProvider t) { super.setTimeProvider(t); imu.setTimeProvider(getTimeProvider()); } @Override public String toString() { - return "Bowler Link "+getLinkConfiguration().getDeviceScriptingName()+" "+getLinkConfiguration().getLinkIndex(); + return "Bowler Link " + getLinkConfiguration().getDeviceScriptingName() + " " + + getLinkConfiguration().getLinkIndex(); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractPrismaticLink.java index 8471e71e..8a463568 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractPrismaticLink.java @@ -9,49 +9,53 @@ public abstract class AbstractPrismaticLink extends AbstractLink { /** * Instantiates a new abstract prismatic link. * - * @param conf the conf + * @param conf + * the conf */ public AbstractPrismaticLink(LinkConfiguration conf) { super(conf); // Auto-generated constructor stub } - + /** * Increment displacment. * - * @param inc the inc + * @param inc + * the inc */ - public void incrementDisplacment(double inc){ + public void incrementDisplacment(double inc) { incrementEngineeringUnits(inc); } - + /** * Sets the target displacment. * - * @param pos the new target displacment + * @param pos + * the new target displacment */ public void setTargetDisplacment(double pos) { setTargetEngineeringUnits(pos); } - + /** * Sets the current as displacment. * - * @param Displacment the new current as displacment + * @param Displacment + * the new current as displacment */ public void setCurrentAsDisplacment(double Displacment) { setCurrentEngineeringUnits(Displacment); } - + /** * Gets the current displacment. * * @return the current displacment */ - public double getCurrentDisplacment(){ + public double getCurrentDisplacment() { return getCurrentEngineeringUnits(); } - + /** * Gets the target displacment. * @@ -60,7 +64,7 @@ public double getCurrentDisplacment(){ public double getTargetDisplacment() { return getTargetEngineeringUnits(); } - + /** * Gets the max displacment. * @@ -69,7 +73,7 @@ public double getTargetDisplacment() { public double getMaxDisplacment() { return getMaxEngineeringUnits(); } - + /** * Gets the min displacment. * @@ -78,7 +82,7 @@ public double getMaxDisplacment() { public double getMinDisplacment() { return getMinEngineeringUnits(); } - + /** * Checks if is max displacment. * @@ -87,7 +91,7 @@ public double getMinDisplacment() { public boolean isMaxDisplacment() { return isMaxEngineeringUnits(); } - + /** * Checks if is min displacment. * diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractRotoryLink.java index 1c369b7a..e68d5f1d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AbstractRotoryLink.java @@ -9,49 +9,53 @@ public abstract class AbstractRotoryLink extends AbstractLink { /** * Instantiates a new abstract rotory link. * - * @param conf the conf + * @param conf + * the conf */ public AbstractRotoryLink(LinkConfiguration conf) { super(conf); // Auto-generated constructor stub } - + /** * Increment angle. * - * @param inc the inc + * @param inc + * the inc */ - public void incrementAngle(double inc){ + public void incrementAngle(double inc) { incrementEngineeringUnits(inc); } - + /** * Sets the target angle. * - * @param pos the new target angle + * @param pos + * the new target angle */ public void setTargetAngle(double pos) { setTargetEngineeringUnits(pos); } - + /** * Sets the current as angle. * - * @param angle the new current as angle + * @param angle + * the new current as angle */ public void setCurrentAsAngle(double angle) { setCurrentEngineeringUnits(angle); } - + /** * Gets the current angle. * * @return the current angle */ - public double getCurrentAngle(){ + public double getCurrentAngle() { return getCurrentEngineeringUnits(); } - + /** * Gets the target angle. * @@ -60,7 +64,7 @@ public double getCurrentAngle(){ public double getTargetAngle() { return getTargetEngineeringUnits(); } - + /** * Gets the max angle. * @@ -69,7 +73,7 @@ public double getTargetAngle() { public double getMaxAngle() { return getMaxEngineeringUnits(); } - + /** * Gets the min angle. * @@ -78,7 +82,7 @@ public double getMaxAngle() { public double getMinAngle() { return getMinEngineeringUnits(); } - + /** * Checks if is max angle. * @@ -87,7 +91,7 @@ public double getMinAngle() { public boolean isMaxAngle() { return isMaxEngineeringUnits(); } - + /** * Checks if is min angle. * diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogPrismaticLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogPrismaticLink.java index a959f737..13d44851 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogPrismaticLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogPrismaticLink.java @@ -3,58 +3,70 @@ import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel; import com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener; - // Auto-generated Javadoc /** * The Class AnalogPrismaticLink. */ -public class AnalogPrismaticLink extends AbstractPrismaticLink implements IAnalogInputListener{ - +public class AnalogPrismaticLink extends AbstractPrismaticLink implements IAnalogInputListener { + /** The channel. */ private AnalogInputChannel channel; - + /** * Instantiates a new analog prismatic link. * - * @param c the c - * @param conf the conf + * @param c + * the c + * @param conf + * the conf */ - public AnalogPrismaticLink(AnalogInputChannel c,LinkConfiguration conf) { + public AnalogPrismaticLink(AnalogInputChannel c, LinkConfiguration conf) { super(conf); - + setAnalogChannel(c); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#cacheTargetValueDevice() + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.addons.kinematics.AbstractLink#cacheTargetValueDevice( + * ) */ @Override public void cacheTargetValueDevice() { - //ignore, input only + // ignore, input only } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#flush(double) */ @Override public void flushDevice(double time) { - //ignore, input only + // ignore, input only } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#flushAll(double) */ @Override public void flushAllDevice(double time) { - //ignore, input only + // ignore, input only } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition() + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition() */ @Override public double getCurrentPosition() { - int val=getChannel().getValue(); + int val = getChannel().getValue(); fireLinkListener(val); return val; } @@ -62,12 +74,13 @@ public double getCurrentPosition() { /** * Sets the analog channel. * - * @param channel the new analog channel + * @param channel + * the new analog channel */ public void setAnalogChannel(AnalogInputChannel channel) { channel.addAnalogInputListener(this); channel.configAdvancedAsyncNotEqual(10); - //new RuntimeException().printStackTrace(); + // new RuntimeException().printStackTrace(); this.channel = channel; } @@ -80,12 +93,16 @@ public AnalogInputChannel getChannel() { return channel; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener#onAnalogValueChange(com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel, double) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener# + * onAnalogValueChange(com.neuronrobotics.sdk.dyio.peripherals. + * AnalogInputChannel, double) */ @Override public void onAnalogValueChange(AnalogInputChannel chan, double value) { - if(chan == getChannel() ) { + if (chan == getChannel()) { fireLinkListener((int) value); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogRotoryLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogRotoryLink.java index cd262ac2..77c1c631 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogRotoryLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/AnalogRotoryLink.java @@ -3,57 +3,69 @@ import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel; import com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener; - // Auto-generated Javadoc /** * The Class AnalogRotoryLink. */ -public class AnalogRotoryLink extends AbstractRotoryLink implements IAnalogInputListener{ - +public class AnalogRotoryLink extends AbstractRotoryLink implements IAnalogInputListener { + /** The channel. */ private AnalogInputChannel channel; - + /** * Instantiates a new analog rotory link. * - * @param c the c - * @param conf the conf + * @param c + * the c + * @param conf + * the conf */ - public AnalogRotoryLink(AnalogInputChannel c,LinkConfiguration conf) { + public AnalogRotoryLink(AnalogInputChannel c, LinkConfiguration conf) { super(conf); setAnalogChannel(c); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#cacheTargetValueDevice() + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.addons.kinematics.AbstractLink#cacheTargetValueDevice( + * ) */ @Override public void cacheTargetValueDevice() { - //ignore, input only + // ignore, input only } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#flush(double) */ @Override public void flushDevice(double time) { - //ignore, input only + // ignore, input only } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#flushAll(double) */ @Override public void flushAllDevice(double time) { - //ignore, input only + // ignore, input only } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition() + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.addons.kinematics.AbstractLink#getCurrentPosition() */ @Override public double getCurrentPosition() { - int val=getChannel().getValue(); + int val = getChannel().getValue(); fireLinkListener(val); return val; } @@ -61,12 +73,13 @@ public double getCurrentPosition() { /** * Sets the analog channel. * - * @param channel the new analog channel + * @param channel + * the new analog channel */ public void setAnalogChannel(AnalogInputChannel channel) { channel.addAnalogInputListener(this); channel.configAdvancedAsyncNotEqual(10); - //new RuntimeException().printStackTrace(); + // new RuntimeException().printStackTrace(); this.channel = channel; } @@ -79,12 +92,16 @@ public AnalogInputChannel getChannel() { return channel; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener#onAnalogValueChange(com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel, double) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.dyio.peripherals.IAnalogInputListener# + * onAnalogValueChange(com.neuronrobotics.sdk.dyio.peripherals. + * AnalogInputChannel, double) */ @Override public void onAnalogValueChange(AnalogInputChannel chan, double value) { - if(chan == getChannel() ) { + if (chan == getChannel()) { fireLinkListener((int) value); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ComputedGeometricModel.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ComputedGeometricModel.java index 585a8713..d52bddb2 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ComputedGeometricModel.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ComputedGeometricModel.java @@ -7,32 +7,38 @@ /** * The Class ComputedGeometricModel. */ -public class ComputedGeometricModel implements DhInverseSolver{ - +public class ComputedGeometricModel implements DhInverseSolver { + /** The dh chain. */ private DHChain dhChain; - + /** * Instantiates a new computed geometric model. * - * @param dhChain the dh chain - * @param debug the debug + * @param dhChain + * the dh chain + * @param debug + * the debug */ public ComputedGeometricModel(DHChain dhChain, boolean debug) { this.dhChain = dhChain; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver#inverseKinematics(com.neuronrobotics.sdk.addons.kinematics.math.TransformNR, double[], com.neuronrobotics.sdk.addons.kinematics.DHChain) + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver#inverseKinematics( + * com.neuronrobotics.sdk.addons.kinematics.math.TransformNR, double[], + * com.neuronrobotics.sdk.addons.kinematics.DHChain) */ - public double[] inverseKinematics(TransformNR target,double[] jointSpaceVector, - DHChain chain ) { + public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector, DHChain chain) { ArrayList links = chain.getLinks(); - //viewer.addTransform(target, "Target",Color.pink); - int linkNum = jointSpaceVector.length; - double [] inv = new double[linkNum]; - //Attempting to implement: - //http://www.ri.cmu.edu/pub_files/pub1/xu_yangsheng_1993_1/xu_yangsheng_1993_1.pdf + // viewer.addTransform(target, "Target",Color.pink); + int linkNum = jointSpaceVector.length; + double[] inv = new double[linkNum]; + // Attempting to implement: + // http://www.ri.cmu.edu/pub_files/pub1/xu_yangsheng_1993_1/xu_yangsheng_1993_1.pdf TransformNR current = dhChain.forwardKinematics(jointSpaceVector); return inv; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java index 2dc93354..09b324ac 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHChain.java @@ -1,239 +1,248 @@ package com.neuronrobotics.sdk.addons.kinematics; -import java.io.InputStream; import java.util.ArrayList; - - -import org.w3c.dom.Element; -import org.w3c.dom.Node; -import org.w3c.dom.NodeList; - import Jama.Matrix; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.time.ITimeProvider; import com.neuronrobotics.sdk.addons.kinematics.time.TimeKeeper; -import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; import com.neuronrobotics.sdk.common.Log; // Auto-generated Javadoc /** * The Class DHChain. */ -public class DHChain extends TimeKeeper{ - +public class DHChain extends TimeKeeper { + /** The links. */ private ArrayList links = new ArrayList(); - + /** The chain. */ private ArrayList chain = new ArrayList(); - + /** The int chain. */ private ArrayList intChain = new ArrayList(); - + /** The upper limits. */ private double[] upperLimits; - + /** The lower limits. */ private double[] lowerLimits; - + /** The debug. */ - private boolean debug=false; - + private boolean debug = false; + /** The is. */ private DhInverseSolver is; - + /** The kin. */ public AbstractKinematicsNR kin; - + /** The factory. */ private LinkFactory factory; - /** * Instantiates a new DH chain. * - * @param kin the kin + * @param kin + * the kin */ - public DHChain( AbstractKinematicsNR kin){ + public DHChain(AbstractKinematicsNR kin) { this.kin = kin; } - + /** * Adds the link. * - * @param link the link + * @param link + * the link */ - public void addLink(DHLink link){ - if(!getLinks().contains(link)){ + public void addLink(DHLink link) { + if (!getLinks().contains(link)) { getLinks().add(link); } } - + /** * Removes the link. * - * @param link the link + * @param link + * the link */ - public void removeLink(DHLink link){ - if(getLinks().contains(link)){ + public void removeLink(DHLink link) { + if (getLinks().contains(link)) { getLinks().remove(link); } } - - -// public DHChain(double [] upperLimits,double [] lowerLimits, boolean debugViewer ) { -// this(upperLimits, lowerLimits); -// -// } -// -// public DHChain(double [] upperLimits,double [] lowerLimits ) { -// -// this.upperLimits = upperLimits; -// this.lowerLimits = lowerLimits; -// getLinks().add(new DHLink( 13, Math.toRadians(180), 32, Math.toRadians(-90)));//0->1 -// getLinks().add(new DHLink( 25, Math.toRadians(-90), 93, Math.toRadians(180)));//1->2 -// getLinks().add(new DHLink( 11, Math.toRadians(90), 24, Math.toRadians(90)));//2->3 -// getLinks().add(new DHLink( 128, Math.toRadians(-90), 0, Math.toRadians(90)));//3->4 -// -// getLinks().add(new DHLink( 0, Math.toRadians(0), 0, Math.toRadians(-90)));//4->5 -// getLinks().add(new DHLink( 25, Math.toRadians(90), 0, Math.toRadians(0)));//5->tool -// -// forwardKinematics(new double [] {0,0,0,0,0,0}); -// } + + // public DHChain(double [] upperLimits,double [] lowerLimits, boolean + // debugViewer ) { + // this(upperLimits, lowerLimits); + // + // } + // + // public DHChain(double [] upperLimits,double [] lowerLimits ) { + // + // this.upperLimits = upperLimits; + // this.lowerLimits = lowerLimits; + // getLinks().add(new DHLink( 13, Math.toRadians(180), 32, + // Math.toRadians(-90)));//0->1 + // getLinks().add(new DHLink( 25, Math.toRadians(-90), 93, + // Math.toRadians(180)));//1->2 + // getLinks().add(new DHLink( 11, Math.toRadians(90), 24, + // Math.toRadians(90)));//2->3 + // getLinks().add(new DHLink( 128, Math.toRadians(-90), 0, + // Math.toRadians(90)));//3->4 + // + // getLinks().add(new DHLink( 0, Math.toRadians(0), 0, + // Math.toRadians(-90)));//4->5 + // getLinks().add(new DHLink( 25, Math.toRadians(90), 0, + // Math.toRadians(0)));//5->tool + // + // forwardKinematics(new double [] {0,0,0,0,0,0}); + // } /** - * Inverse kinematics. - * - * @param target the target - * @param jointSpaceVector the joint space vector - * @return the double[] - * @throws Exception the exception - */ -public double[] inverseKinematics(TransformNR target,double[] jointSpaceVector )throws Exception { - - if(getLinks() == null) + * Inverse kinematics. + * + * @param target + * the target + * @param jointSpaceVector + * the joint space vector + * @return the double[] + * @throws Exception + * the exception + */ + public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector) throws Exception { + + if (getLinks() == null) return null; - - //is = new GradiantDecent(this,debug); - //is = new SearchTreeSolver(this,debug); - if(getInverseSolver() == null) - setInverseSolver(new ComputedGeometricModel(this,debug)); - - double [] inv = getInverseSolver().inverseKinematics(target, jointSpaceVector,this); - if(debug){ - //getViewer().updatePoseDisplay(getChain(jointSpaceVector)); + + // is = new GradiantDecent(this,debug); + // is = new SearchTreeSolver(this,debug); + if (getInverseSolver() == null) + setInverseSolver(new ComputedGeometricModel(this, debug)); + + double[] inv = getInverseSolver().inverseKinematics(target, jointSpaceVector, this); + if (debug) { + // getViewer().updatePoseDisplay(getChain(jointSpaceVector)); } - - //Log.info( "Inverse Kinematics took "+(System.currentTimeMillis()-start)+"ms"); + + // Log.info( "Inverse Kinematics took + // "+(System.currentTimeMillis()-start)+"ms"); return inv; } /** * Forward kinematics. * - * @param jointSpaceVector the joint space vector + * @param jointSpaceVector + * the joint space vector * @return the transform nr */ public TransformNR forwardKinematics(double[] jointSpaceVector) { return forwardKinematics(jointSpaceVector, true); } - + /** * Forward kinematics. * - * @param jointSpaceVector the joint space vector - * @param store the store + * @param jointSpaceVector + * the joint space vector + * @param store + * the store * @return the transform nr */ public TransformNR forwardKinematics(double[] jointSpaceVector, boolean store) { - return new TransformNR(forwardKinematicsMatrix(jointSpaceVector, store) ); + return new TransformNR(forwardKinematicsMatrix(jointSpaceVector, store)); } - - /** * Cross product. * - * @param a the a - * @param b the b + * @param a + * the a + * @param b + * the b * @return the double[] */ - private double [] crossProduct(double[] a, double[] b){ - double [] xProd = new double [3]; - - xProd[0]=a[1]*b[2]-a[2]*b[1]; - xProd[1]=a[2]*b[0]-a[0]*b[2]; - xProd[2]=a[0]*b[1]-a[1]*b[0]; - + private double[] crossProduct(double[] a, double[] b) { + double[] xProd = new double[3]; + + xProd[0] = a[1] * b[2] - a[2] * b[1]; + xProd[1] = a[2] * b[0] - a[0] * b[2]; + xProd[2] = a[0] * b[1] - a[1] * b[0]; + return xProd; } - + /** * Forward kinematics matrix. * - * @param jointSpaceVector the joint space vector - * @param store the store + * @param jointSpaceVector + * the joint space vector + * @param store + * the store * @return the matrix */ public Matrix forwardKinematicsMatrix(double[] jointSpaceVector, boolean store) { - return forwardKinematicsMatrix(jointSpaceVector,store?getCachedChain():null); + return forwardKinematicsMatrix(jointSpaceVector, store ? getCachedChain() : null); } - public Matrix forwardKinematicsMatrix(double[] jointSpaceVector, ArrayList chainToLoad) { - if(getLinks() == null) + public Matrix forwardKinematicsMatrix(double[] jointSpaceVector, ArrayList chainToLoad) { + if (getLinks() == null) return new TransformNR().getMatrixTransform(); - if (jointSpaceVector.length!=getLinks().size()) - throw new IndexOutOfBoundsException("DH links do not match defined links. expected "+getLinks().size()+" got "+jointSpaceVector.length); + if (jointSpaceVector.length != getLinks().size()) + throw new IndexOutOfBoundsException("DH links do not match defined links. expected " + getLinks().size() + + " got " + jointSpaceVector.length); Matrix current = new TransformNR().getMatrixTransform(); - - for(int i=0;i linkConfigurations = factory2.getLinkConfigurations(); - LinkConfiguration conf= linkConfigurations.get(i); + LinkConfiguration conf = linkConfigurations.get(i); Matrix step; - if(conf.isPrismatic()) - step= getLinks().get(i).DhStep(jointSpaceVector[i]); + if (conf.isPrismatic()) + step = getLinks().get(i).DhStep(jointSpaceVector[i]); else - step= getLinks().get(i).DhStep(Math.toRadians(jointSpaceVector[i])); - //Log.info( "Current:\n"+current+"Step:\n"+step); + step = getLinks().get(i).DhStep(Math.toRadians(jointSpaceVector[i])); + // Log.info( "Current:\n"+current+"Step:\n"+step); current = current.times(step); try { - final TransformNR pose =forwardOffset(new TransformNR(current)); - - - - if(chainToLoad!=null){ - if(intChain.size()<=i) + final TransformNR pose = forwardOffset(new TransformNR(current)); + + if (chainToLoad != null) { + if (intChain.size() <= i) intChain.add(new TransformNR(step)); - else{ + else { intChain.set(i, new TransformNR(step)); } - - if(chainToLoad.size()<=i) + + if (chainToLoad.size() <= i) chainToLoad.add(pose); - else{ + else { chainToLoad.set(i, pose); } } - }catch(java.lang.RuntimeException ex) { - String pose="[\n"; - for(int x=0;x chain) { - if(chain!=null) + if (chain != null) this.chain = chain; getCachedChain().clear(); - //else - // new RuntimeException().printStackTrace(); + // else + // new RuntimeException().printStackTrace(); } /** * Gets the chain. * - * @param jointSpaceVector the joint space vector + * @param jointSpaceVector + * the joint space vector * @return the chain */ public ArrayList getChain(double[] jointSpaceVector) { ArrayList chainToLoad = new ArrayList(); - forwardKinematicsMatrix(jointSpaceVector,chainToLoad); + forwardKinematicsMatrix(jointSpaceVector, chainToLoad); return chainToLoad; } - + /** * Gets the cached chain. * * @return the cached chain */ public ArrayList getCachedChain() { - if(chain==null) - chain=new ArrayList(); + if (chain == null) + chain = new ArrayList(); return chain; } - + /** * Gets the upper limits. * @@ -299,7 +310,8 @@ public double[] getlowerLimits() { /** * Sets the links. * - * @param links the new links + * @param links + * the new links */ public void setLinks(ArrayList links) { this.links = links; @@ -313,17 +325,19 @@ public void setLinks(ArrayList links) { public ArrayList getLinks() { return links; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ - public String toString(){ - String s=""; - for(DHLink l:getLinks()){ - s+=l.toString()+"\n"; + public String toString() { + String s = ""; + for (DHLink l : getLinks()) { + s += l.toString() + "\n"; } return s; - + } /** @@ -332,121 +346,108 @@ public String toString(){ * @return the inverse solver */ public DhInverseSolver getInverseSolver() { - if(is==null){ + if (is == null) { Log.error(new RuntimeException("No Solver defined!")); return new DhInverseSolver() { - + @Override - public double[] inverseKinematics(TransformNR target, - double[] jointSpaceVector,DHChain chain ) { + public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector, DHChain chain) { ArrayList links = chain.getLinks(); // THis is the jacobian for the given configuration - //Matrix jacobian = chain.getJacobian(jointSpaceVector); + // Matrix jacobian = chain.getJacobian(jointSpaceVector); Matrix taskSpacMatrix = target.getMatrixTransform(); - + int linkNum = jointSpaceVector.length; - double [] inv = new double[linkNum]; - // this is an ad-hock kinematic model for d-h parameters and only works for specific configurations - - double d = links.get(1).getD()- links.get(2).getD(); + double[] inv = new double[linkNum]; + // this is an ad-hock kinematic model for d-h parameters and only works for + // specific configurations + + double d = links.get(1).getD() - links.get(2).getD(); double r = links.get(0).getR(); - double lengthXYPlaneVect = Math.sqrt(Math.pow(target.getX(),2)+Math.pow(target.getY(),2)); - double angleXYPlaneVect = Math.asin(target.getY()/lengthXYPlaneVect); - - double angleRectangleAdjustedXY =Math.asin(d/lengthXYPlaneVect); - - double lengthRectangleAdjustedXY = lengthXYPlaneVect* Math.cos(angleRectangleAdjustedXY)-r; - - - double orientation = angleXYPlaneVect-angleRectangleAdjustedXY; - if(Math.abs(Math.toDegrees(orientation))<0.01){ - orientation=0; + double lengthXYPlaneVect = Math.sqrt(Math.pow(target.getX(), 2) + Math.pow(target.getY(), 2)); + double angleXYPlaneVect = Math.asin(target.getY() / lengthXYPlaneVect); + + double angleRectangleAdjustedXY = Math.asin(d / lengthXYPlaneVect); + + double lengthRectangleAdjustedXY = lengthXYPlaneVect * Math.cos(angleRectangleAdjustedXY) - r; + + double orientation = angleXYPlaneVect - angleRectangleAdjustedXY; + if (Math.abs(Math.toDegrees(orientation)) < 0.01) { + orientation = 0; } - double ySet = lengthRectangleAdjustedXY*Math.sin(orientation); - double xSet = lengthRectangleAdjustedXY*Math.cos(orientation); - - + double ySet = lengthRectangleAdjustedXY * Math.sin(orientation); + double xSet = lengthRectangleAdjustedXY * Math.cos(orientation); + double zSet = target.getZ() - links.get(0).getD(); - if(links.size()>4){ - zSet+=links.get(4).getD(); + if (links.size() > 4) { + zSet += links.get(4).getD(); } // Actual target for anylitical solution is above the target minus the z offset - TransformNR overGripper = new TransformNR( - xSet, - ySet, - zSet, - target.getRotation()); - + TransformNR overGripper = new TransformNR(xSet, ySet, zSet, target.getRotation()); double l1 = links.get(1).getR();// First link length double l2 = links.get(2).getR(); - double vect = Math.sqrt(xSet*xSet+ySet*ySet+zSet*zSet); + double vect = Math.sqrt(xSet * xSet + ySet * ySet + zSet * zSet); /* - println ( "TO: "+target); - println ( "Trangular TO: "+overGripper); - println ( "lengthXYPlaneVect: "+lengthXYPlaneVect); - println( "angleXYPlaneVect: "+Math.toDegrees(angleXYPlaneVect)); - println( "angleRectangleAdjustedXY: "+Math.toDegrees(angleRectangleAdjustedXY)); - println( "lengthRectangleAdjustedXY: "+lengthRectangleAdjustedXY); - println( "r: "+r); - println( "d: "+d); - - println( "x Correction: "+xSet); - println( "y Correction: "+ySet); - - println( "Orientation: "+Math.toDegrees(orientation)); - println( "z: "+zSet); - */ - - - if (vect > l1+l2 || vect<0 ||lengthRectangleAdjustedXY<0 ) { - throw new RuntimeException("Hypotenus too long: "+vect+" longer then "+l1+l2); + * println ( "TO: "+target); println ( "Trangular TO: "+overGripper); println ( + * "lengthXYPlaneVect: "+lengthXYPlaneVect); println( + * "angleXYPlaneVect: "+Math.toDegrees(angleXYPlaneVect)); println( + * "angleRectangleAdjustedXY: "+Math.toDegrees(angleRectangleAdjustedXY)); + * println( "lengthRectangleAdjustedXY: "+lengthRectangleAdjustedXY); println( + * "r: "+r); println( "d: "+d); + * + * println( "x Correction: "+xSet); println( "y Correction: "+ySet); + * + * println( "Orientation: "+Math.toDegrees(orientation)); println( "z: "+zSet); + */ + + if (vect > l1 + l2 || vect < 0 || lengthRectangleAdjustedXY < 0) { + throw new RuntimeException("Hypotenus too long: " + vect + " longer then " + l1 + l2); } - //from https://www.mathsisfun.com/algebra/trig-solving-sss-triangles.html - double a=l2; - double b=l1; - double c=vect; - double A =Math.acos((Math.pow(b,2)+ Math.pow(c,2) - Math.pow(a,2)) / (2.0*b*c)); - double B =Math.acos((Math.pow(c,2)+ Math.pow(a,2) - Math.pow(b,2)) / (2.0*a*c)); - double C =Math.PI-A-B;//Rule of triangles - double elevation = Math.asin(zSet/vect); - - /* - println( "vect: "+vect); - println( "A: "+Math.toDegrees(A)); - println( "elevation: "+Math.toDegrees(elevation)); - println( "l1 from x/y plane: "+Math.toDegrees(A+elevation)); - println( "l2 from l1: "+Math.toDegrees(C)); - */ + // from https://www.mathsisfun.com/algebra/trig-solving-sss-triangles.html + double a = l2; + double b = l1; + double c = vect; + double A = Math.acos((Math.pow(b, 2) + Math.pow(c, 2) - Math.pow(a, 2)) / (2.0 * b * c)); + double B = Math.acos((Math.pow(c, 2) + Math.pow(a, 2) - Math.pow(b, 2)) / (2.0 * a * c)); + double C = Math.PI - A - B;// Rule of triangles + double elevation = Math.asin(zSet / vect); + + /* + * println( "vect: "+vect); println( "A: "+Math.toDegrees(A)); println( + * "elevation: "+Math.toDegrees(elevation)); println( + * "l1 from x/y plane: "+Math.toDegrees(A+elevation)); println( + * "l2 from l1: "+Math.toDegrees(C)); + */ inv[0] = Math.toDegrees(orientation); - inv[1] = -Math.toDegrees((A+elevation+links.get(1).getTheta())); - if((int)links.get(1).getAlpha() ==180){ - inv[2] = (Math.toDegrees(C))-180-//interior angle of the triangle, map to external angle + inv[1] = -Math.toDegrees((A + elevation + links.get(1).getTheta())); + if ((int) links.get(1).getAlpha() == 180) { + inv[2] = (Math.toDegrees(C)) - 180 - // interior angle of the triangle, map to external angle Math.toDegrees(links.get(2).getTheta());// offset for kinematics } - if((int)links.get(1).getAlpha() ==0){ - inv[2] = -(Math.toDegrees(C))+Math.toDegrees(links.get(2).getTheta());// offset for kinematics + if ((int) links.get(1).getAlpha() == 0) { + inv[2] = -(Math.toDegrees(C)) + Math.toDegrees(links.get(2).getTheta());// offset for kinematics } - if(links.size()>3) - inv[3] =(inv[1] -inv[2]);// keep it parallell - // We know the wrist twist will always be 0 for this model - if(links.size()>4) - inv[4] = inv[0];//keep the tool orientation paralell from the base - - for(int i=0;i 3) + inv[3] = (inv[1] - inv[2]);// keep it parallell + // We know the wrist twist will always be 0 for this model + if (links.size() > 4) + inv[4] = inv[0];// keep the tool orientation paralell from the base + + for (int i = 0; i < inv.length; i++) { + if (Math.abs(inv[i]) < 0.01) { + inv[i] = 0; } -// println( "Link#"+i+" is set to "+inv[i]); + // println( "Link#"+i+" is set to "+inv[i]); } - int i=3; - if(links.size()>3) - i=5; - //copy over remaining links so they do not move - for(;i 3) + i = 5; + // copy over remaining links so they do not move + for (; i < inv.length && i < jointSpaceVector.length; i++) { + inv[i] = jointSpaceVector[i]; } return inv; } @@ -459,7 +460,8 @@ public double[] inverseKinematics(TransformNR target, /** * Sets the inverse solver. * - * @param is the new inverse solver + * @param is + * the new inverse solver */ public void setInverseSolver(DhInverseSolver is) { this.is = is; @@ -477,7 +479,8 @@ public LinkFactory getFactory() { /** * Sets the factory. * - * @param factory the new factory + * @param factory + * the new factory */ public void setFactory(LinkFactory factory) { upperLimits = factory.getUpperLimits(); @@ -485,10 +488,10 @@ public void setFactory(LinkFactory factory) { this.factory = factory; } @Override - public void setTimeProvider(ITimeProvider t) { + public void setTimeProvider(ITimeProvider t) { super.setTimeProvider(t); - for(DHLink l:getLinks()) { - if (l.getSlaveMobileBase()!=null) + for (DHLink l : getLinks()) { + if (l.getSlaveMobileBase() != null) l.getSlaveMobileBase().setTimeProvider(getTimeProvider()); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java index 36dc4e81..67e2994c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHLink.java @@ -2,7 +2,6 @@ import java.util.ArrayList; - import org.w3c.dom.Element; import Jama.Matrix; @@ -15,82 +14,86 @@ * The Class DHLink. */ public class DHLink { - + /** The d. */ private double d; - + /** The theta. */ private double theta; - + /** The radius. */ private double radius; - + /** The alpha. */ private double alpha; - + /** The trans x. */ private Matrix transX; - + /** The rot x. */ private Matrix rotX; - + /** The trans z. */ private Matrix transZ; - + /** The rot z. */ private Matrix rotZ; - + /** The trans x_ j. */ private Matrix transX_J; - + /** The rot x_ j. */ private Matrix rotX_J; - + /** The trans z_ j. */ private Matrix transZ_J; - + /** The rot z_ j. */ private Matrix rotZ_J; - + /** The listener. */ - private Object listener=null; - + private Object listener = null; + /** The root. */ - private Object root=null; - + private Object root = null; + /** The type. */ private DhLinkType type = DhLinkType.ROTORY; - + /** The dhlisteners. */ private ArrayList dhlisteners = new ArrayList(); - + /** The embedable xml. */ - private MobileBase slaveMobileBase=null; + private MobileBase slaveMobileBase = null; private LinkConfiguration newLinkConf; - - + /** * Instantiates a new DH link. * - * @param d the d - * @param theta the theta - * @param r the r - * @param alpha the alpha + * @param d + * the d + * @param theta + * the theta + * @param r + * the r + * @param alpha + * the alpha */ - public DHLink(double d, double theta,double r, double alpha) { + public DHLink(double d, double theta, double r, double alpha) { this.setDelta(d); this.setTheta(theta); this.setRadius(r); this.setAlpha(alpha); - + } /** * Instantiates a new DH link. * - * @param nNode the n node - * @param newLinkConf + * @param nNode + * the n node + * @param newLinkConf */ public DHLink(Element nNode, LinkConfiguration newLinkConf) { this.newLinkConf = newLinkConf; @@ -98,9 +101,9 @@ public DHLink(Element nNode, LinkConfiguration newLinkConf) { setTheta(Math.toRadians(XmlFactory.getTagValueDouble("Theta", nNode))); setRadius(XmlFactory.getTagValueDouble("Radius", nNode)); setAlpha(Math.toRadians(XmlFactory.getTagValueDouble("Alpha", nNode))); - + } - + public DHLink(DHLink dhl) { setDelta(dhl.getDelta()); setTheta(dhl.getTheta()); @@ -111,56 +114,55 @@ public DHLink(DHLink dhl) { /** * Fire on link global position change. * - * @param newPose the new pose + * @param newPose + * the new pose */ - public void fireOnLinkGlobalPositionChange(TransformNR newPose){ - if(slaveMobileBase!=null) + public void fireOnLinkGlobalPositionChange(TransformNR newPose) { + if (slaveMobileBase != null) slaveMobileBase.setGlobalToFiducialTransform(newPose); - for(IDhLinkPositionListener l:dhlisteners){ + for (IDhLinkPositionListener l : dhlisteners) { l.onLinkGlobalPositionChange(newPose); } } - + /** * Adds the dh link position listener. * - * @param l the l + * @param l + * the l */ - public void addDhLinkPositionListener(IDhLinkPositionListener l){ - if(!dhlisteners.contains(l)) + public void addDhLinkPositionListener(IDhLinkPositionListener l) { + if (!dhlisteners.contains(l)) dhlisteners.add(l); } - + /** * Removes the dh link position listener. * - * @param l the l + * @param l + * the l */ - public void removeDhLinkPositionListener(IDhLinkPositionListener l){ - if(dhlisteners.contains(l)) + public void removeDhLinkPositionListener(IDhLinkPositionListener l) { + if (dhlisteners.contains(l)) dhlisteners.remove(l); } - + /** * Gets the xml. * * @return the xml */ /* - * - * Generate the xml configuration to generate a link of this configuration. + * + * Generate the xml configuration to generate a link of this configuration. */ - public String getXml(){ - String mb = getSlaveMobileBase()==null?"":"\n\t\t"+getSlaveMobileBase().getEmbedableXml() +"\n"; - return "\n\t\n"+ - "\t\t"+d+"\n"+ - "\t\t"+Math.toDegrees(theta)+"\n"+ - "\t\t"+radius+"\n"+ - "\t\t"+Math.toDegrees(alpha)+"\n"+ - mb+ - "\t\n"; + public String getXml() { + String mb = getSlaveMobileBase() == null ? "" : "\n\t\t" + getSlaveMobileBase().getEmbedableXml() + "\n"; + return "\n\t\n" + "\t\t" + d + "\n" + "\t\t" + Math.toDegrees(theta) + + "\n" + "\t\t" + radius + "\n" + "\t\t" + Math.toDegrees(alpha) + + "\n" + mb + "\t\n"; } - + /** * Gets the d. * @@ -196,128 +198,135 @@ public double getR() { public double getAlpha() { return alpha; } - /** * Dh step inverse . * - * @param end the end - * @param jointValue the joint value + * @param end + * the end + * @param jointValue + * the joint value * @return the matrix */ - public Matrix DhStepInverse(Matrix end, double jointValue) { - switch(type){ - case PRISMATIC: - return DhStepInverse(end,0,jointValue); - case ROTORY: - return DhStepInverse(end,jointValue,0); - default: - case TOOL: - return DhStepInverse(end,0,0); + public Matrix DhStepInverse(Matrix end, double jointValue) { + switch (type) { + case PRISMATIC : + return DhStepInverse(end, 0, jointValue); + case ROTORY : + return DhStepInverse(end, jointValue, 0); + default : + case TOOL : + return DhStepInverse(end, 0, 0); } } - + /** * Dh step prismatic. * - * @param radians the joint value in radians + * @param radians + * the joint value in radians * @return the matrix */ public Matrix DhStep(double radians) { - switch(type){ - case PRISMATIC: - return DhStep(0,radians); - case ROTORY: - return DhStep(radians,0); - default: - case TOOL: - return DhStep(0,0); + switch (type) { + case PRISMATIC : + return DhStep(0, radians); + case ROTORY : + return DhStep(radians, 0); + default : + case TOOL : + return DhStep(0, 0); } } - - + /** * Dh step. * - * @param rotory the rotory value in radians - * @param prismatic the prismatic + * @param rotory + * the rotory value in radians + * @param prismatic + * the prismatic * @return the matrix */ - public Matrix DhStep(double rotory,double prismatic) { + public Matrix DhStep(double rotory, double prismatic) { setMatrix(rotory, prismatic); - + Matrix step = getTransZ(); step = step.times(getRotZ()); step = step.times(getTransX()); step = step.times(getRotX()); - return step; } - + /** * Dh step inverse. * - * @param end the end - * @param rotory the rotory - * @param prismatic the prismatic + * @param end + * the end + * @param rotory + * the rotory + * @param prismatic + * the prismatic * @return the matrix */ - public Matrix DhStepInverse(Matrix end,double rotory,double prismatic) { + public Matrix DhStepInverse(Matrix end, double rotory, double prismatic) { setMatrix(rotory, prismatic); - + Matrix step = end.times(getRotX().inverse()); step = step.times(getTransX().inverse()); step = step.times(getRotZ().inverse()); step = step.times(getTransZ().inverse()); - + return step; } - + /** * Dh step inverse. * - * @param rotory the rotory - * @param prismatic the prismatic + * @param rotory + * the rotory + * @param prismatic + * the prismatic * @return the matrix */ - public Matrix DhStepInverse(double rotory,double prismatic) { - - Matrix end=new TransformNR().getMatrixTransform(); - - return DhStepInverse(end,rotory,prismatic); + public Matrix DhStepInverse(double rotory, double prismatic) { + + Matrix end = new TransformNR().getMatrixTransform(); + + return DhStepInverse(end, rotory, prismatic); } - /** * Dh step inverse. * - * @param prismatic the prismatic + * @param prismatic + * the prismatic * @return the matrix */ public Matrix DhStepInversePrismatic(double prismatic) { - - return DhStepInverse(0,prismatic); + + return DhStepInverse(0, prismatic); } - /** * Dh step inverse. * - * @param rotory the rotory + * @param rotory + * the rotory * @return the matrix */ public Matrix DhStepInverseRotory(double rotory) { - return DhStepInverse(rotory,0); + return DhStepInverse(rotory, 0); } - /** * Sets the trans x. * - * @param transX the new trans x + * @param transX + * the new trans x */ public void setTransX(Matrix transX) { this.transX = transX; @@ -326,46 +335,37 @@ public void setTransX(Matrix transX) { /** * Sets the rot x. * - * @param rotX the new rot x + * @param rotX + * the new rot x */ public void setRotX(Matrix rotX) { this.rotX = rotX; } - - + /** * Sets the matrix. * - * @param rotory the rotory value in radians - * @param prismatic the prismatic + * @param rotory + * the rotory value in radians + * @param prismatic + * the prismatic */ - private void setMatrix(double rotory,double prismatic){ - transZ = new Matrix( new double [][] { - {1,0,0,0}, - {0,1,0,0}, - {0,0,1,getD()+prismatic}, - {0,0,0,1}}); - - rotZ=new Matrix( new double [][] { - {Math.cos(getTheta()+rotory), -Math.sin(getTheta()+rotory), 0, 0}, - {Math.sin(getTheta()+rotory), Math.cos(getTheta()+rotory), 0, 0}, - {0, 0, 1, 0}, - {0, 0, 0, 1}}); + private void setMatrix(double rotory, double prismatic) { + transZ = new Matrix(new double[][]{{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, getD() + prismatic}, {0, 0, 0, 1}}); + + rotZ = new Matrix(new double[][]{{Math.cos(getTheta() + rotory), -Math.sin(getTheta() + rotory), 0, 0}, + {Math.sin(getTheta() + rotory), Math.cos(getTheta() + rotory), 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}}); } - + /** * Gets the trans x. * * @return the trans x */ public Matrix getTransX() { - if(transX == null){ - transX=new Matrix( new double [][] { - {1,0,0,getR()}, - {0,1,0,0}, - {0,0,1,0}, - {0,0,0,1}}); - } + if (transX == null) { + transX = new Matrix(new double[][]{{1, 0, 0, getR()}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}}); + } return transX; } @@ -375,16 +375,13 @@ public Matrix getTransX() { * @return the rot x */ public Matrix getRotX() { - if(rotX == null){ - rotX=new Matrix( new double [][] { - {1, 0, 0, 0}, - {0, Math.cos(getAlpha()), -Math.sin(getAlpha()), 0}, - {0, Math.sin(getAlpha()), Math.cos(getAlpha()), 0}, - {0, 0, 0, 1}}); - } + if (rotX == null) { + rotX = new Matrix(new double[][]{{1, 0, 0, 0}, {0, Math.cos(getAlpha()), -Math.sin(getAlpha()), 0}, + {0, Math.sin(getAlpha()), Math.cos(getAlpha()), 0}, {0, 0, 0, 1}}); + } return rotX; } - + /** * Gets the trans z. * @@ -402,80 +399,68 @@ public Matrix getTransZ() { public Matrix getRotZ() { return rotZ; } - + /** * Gets a jacobian matrix of this link. * - * @param rotoryVelocity the rotory velocity - * @param prismaticVelocity the prismatic velocity + * @param rotoryVelocity + * the rotory velocity + * @param prismaticVelocity + * the prismatic velocity * @return the Jacobian */ - public Matrix DhStepJacobian(double rotoryVelocity,double prismaticVelocity) { + public Matrix DhStepJacobian(double rotoryVelocity, double prismaticVelocity) { setJacobianMatrix(rotoryVelocity, prismaticVelocity); - + Matrix step = getTransZ_J(); step = step.times(getRotZ_J()); step = step.times(getTransX_J()); step = step.times(getRotX_J()); - + return step; } - + /** * Sets up the 2 alterable Jacobian matrixs . * - * @param rotory the rotory velocity of the Theta link - * @param prismatic the linear velocity of the D link + * @param rotory + * the rotory velocity of the Theta link + * @param prismatic + * the linear velocity of the D link */ - private void setJacobianMatrix(double rotory,double prismatic){ - rotZ_J = new Matrix( new double [][] { - {1,0,0, 0 }, - {0,1,0, 0 }, - {0,0,1, getD()+prismatic }, - {0,0,0, 1 }}); - - transZ_J = new Matrix( new double [][] { - {Math.cos(getTheta()+rotory),-Math.sin(getTheta()+rotory), 0, 0}, - {Math.sin(getTheta()+rotory), Math.cos(getTheta()+rotory), 0, 0}, - {0, 0, 1, 0}, - {0, 0, 0, 1}}); + private void setJacobianMatrix(double rotory, double prismatic) { + rotZ_J = new Matrix(new double[][]{{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, getD() + prismatic}, {0, 0, 0, 1}}); + + transZ_J = new Matrix(new double[][]{{Math.cos(getTheta() + rotory), -Math.sin(getTheta() + rotory), 0, 0}, + {Math.sin(getTheta() + rotory), Math.cos(getTheta() + rotory), 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}}); } - + /** * Gets the rot x_ j. * * @return the rot x_ j */ public Matrix getRotX_J() { - if(rotX_J == null){ - rotX_J = new Matrix( new double [][] { - {1, 0, 0, 0}, - {0, Math.cos(getAlpha()), -Math.sin(getAlpha()), 0}, - {0, Math.sin(getAlpha()), Math.cos(getAlpha()), 0}, - {0, 0, 0, 1}}); - } + if (rotX_J == null) { + rotX_J = new Matrix(new double[][]{{1, 0, 0, 0}, {0, Math.cos(getAlpha()), -Math.sin(getAlpha()), 0}, + {0, Math.sin(getAlpha()), Math.cos(getAlpha()), 0}, {0, 0, 0, 1}}); + } return rotX_J; } - + /** * Gets the trans x_ j. * * @return the trans x_ j */ public Matrix getTransX_J() { - if(transX_J == null){ - transX_J= new Matrix( new double [][] { - {1,0,0,getR()}, - {0,1,0,0}, - {0,0,1,0}, - {0,0,0,1}}); - } + if (transX_J == null) { + transX_J = new Matrix(new double[][]{{1, 0, 0, getR()}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}}); + } return transX_J; } - - /** * Gets the trans z_ j. * @@ -484,7 +469,7 @@ public Matrix getTransX_J() { public Matrix getTransZ_J() { return transZ_J; } - + /** * Gets the rot z_ j. * @@ -493,17 +478,19 @@ public Matrix getTransZ_J() { public Matrix getRotZ_J() { return rotZ_J; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ - @Override - public String toString(){ - String s=""; - s+=" Delta = "+getDelta(); - s+=" Theta = "+Math.toDegrees(getTheta())+" deg"; - s+=" Radius = "+getRadius(); - s+=" Alpha = "+Math.toDegrees(getAlpha())+" deg"; + @Override + public String toString() { + String s = ""; + s += " Delta = " + getDelta(); + s += " Theta = " + Math.toDegrees(getTheta()) + " deg"; + s += " Radius = " + getRadius(); + s += " Alpha = " + Math.toDegrees(getAlpha()) + " deg"; return s; } @@ -519,12 +506,13 @@ public Object getListener() { /** * Sets the listener. * - * @param listener the new listener + * @param listener + * the new listener */ public void setListener(Object listener) { this.listener = listener; } - + /** * Gets the root listener. * @@ -537,12 +525,13 @@ public Object getRootListener() { /** * Sets the root listener. * - * @param listener the new root listener + * @param listener + * the new root listener */ void setRootListener(Object listener) { this.root = listener; } - + /** * Gets the delta. * @@ -555,11 +544,13 @@ public double getDelta() { /** * Sets the delta. * - * @param d the new delta + * @param d + * the new delta */ public void setDelta(double d) { this.d = d; - if(newLinkConf!=null)newLinkConf.fireChangeEvent(); + if (newLinkConf != null) + newLinkConf.fireChangeEvent(); } /** @@ -574,35 +565,41 @@ public double getRadius() { /** * Sets the radius. * - * @param radius the new radius + * @param radius + * the new radius */ public void setRadius(double radius) { this.radius = radius; - transX_J=null; - transX=null; - if(newLinkConf!=null)newLinkConf.fireChangeEvent(); + transX_J = null; + transX = null; + if (newLinkConf != null) + newLinkConf.fireChangeEvent(); } /** * Sets the theta. * - * @param theta the new theta + * @param theta + * the new theta */ public void setTheta(double theta) { this.theta = theta; - if(newLinkConf!=null)newLinkConf.fireChangeEvent(); + if (newLinkConf != null) + newLinkConf.fireChangeEvent(); } /** * Sets the alpha. * - * @param alpha the new alpha + * @param alpha + * the new alpha */ public void setAlpha(double alpha) { this.alpha = alpha; - rotX=null; - rotX_J=null; - if(newLinkConf!=null)newLinkConf.fireChangeEvent(); + rotX = null; + rotX_J = null; + if (newLinkConf != null) + newLinkConf.fireChangeEvent(); } /** @@ -617,7 +614,8 @@ public DhLinkType getLinkType() { /** * Sets the type. * - * @param type the new type + * @param type + * the new type */ public void setLinkType(DhLinkType type) { this.type = type; @@ -626,7 +624,8 @@ public void setLinkType(DhLinkType type) { /** * Sets the mobile base xml. * - * @param embedableXml the new mobile base xml + * @param embedableXml + * the new mobile base xml */ public void setMobileBaseXml(MobileBase embedableXml) { this.setSlaveMobileBase(embedableXml); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java index 8c446d14..1ddb497c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/DHParameterKinematics.java @@ -9,7 +9,6 @@ import org.w3c.dom.Element; import Jama.Matrix; -import javafx.scene.transform.Affine; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.time.ITimeProvider; @@ -22,7 +21,9 @@ * The Class DHParameterKinematics. */ public class DHParameterKinematics extends AbstractKinematicsNR - implements ITaskSpaceUpdateListenerNR, IJointSpaceUpdateListenerNR { + implements + ITaskSpaceUpdateListenerNR, + IJointSpaceUpdateListenerNR { /** The chain. */ private DHChain chain = null; @@ -42,7 +43,7 @@ public class DHParameterKinematics extends AbstractKinematicsNR public void onDisconnect(BowlerAbstractDevice source) { if (!disconnecting) { disconnecting = true; - //disconnect(); + // disconnect(); } } @@ -71,20 +72,20 @@ public DHParameterKinematics(BowlerAbstractDevice bad, Element linkStream) { return; } addConnectionEventListener(new IDeviceConnectionEventListener() { - + @Override public void onDisconnect(BowlerAbstractDevice source) { - for(int i=0;iindex) continue; - Matrix rotationComponent = forwardOffset(new TransformNR()).getMatrixTransform(); - for(int j=i;j index) + continue; + Matrix rotationComponent = forwardOffset(new TransformNR()).getMatrixTransform(); + for (int j = i; j < size && j <= index; j++) { + double value = 0; + if (chain.getLinks().get(j).getLinkType() == DhLinkType.ROTORY) + value = Math.toRadians(jointSpaceVector[j]); + else + value = jointSpaceVector[j]; + Matrix step = chain.getLinks().get(j).DhStep(value); + // Log.info( "Current:\n"+current+"Step:\n"+step); + // println i+" Link "+j+" index "+index+" step + // "+TransformNR.getMatrixString(step) + rotationComponent = rotationComponent.times(step); + } + double[] zVect = new double[3]; + double[] zVectEnd = new double[3]; + double[][] rotation = new TransformNR(rotationComponent).getRotationMatrix().getRotationMatrix(); + zVectEnd[0] = rotation[2][2]; + zVectEnd[1] = rotation[2][1]; + zVectEnd[2] = rotation[2][0]; + if (i == 0 && index == 0) { + zVect[0] = 0; + zVect[1] = 0; + zVect[2] = 1; + } else if (i <= index) { + // println "Link "+index+" "+TransformNR.getMatrixString(new Matrix(rotation)) + // Get the rz vector from matrix + zVect[0] = zVectEnd[0]; + zVect[1] = zVectEnd[1]; + zVect[2] = zVectEnd[2]; + } else { + zVect[0] = 0; + zVect[1] = 0; + zVect[2] = 0; + } + // Assume all rotational joints + // Set to zero if prismatic + if (chain.getLinks().get(i).getLinkType() == DhLinkType.ROTORY) { + data[3][i] = zVect[0]; + data[4][i] = zVect[1]; + data[5][i] = zVect[2]; + } else { + data[3][i] = 0; + data[4][i] = 0; + data[5][i] = 0; + } + double[] rVect = new double[3]; + Matrix rComponentmx = forwardOffset(new TransformNR()).getMatrixTransform(); + for (int j = 0; j < i; j++) { + double value = 0; + if (chain.getLinks().get(j).getLinkType() == DhLinkType.ROTORY) + value = Math.toRadians(jointSpaceVector[j]); + else + value = jointSpaceVector[j]; + Matrix step = chain.getLinks().get(j).DhStep(value); + // Log.info( "Current:\n"+current+"Step:\n"+step); + // println i+" Link "+j+" index "+index+" step + // "+TransformNR.getMatrixString(step) + rComponentmx = rComponentmx.times(step); + } + // Figure out the current + Matrix tipOffsetmx = forwardOffset(new TransformNR()).getMatrixTransform(); + for (int j = 0; j < size && j <= index; j++) { + double value = 0; + if (chain.getLinks().get(j).getLinkType() == DhLinkType.ROTORY) + value = Math.toRadians(jointSpaceVector[j]); + else + value = jointSpaceVector[j]; + Matrix step = chain.getLinks().get(j).DhStep(value); + // Log.info( "Current:\n"+current+"Step:\n"+step); + // println i+" Link "+j+" index "+index+" step + // "+TransformNR.getMatrixString(step) + tipOffsetmx = tipOffsetmx.times(step); + } + double[] tipOffset = new double[3]; + double[] rComponent = new double[3]; + TransformNR tipOffsetnr = new TransformNR(tipOffsetmx);// .times(myInvertedStarting); + tipOffset[0] = tipOffsetnr.getX(); + tipOffset[1] = tipOffsetnr.getY(); + tipOffset[2] = tipOffsetnr.getZ(); + TransformNR rComponentnr = new TransformNR(rComponentmx);// .times(myInvertedStarting); + rComponent[0] = rComponentnr.getX(); + rComponent[1] = rComponentnr.getY(); + rComponent[2] = rComponentnr.getZ(); + for (int x = 0; x < 3; x++) + rVect[x] = (tipOffset[x] - rComponent[x]); + // Cross product of rVect and Z vect + double[] xProd = crossProduct(zVect, rVect); + data[0][i] = xProd[0]; + data[1][i] = xProd[1]; + data[2][i] = xProd[2]; + } + // println "\n\n" + return new Matrix(data); + } /** * Gets the Jacobian matrix. @@ -356,25 +364,25 @@ public Matrix getJacobian(DHChain chain, double[] jointSpaceVector, int index){ * @return a matrix representing the Jacobian for the current configuration */ public Matrix getJacobian() { - return getJacobian(getDhChain().getLinks().size()-1); - } - /** - * Gets the Jacobian matrix. - * - * @return a matrix representing the Jacobian for the current configuration - */ - public Matrix getJacobian(int index) { - return getJacobian(getCurrentJointSpaceVector() , index) ; - } - /** - * Gets the Jacobian matrix. - * - * @return a matrix representing the Jacobian for the current configuration - */ - public Matrix getJacobian(double[] jointSpaceVector,int index) { - - return getJacobian(getDhChain() , jointSpaceVector, index); - } + return getJacobian(getDhChain().getLinks().size() - 1); + } + /** + * Gets the Jacobian matrix. + * + * @return a matrix representing the Jacobian for the current configuration + */ + public Matrix getJacobian(int index) { + return getJacobian(getCurrentJointSpaceVector(), index); + } + /** + * Gets the Jacobian matrix. + * + * @return a matrix representing the Jacobian for the current configuration + */ + public Matrix getJacobian(double[] jointSpaceVector, int index) { + + return getJacobian(getDhChain(), jointSpaceVector, index); + } /** * Gets the chain transformations. * @@ -421,17 +429,17 @@ public DHChain getChain() { public void setChain(DHChain chain) { this.chain = chain; ArrayList dhLinks = chain.getLinks(); -// for (int i = linksListeners.size(); i < dhLinks.size(); i++) { -// linksListeners.add(new Object()); -// } + // for (int i = linksListeners.size(); i < dhLinks.size(); i++) { + // linksListeners.add(new Object()); + // } LinkFactory lf = getFactory(); configs = lf.getLinkConfigurations(); for (int i = 0; i < dhLinks.size(); i++) { - //dhLinks.get(i).setListener(linksListeners.get(i)); + // dhLinks.get(i).setListener(linksListeners.get(i)); dhLinks.get(i).setRootListener(getRootListener()); // This mapps together the position of the links in the kinematics and the link // actions themselves (used for cameras and tools) - //lf.getLink(configs.get(i)).setGlobalPositionListener(linksListeners.get(i)); + // lf.getLink(configs.get(i)).setGlobalPositionListener(linksListeners.get(i)); if (getLinkConfiguration(i).isTool()) { dhLinks.get(i).setLinkType(DhLinkType.TOOL); } else if (getLinkConfiguration(i).isPrismatic()) @@ -445,11 +453,11 @@ public void setChain(DHChain chain) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#getXml() */ /* - * + * * Generate the xml configuration to generate an XML of this robot. */ public String getXml() { @@ -465,7 +473,7 @@ public String getXml() { * @return the embedable xml */ /* - * + * * Generate the xml configuration to generate an XML of this robot. */ public String getEmbedableXml() { @@ -501,7 +509,7 @@ public String getEmbedableXml() { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# * disconnectDevice() */ @@ -514,7 +522,7 @@ public void disconnectDevice() { /* * (non-Javadoc) - * + * * @see * com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#connectDevice() */ @@ -526,7 +534,7 @@ public boolean connectDevice() { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.addons.kinematics.ITaskSpaceUpdateListenerNR# * onTaskSpaceUpdate(com.neuronrobotics.sdk.addons.kinematics. * AbstractKinematicsNR, @@ -539,7 +547,7 @@ public void onTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.addons.kinematics.ITaskSpaceUpdateListenerNR# * onTargetTaskSpaceUpdate(com.neuronrobotics.sdk.addons.kinematics. * AbstractKinematicsNR, @@ -592,7 +600,7 @@ public void addNewLink(LinkConfiguration newLink, DHLink dhLink) { // remove the link listener while the number of links could chnage factory.removeLinkListener(this); AbstractLink link = factory.getLink(newLink);// adds new link internally - if(dhLink.getListener()==null) + if (dhLink.getListener() == null) throw new RuntimeException("FAIL the link listner must be set to dhLink.setListener(new Affine());"); link.setGlobalPositionListener(dhLink.getListener()); DHChain chain = getDhChain(); @@ -634,33 +642,33 @@ public void removeLink(int index) { /** * Update cad locations. */ - public ArrayList updateCadLocations() { - try { - ArrayList ll = getChain().getChain(getCurrentJointSpaceVector()); - return ll; - } catch (Exception ex) { - // ex.printStackTrace(); - } + public ArrayList updateCadLocations() { + try { + ArrayList ll = getChain().getChain(getCurrentJointSpaceVector()); + return ll; + } catch (Exception ex) { + // ex.printStackTrace(); + } - return null; + return null; } /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR# * onJointSpaceUpdate(com.neuronrobotics.sdk.addons.kinematics. * AbstractKinematicsNR, double[]) */ @Override public void onJointSpaceUpdate(final AbstractKinematicsNR source, final double[] joints) { - ArrayList cached=updateCadLocations(); - if(cached!=null) - for(int i=0;i cached = updateCadLocations(); + if (cached != null) + for (int i = 0; i < joints.length; i++) { DHLink dhLink = getChain().getLinks().get(i); TransformNR newPose = cached.get(i); dhLink.fireOnLinkGlobalPositionChange(newPose); - } + } } /** @@ -672,12 +680,12 @@ public void onJointSpaceUpdate(final AbstractKinematicsNR source, final double[] @Override public void setGlobalToFiducialTransform(TransformNR frameToBase) { super.setGlobalToFiducialTransform(frameToBase); - if(getChain()!=null) { + if (getChain() != null) { getChain().setChain(null);// force an update of teh cached locations because base changed try { - getChain().getChain(getCurrentJointSpaceVector());//calculate new locations - }catch(Exception e) { - throw new RuntimeException("Limb "+getScriptingName()+", "+e.getMessage()); + getChain().getChain(getCurrentJointSpaceVector());// calculate new locations + } catch (Exception e) { + throw new RuntimeException("Limb " + getScriptingName() + ", " + e.getMessage()); } } runRenderWrangler(); @@ -685,7 +693,7 @@ public void setGlobalToFiducialTransform(TransformNR frameToBase) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR# * onJointSpaceTargetUpdate(com.neuronrobotics.sdk.addons.kinematics. * AbstractKinematicsNR, double[]) @@ -698,7 +706,7 @@ public void onJointSpaceTargetUpdate(AbstractKinematicsNR source, double[] joint /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.addons.kinematics.IJointSpaceUpdateListenerNR# * onJointSpaceLimit(com.neuronrobotics.sdk.addons.kinematics. * AbstractKinematicsNR, int, @@ -711,7 +719,7 @@ public void onJointSpaceLimit(AbstractKinematicsNR source, int axis, JointLimit } // New helper functions - + public TransformNR linkCoM(double linkAngleToClaculate, int linkIndex) { double[] vectortail = getCurrentJointSpaceVector(); vectortail[linkIndex] = linkAngleToClaculate; @@ -719,12 +727,12 @@ public TransformNR linkCoM(double linkAngleToClaculate, int linkIndex) { .times(getLinkConfiguration(linkIndex).getCenterOfMassFromCentroid()); } - + public TransformNR linkCoM(int linkIndex) { - return linkCoM(getCurrentJointSpaceVector()[linkIndex],linkIndex); + return linkCoM(getCurrentJointSpaceVector()[linkIndex], linkIndex); } public Object getLinkObjectManipulator(int index) { - return getChain().getLinks().get(index).getListener(); + return getChain().getLinks().get(index).getListener(); } /** * Gets the theta. @@ -744,8 +752,6 @@ public double getDH_D(int index) { return getChain().getLinks().get(index).getDelta(); } - - /** * Gets the r. * @@ -763,43 +769,41 @@ public double getDH_R(int index) { public double getDH_Alpha(int index) { return getChain().getLinks().get(index).getAlpha(); } - + /** * Gets the theta. * - * + * */ public void setDH_Theta(int index, double value) { - getChain().getLinks().get(index).setTheta(value); + getChain().getLinks().get(index).setTheta(value); } /** * Gets the d. * - * + * */ public void setDH_D(int index, double value) { - getChain().getLinks().get(index).setDelta(value); + getChain().getLinks().get(index).setDelta(value); } - - /** * Gets the r. * - * + * */ public void setDH_R(int index, double value) { - getChain().getLinks().get(index).setRadius(value); + getChain().getLinks().get(index).setRadius(value); } /** * Gets the alpha. * - * + * */ public void setDH_Alpha(int index, double value) { - getChain().getLinks().get(index).setAlpha(value); + getChain().getLinks().get(index).setAlpha(value); } public DHLink getDhLink(int i) { @@ -817,13 +821,14 @@ public Object getListener(int i) { /** * Sets the robot to fiducial transform. * - * @param newTrans the new robot to fiducial transform + * @param newTrans + * the new robot to fiducial transform */ @Override public void setRobotToFiducialTransform(TransformNR newTrans) { super.setRobotToFiducialTransform(newTrans); } - + public void refreshPose() { runRenderWrangler(); } @@ -831,14 +836,15 @@ public MobileBase getSlaveMobileBase(int index) { return getDhLink(index).getSlaveMobileBase(); } /** - * THis disables the exception being thrown on joint limits - * normal mode is to throw an exception when a joint is commanded to a value beyond its limits - * - * when exceptions are disabled, the joint just goes to the limit instead. + * THis disables the exception being thrown on joint limits normal mode is to + * throw an exception when a joint is commanded to a value beyond its limits + * + * when exceptions are disabled, the joint just goes to the limit instead. + * * @param b */ public void throwExceptionOnJointLimit(boolean b) { - for(int i=0;i getVitamins(int index) { return getVitaminHolder(index).getVitamins(); } - public ArrayListgetNonActuatorVitamins(int index){ + public ArrayList getNonActuatorVitamins(int index) { return getLinkConfiguration(index).getNonActuatorVitamins(); } - public void addVitamin(int index,VitaminLocation location) { + public void addVitamin(int index, VitaminLocation location) { getVitaminHolder(index).addVitamin(location); } - public void removeVitamin(int index,VitaminLocation loc) { + public void removeVitamin(int index, VitaminLocation loc) { getVitaminHolder(index).removeVitamin(loc); } public IVitaminHolder getVitaminHolder(int index) { return getLinkConfiguration(index); } - + @Override public boolean connect() { boolean back = super.connect(); - for(int i=0;i map = - new HashMap(); - - static { - for (DrivingType type : DrivingType.values()) { - map.put(type.name, type); - } - } - - /** - * Instantiates a new driving type. - * - * @param name the name - */ - private DrivingType(String name) { - this.name = name; - } - - /** - * Gets the name. - * - * @return the name - */ - public String getName() { - return name; - } - - /** - * From string. - * - * @param name the name - * @return the driving type - */ - public static DrivingType fromString(String name) { - if (map.containsKey(name)) { - return map.get(name); - } - return NONE; - } - - - /* (non-Javadoc) - * @see java.lang.Enum#toString() - */ - @Override - public String toString(){ - return name; - } + + /** The name. */ + private final String name; + + /** The Constant map. */ + private static final Map map = new HashMap(); + + static { + for (DrivingType type : DrivingType.values()) { + map.put(type.name, type); + } + } + + /** + * Instantiates a new driving type. + * + * @param name + * the name + */ + private DrivingType(String name) { + this.name = name; + } + + /** + * Gets the name. + * + * @return the name + */ + public String getName() { + return name; + } + + /** + * From string. + * + * @param name + * the name + * @return the driving type + */ + public static DrivingType fromString(String name) { + if (map.containsKey(name)) { + return map.get(name); + } + return NONE; + } + + /* + * (non-Javadoc) + * + * @see java.lang.Enum#toString() + */ + @Override + public String toString() { + return name; + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GenericKinematicsModelNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GenericKinematicsModelNR.java index 6f39b076..fc72bc96 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GenericKinematicsModelNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GenericKinematicsModelNR.java @@ -7,8 +7,6 @@ import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; -import com.neuronrobotics.sdk.common.BowlerDatagram; -import com.neuronrobotics.sdk.namespace.bcs.pid.IExtendedPIDControl; import com.neuronrobotics.sdk.pid.GenericPIDDevice; import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; // Auto-generated Javadoc @@ -18,86 +16,98 @@ * The Class GenericKinematicsModelNR. */ public class GenericKinematicsModelNR extends AbstractKinematicsNR { - + /** The deg2rad. */ - double deg2rad=Math.PI/180; - + double deg2rad = Math.PI / 180; + /** * Instantiates a new generic kinematics model nr. * - * @param configFile the config file - * @param device the device + * @param configFile + * the config file + * @param device + * the device */ - public GenericKinematicsModelNR(InputStream configFile,GenericPIDDevice device ){ - super(configFile,new LinkFactory( device)); + public GenericKinematicsModelNR(InputStream configFile, GenericPIDDevice device) { + super(configFile, new LinkFactory(device)); } -// public GenericKinematicsModelNR(IExtendedPIDControl dev){ -// super(XmlFactory.getDefaultConfigurationStream("GenericKinematics.xml"),new LinkFactory( dev)); -// } + // public GenericKinematicsModelNR(IExtendedPIDControl dev){ + // super(XmlFactory.getDefaultConfigurationStream("GenericKinematics.xml"),new + // LinkFactory( dev)); + // } /** - * Instantiates a new generic kinematics model nr. - */ -public GenericKinematicsModelNR() { - super(XmlFactory.getDefaultConfigurationStream("GenericKinematics.xml"),new LinkFactory( new VirtualGenericPIDDevice(1000000,"GenericKinematicsDevice"))); + * Instantiates a new generic kinematics model nr. + */ + public GenericKinematicsModelNR() { + super(XmlFactory.getDefaultConfigurationStream("GenericKinematics.xml"), + new LinkFactory(new VirtualGenericPIDDevice(1000000, "GenericKinematicsDevice"))); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#forwardKinematics(double[]) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# + * forwardKinematics(double[]) */ @Override public TransformNR forwardKinematics(double[] jointSpaceVector) { - double x = jointSpaceVector[0]; - double y = jointSpaceVector[1]; - double z = jointSpaceVector[2]; - - Matrix rotX= new Matrix(RotationNR.getRotationX(jointSpaceVector[3]).getRotationMatrix()); - Matrix rotY= new Matrix(RotationNR.getRotationY(jointSpaceVector[4]).getRotationMatrix()); - Matrix rotZ= new Matrix(RotationNR.getRotationZ(jointSpaceVector[5]).getRotationMatrix()); - + double x = jointSpaceVector[0]; + double y = jointSpaceVector[1]; + double z = jointSpaceVector[2]; + + Matrix rotX = new Matrix(RotationNR.getRotationX(jointSpaceVector[3]).getRotationMatrix()); + Matrix rotY = new Matrix(RotationNR.getRotationY(jointSpaceVector[4]).getRotationMatrix()); + Matrix rotZ = new Matrix(RotationNR.getRotationZ(jointSpaceVector[5]).getRotationMatrix()); + Matrix rotAll = rotX.times(rotY).times(rotZ); - TransformNR back =new TransformNR( x, - y, - z, - new RotationNR(rotAll) - ); + TransformNR back = new TransformNR(x, y, z, new RotationNR(rotAll)); return back; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#inverseKinematics(com.neuronrobotics.sdk.addons.kinematics.math.TransformNR) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# + * inverseKinematics(com.neuronrobotics.sdk.addons.kinematics.math.TransformNR) */ @Override - public double[] inverseKinematics(TransformNR cartesianSpaceVector)throws Exception { - double [] inv = new double[getNumberOfLinks()]; - //Dump from cartesian to joint space, used as an example - inv[0]= cartesianSpaceVector.getX(); - inv[1]= cartesianSpaceVector.getY(); - inv[2]= cartesianSpaceVector.getZ(); - - Matrix rotationMatrixArray = new Matrix(cartesianSpaceVector.getRotation().getRotationMatrix()); - - //X rotation - inv[3]=Math.atan2(-rotationMatrixArray.get(1, 2), rotationMatrixArray.get(2, 2))*180/Math.PI; - //Y rotation - inv[4]=Math.asin(rotationMatrixArray.get(0, 2))*180/Math.PI; - //Z rotation - inv[5]=Math.atan2(-rotationMatrixArray.get(0, 1), rotationMatrixArray.get(0, 0))*180/Math.PI; + public double[] inverseKinematics(TransformNR cartesianSpaceVector) throws Exception { + double[] inv = new double[getNumberOfLinks()]; + // Dump from cartesian to joint space, used as an example + inv[0] = cartesianSpaceVector.getX(); + inv[1] = cartesianSpaceVector.getY(); + inv[2] = cartesianSpaceVector.getZ(); + + Matrix rotationMatrixArray = new Matrix(cartesianSpaceVector.getRotation().getRotationMatrix()); + + // X rotation + inv[3] = Math.atan2(-rotationMatrixArray.get(1, 2), rotationMatrixArray.get(2, 2)) * 180 / Math.PI; + // Y rotation + inv[4] = Math.asin(rotationMatrixArray.get(0, 2)) * 180 / Math.PI; + // Z rotation + inv[5] = Math.atan2(-rotationMatrixArray.get(0, 1), rotationMatrixArray.get(0, 0)) * 180 / Math.PI; return inv; } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#disconnectDevice() + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# + * disconnectDevice() */ @Override public void disconnectDevice() { // Auto-generated method stub - + } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#connectDevice() + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#connectDevice() */ @Override public boolean connectDevice() { diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecent.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecent.java index 2c5263c9..68d37a6b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecent.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecent.java @@ -4,88 +4,95 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; - // Auto-generated Javadoc /** * The Class GradiantDecent. */ -public class GradiantDecent implements DhInverseSolver{ +public class GradiantDecent implements DhInverseSolver { /** The dh chain. */ private final DHChain dhChain; - + /** The debug. */ private final boolean debug; /** * Instantiates a new gradiant decent. * - * @param dhChain the dh chain - * @param debug the debug + * @param dhChain + * the dh chain + * @param debug + * the debug */ public GradiantDecent(DHChain dhChain, boolean debug) { this.dhChain = dhChain; // Auto-generated constructor stub this.debug = debug; } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver#inverseKinematics(com.neuronrobotics.sdk.addons.kinematics.math.TransformNR, double[], com.neuronrobotics.sdk.addons.kinematics.DHChain) + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver#inverseKinematics( + * com.neuronrobotics.sdk.addons.kinematics.math.TransformNR, double[], + * com.neuronrobotics.sdk.addons.kinematics.DHChain) */ - public double[] inverseKinematics(TransformNR target,double[] jointSpaceVector, - DHChain chain ) { + public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector, DHChain chain) { ArrayList links = chain.getLinks(); int linkNum = jointSpaceVector.length; - double [] inv = new double[linkNum]; - - GradiantDecentNode [] increments = new GradiantDecentNode[linkNum]; - for(int i=0;i=0;i--){ - stop[i]=increments[i].step(); - if(!stop[i]){ + for (int i = increments.length - 1; i >= 0; i--) { + stop[i] = increments[i].step(); + if (!stop[i]) { stopped = false; } } vect = dhChain.forwardKinematics(jointSpaceVector).getOffsetVectorMagnitude(target); orient = dhChain.forwardKinematics(jointSpaceVector).getOffsetOrientationMagnitude(target); - if(previousV>=vect && previousO>=orient){ - for(int i=0;i= vect && previousO >= orient) { + for (int i = 0; i < inv.length; i++) { + inv[i] = jointSpaceVector[i]; } - previousV=vect; - previousO=orient; + previousV = vect; + previousO = orient; } - - notArrived = (previousV > posOffset|| previousO > .001); - if(stopped == true && notArrived == true){ + + notArrived = (previousV > posOffset || previousO > .001); + if (stopped == true && notArrived == true) { stopped = false; - for(int i=0;iupper){ + double bound(double in) { + if (in > upper) { offset = 0;// Attempt to reset a link on error case return upper; } - if(in>syncPulse=new HashMap<>(); + HashMap> syncPulse = new HashMap<>(); - default public void addIHardwareSyncPulseReciver(IHardwareSyncPulseReciver r) { - if (getListeners().contains(r) || r==this) + if (getListeners().contains(r) || r == this) return; getListeners().add(r); } @@ -20,13 +19,13 @@ default public void removeIHardwareSyncPulseReciver(IHardwareSyncPulseReciver r) default public void doSync() { for (IHardwareSyncPulseReciver r : getListeners()) { - if(r!=this) + if (r != this) r.sync(); } } - - default public ArrayList getListeners(){ - if(syncPulse.get(this)==null) + + default public ArrayList getListeners() { + if (syncPulse.get(this) == null) syncPulse.put(this, new ArrayList<>()); return syncPulse.get(this); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IJointSpaceUpdateListenerNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IJointSpaceUpdateListenerNR.java index 2799613e..1ac027e4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IJointSpaceUpdateListenerNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IJointSpaceUpdateListenerNR.java @@ -7,32 +7,39 @@ * The Interface IJointSpaceUpdateListenerNR. */ public interface IJointSpaceUpdateListenerNR { - + /** - * The JointSpace update event - * This is called when the kinematics model has a new set of pose data. + * The JointSpace update event This is called when the kinematics model has a + * new set of pose data. * - * @param source The AbstractKinematics object that the update was called from - * @param joints the current joint space values mm,radians + * @param source + * The AbstractKinematics object that the update was called from + * @param joints + * the current joint space values mm,radians */ - public void onJointSpaceUpdate(AbstractKinematicsNR source,double [] joints); - + public void onJointSpaceUpdate(AbstractKinematicsNR source, double[] joints); + /** - * The JointSpace update event - * This is called when the kinematics model has a new set of pose data. + * The JointSpace update event This is called when the kinematics model has a + * new set of pose data. * - * @param source The AbstractKinematics object that the update was called from - * @param joints the current joint space values mm,radians + * @param source + * The AbstractKinematics object that the update was called from + * @param joints + * the current joint space values mm,radians */ - public void onJointSpaceTargetUpdate(AbstractKinematicsNR source,double [] joints); - + public void onJointSpaceTargetUpdate(AbstractKinematicsNR source, double[] joints); + /** - * The JointSpace limit - * This is called when the kinematics model has a new set of pose data. + * The JointSpace limit This is called when the kinematics model has a new set + * of pose data. * - * @param source The AbstractKinematics object that the update was called from - * @param axis the axis - * @param event the event + * @param source + * The AbstractKinematics object that the update was called from + * @param axis + * the axis + * @param event + * the event */ - public void onJointSpaceLimit(AbstractKinematicsNR source, int axis,JointLimit event); + public void onJointSpaceLimit(AbstractKinematicsNR source, int axis, JointLimit event); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ILinkListener.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ILinkListener.java index 5563d365..8c36e552 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ILinkListener.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ILinkListener.java @@ -4,32 +4,34 @@ // Auto-generated Javadoc /** - * The listener interface for receiving ILink events. - * The class that is interested in processing a ILink - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addILinkListener method. When - * the ILink event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving ILink events. The class that is + * interested in processing a ILink event implements this interface, and the + * object created with that class is registered with a component using the + * component's addILinkListener method. When the ILink event occurs, that + * object's appropriate method is invoked. * * @see AbstractLink */ public interface ILinkListener { - + /** * On link position update. * - * @param source the source - * @param engineeringUnitsValue the engineering units value + * @param source + * the source + * @param engineeringUnitsValue + * the engineering units value */ - public void onLinkPositionUpdate(AbstractLink source,double engineeringUnitsValue); - + public void onLinkPositionUpdate(AbstractLink source, double engineeringUnitsValue); + /** * On the event of a limit, this is called. * - * @param source the source - * @param event the event + * @param source + * the source + * @param event + * the event */ - public void onLinkLimit(AbstractLink source,PIDLimitEvent event); + public void onLinkLimit(AbstractLink source, PIDLimitEvent event); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/INewLinkProvider.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/INewLinkProvider.java index ca71d34b..a974366d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/INewLinkProvider.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/INewLinkProvider.java @@ -3,6 +3,7 @@ public interface INewLinkProvider { /** * This interface if for providing new link providers to the LinkFactory system + * * @param conf * @return */ diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IRegistrationListenerNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IRegistrationListenerNR.java index b8bbc2ee..b8d35c2b 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IRegistrationListenerNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IRegistrationListenerNR.java @@ -2,28 +2,31 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; - // Auto-generated Javadoc /** * The Interface IRegistrationListenerNR. */ public interface IRegistrationListenerNR { - + /** - * The fiducial to robot 0 - * This is called when the configuration of the robot is set up. + * The fiducial to robot 0 This is called when the configuration of the robot is + * set up. * - * @param source The AbstractKinematics object that the update was called from - * @param regestration the current regestration + * @param source + * The AbstractKinematics object that the update was called from + * @param regestration + * the current regestration */ - public void onBaseToFiducialUpdate(AbstractKinematicsNR source,TransformNR regestration); - + public void onBaseToFiducialUpdate(AbstractKinematicsNR source, TransformNR regestration); + /** - * The global to fiducial transform - * This is called when the robot is regestered in global coordinantes. + * The global to fiducial transform This is called when the robot is regestered + * in global coordinantes. * - * @param source The AbstractKinematics object that the update was called from - * @param regestration the current regestration in global space + * @param source + * The AbstractKinematics object that the update was called from + * @param regestration + * the current regestration in global space */ - public void onFiducialToGlobalUpdate(AbstractKinematicsNR source,TransformNR regestration); + public void onFiducialToGlobalUpdate(AbstractKinematicsNR source, TransformNR regestration); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ITaskSpaceUpdateListenerNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ITaskSpaceUpdateListenerNR.java index 2a01abc0..5f110b81 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ITaskSpaceUpdateListenerNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ITaskSpaceUpdateListenerNR.java @@ -2,30 +2,32 @@ import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; - // Auto-generated Javadoc /** * The Interface ITaskSpaceUpdateListenerNR. */ public interface ITaskSpaceUpdateListenerNR { - + /** - * The position update event - * This is called when the kinematics model has a new set of pose data. + * The position update event This is called when the kinematics model has a new + * set of pose data. * - * @param source The AbstractKinematics object that the update was called from - * @param pose the current pose transform + * @param source + * The AbstractKinematics object that the update was called from + * @param pose + * the current pose transform */ - public void onTaskSpaceUpdate(AbstractKinematicsNR source,TransformNR pose); - + public void onTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose); + /** - * The position update event - * This is called when the kinematics model has a new set of target data. + * The position update event This is called when the kinematics model has a new + * set of target data. * - * @param source The AbstractKinematics object that the update was called from - * @param pose target pose transform + * @param source + * The AbstractKinematics object that the update was called from + * @param pose + * target pose transform */ - public void onTargetTaskSpaceUpdate(AbstractKinematicsNR source,TransformNR pose); - + public void onTargetTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java index 0000a0b5..cc13765a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/IVitaminHolder.java @@ -6,9 +6,9 @@ public interface IVitaminHolder { ArrayList getVitamins(); default void addVitamin(VitaminLocation location) { - if(hasVitamin(location)) - throw new RuntimeException("Vitamin Name "+location.getName()+"already exists"); - addVitaminInternal( location); + if (hasVitamin(location)) + throw new RuntimeException("Vitamin Name " + location.getName() + "already exists"); + addVitaminInternal(location); } default boolean hasVitamin(VitaminLocation location) { diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/InterpolationMoveState.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/InterpolationMoveState.java index 0ba9db67..3b9db03a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/InterpolationMoveState.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/InterpolationMoveState.java @@ -1,5 +1,5 @@ package com.neuronrobotics.sdk.addons.kinematics; public enum InterpolationMoveState { - READY,BUSY,FAULT + READY, BUSY, FAULT } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JointLimit.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JointLimit.java index 55ab2904..ee8ed82c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JointLimit.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/JointLimit.java @@ -8,42 +8,46 @@ * The Class JointLimit. */ public class JointLimit { - + /** The axis. */ private int axis; - + /** The value. */ - private double value; - + private double value; + /** The time stamp. */ private long timeStamp; - + /** The limit type. */ private PIDLimitEventType limitType; - + /** * Instantiates a new joint limit. * - * @param axis the axis - * @param e the e - * @param linkConfiguration the link configuration + * @param axis + * the axis + * @param e + * the e + * @param linkConfiguration + * the link configuration */ public JointLimit(int axis, PIDLimitEvent e, LinkConfiguration linkConfiguration) { setAxis(axis); - setValue(e.getValue()*linkConfiguration.getScale()); + setValue(e.getValue() * linkConfiguration.getScale()); setTimeStamp(e.getTimeStamp()); setLimitType(e.getLimitType()); } - + /** * Sets the axis. * - * @param axis the new axis + * @param axis + * the new axis */ public void setAxis(int axis) { this.axis = axis; } - + /** * Gets the axis. * @@ -52,16 +56,17 @@ public void setAxis(int axis) { public int getAxis() { return axis; } - + /** * Sets the value. * - * @param value the new value + * @param value + * the new value */ public void setValue(double value) { this.value = value; } - + /** * Gets the value. * @@ -70,16 +75,17 @@ public void setValue(double value) { public double getValue() { return value; } - + /** * Sets the time stamp. * - * @param timeStamp the new time stamp + * @param timeStamp + * the new time stamp */ public void setTimeStamp(long timeStamp) { this.timeStamp = timeStamp; } - + /** * Gets the time stamp. * @@ -88,16 +94,17 @@ public void setTimeStamp(long timeStamp) { public long getTimeStamp() { return timeStamp; } - + /** * Sets the limit type. * - * @param limitType the new limit type + * @param limitType + * the new limit type */ public void setLimitType(PIDLimitEventType limitType) { this.limitType = limitType; } - + /** * Gets the limit type. * @@ -106,11 +113,13 @@ public void setLimitType(PIDLimitEventType limitType) { public PIDLimitEventType getLimitType() { return limitType; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ - public String toString(){ - return "Axis="+getAxis()+" "+getLimitType().toString(); + public String toString() { + return "Axis=" + getAxis() + " " + getLimitType().toString(); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java index 7ad52272..eb4151eb 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkConfiguration.java @@ -1,1174 +1,1213 @@ -package com.neuronrobotics.sdk.addons.kinematics; - -import java.util.ArrayList; -import java.util.HashMap; -import java.util.NoSuchElementException; - -import org.w3c.dom.Element; -import org.w3c.dom.Node; -import org.w3c.dom.NodeList; - -import com.neuronrobotics.sdk.addons.kinematics.math.ITransformNRChangeListener; -import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; -import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; -import com.neuronrobotics.sdk.common.Log; -//import org.w3c.dom.Node; -//import org.w3c.dom.NodeList; -import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; -import com.neuronrobotics.sdk.pid.PIDConfiguration; - -// Auto-generated Javadoc -/** - * The Class LinkConfiguration. - */ -public class LinkConfiguration implements ITransformNRChangeListener, IVitaminHolder { - private ArrayList listeners = null; - private boolean pauseEvents = false; - /** The name. */ - private String name = "newLink";// = getTagValue("name",eElement); - - /** The type. */ - private String type = "virtual"; - - /** The index. */ - private int index = 0;// = Double.parseDouble(getTagValue("index",eElement)); - - /** The totla number of links. */ - private int totlaNumberOfLinks = 1; - - /** The link index. */ - private int linkIndex = 0; - - /** The scale. */ - // private double length;// = - // Double.parseDouble(getTagValue("length",eElement)); - private double scale = 1.0;// = Double.parseDouble(getTagValue("scale",eElement)); - - /** The upper limit. */ - private double upperLimit = 100000;// = Double.parseDouble(getTagValue("upperLimit",eElement)); - - /** The lower limit. */ - private double lowerLimit = -100000;// = Double.parseDouble(getTagValue("lowerLimit",eElement)); - - /** The k. */ - private double k[] = new double[] { 1, 0, 0 }; - - /** The inverted. */ - private boolean inverted = false; - - /** The is latch. */ - private boolean isLatch = false; - - /** The index latch. */ - private double indexLatch = 0; - - /** The is stop on latch. */ - private boolean isStopOnLatch = false; - - /** The homing ticks per second. */ - private int homingTicksPerSecond = 10000000; - - /** The upper velocity. */ - private double velocityLimit = 100000000; - - /** The device scripting name. */ - private String deviceScriptingName = "exampleDevice"; - private double deviceTheoreticalMax = 180; - private double deviceTheoreticalMin = 0; - private double mass = 0.01;// KG - private TransformNR centerOfMassFromCentroid = new TransformNR(); - private TransformNR imuFromCentroid = new TransformNR(); - /** The static offset. */ - private double staticOffset = 0; - - private ArrayList slaveLinks = new ArrayList(); - - /** - * This is the flag for setting the direction of the velocity lock out for limit - * switches - */ - private boolean invertVelocity = false; - - /** - * This is the flag for setting the direction of the velocity lock out for limit - * switches - */ - private boolean invertLimitVelocityPolarity = false; - - private ArrayList vitamins = new ArrayList(); - private HashMap vitaminVariant = new HashMap(); - private boolean passive = false; - private boolean newAbs = false; - private Runnable changeListener = () -> { - fireChangeEvent(); - }; - - /** - * Instantiates a new link configuration. - * - * @param eElement the e element - */ - public LinkConfiguration(Element eElement) { - setName(XmlFactory.getTagValue("name", eElement)); - setHardwareIndex(Integer.parseInt(XmlFactory.getTagValue("index", eElement))); - setScale(Double.parseDouble(XmlFactory.getTagValue("scale", eElement))); - try { - setDeviceTheoreticalMax(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMax", eElement))); - } catch (Exception e) { - newAbs = true; - } - try { - setDeviceTheoreticalMin(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMin", eElement))); - } catch (Exception e) { - newAbs = true; - } - setUpperLimit(Double.parseDouble(XmlFactory.getTagValue("upperLimit", eElement))); - setLowerLimit(Double.parseDouble(XmlFactory.getTagValue("lowerLimit", eElement))); - try { - setDeviceScriptingName(XmlFactory.getTagValue("deviceName", eElement)); - } catch (NullPointerException e) { - // no device from connection engine specified - } - try { - invertLimitVelocityPolarity = XmlFactory.getTagValue("invertLimitVelocityPolarity", eElement) - .contains("true"); - - } catch (NullPointerException e) { - // no device from connection engine specified - } - try { - setTypeString(XmlFactory.getTagValue("type", eElement)); - try { - setTypeString(getTypeString()); - } catch (NoSuchElementException e) { - setTypeString(LinkType.VIRTUAL.getName()); - setTypeString("virtual"); - } - } catch (NullPointerException e) { - setTypeString(LinkType.PID.getName()); - } - if (getTypeEnum() == LinkType.PID) { - try { - k[0] = Double.parseDouble(XmlFactory.getTagValue("pGain", eElement)); - k[1] = Double.parseDouble(XmlFactory.getTagValue("iGain", eElement)); - k[2] = Double.parseDouble(XmlFactory.getTagValue("dGain", eElement)); - inverted = XmlFactory.getTagValue("isInverted", eElement).contains("true"); - setHomingTicksPerSecond(Integer.parseInt(XmlFactory.getTagValue("homingTPS", eElement))); - } catch (Exception ex) { - } - } - - try { - setUpperVelocity(Double.parseDouble(XmlFactory.getTagValue("upperVelocity", eElement))); - } catch (Exception e) { - - } - try { - setStaticOffset(Double.parseDouble(XmlFactory.getTagValue("staticOffset", eElement))); - } catch (Exception e) { - - } - - try { - setMassKg(Double.parseDouble(XmlFactory.getTagValue("mass", eElement))); - } catch (Exception e) { - - } - try { - setElectroMechanicalType(XmlFactory.getTagValue("electroMechanicalType", eElement)); - } catch (Exception e) { - - } - - try { - setElectroMechanicalSize(XmlFactory.getTagValue("electroMechanicalSize", eElement)); - } catch (Exception e) { - - } - try { - setShaftType(XmlFactory.getTagValue("shaftType", eElement)); - } catch (Exception e) { - - } - - try { - setShaftSize(XmlFactory.getTagValue("shaftSize", eElement)); - } catch (Exception e) { - - } - try { - setPassive(Boolean.parseBoolean(XmlFactory.getTagValue("passive", eElement))); - } catch (Exception e) { - - } - NodeList nodListofLinks = eElement.getChildNodes(); - - for (int i = 0; i < nodListofLinks.getLength(); i++) { - Node linkNode = nodListofLinks.item(i); - try { - if (linkNode.getNodeType() == Node.ELEMENT_NODE - && linkNode.getNodeName().contentEquals("centerOfMassFromCentroid")) { - Element cntr = (Element) linkNode; - setCenterOfMassFromCentroid(new TransformNR(Double.parseDouble(XmlFactory.getTagValue("x", cntr)), - Double.parseDouble(XmlFactory.getTagValue("y", cntr)), - Double.parseDouble(XmlFactory.getTagValue("z", cntr)), - new RotationNR(new double[] { Double.parseDouble(XmlFactory.getTagValue("rotw", cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotx", cntr)), - Double.parseDouble(XmlFactory.getTagValue("roty", cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotz", cntr)) }))); - } - } catch (Exception e) { - - } - try { - if (linkNode.getNodeType() == Node.ELEMENT_NODE - && linkNode.getNodeName().contentEquals("imuFromCentroid")) { - Element cntr = (Element) linkNode; - setimuFromCentroid(new TransformNR(Double.parseDouble(XmlFactory.getTagValue("x", cntr)), - Double.parseDouble(XmlFactory.getTagValue("y", cntr)), - Double.parseDouble(XmlFactory.getTagValue("z", cntr)), - new RotationNR(new double[] { Double.parseDouble(XmlFactory.getTagValue("rotw", cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotx", cntr)), - Double.parseDouble(XmlFactory.getTagValue("roty", cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotz", cntr)) }))); - } - } catch (Exception e) { - - } - try { - if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamins")) { - getVitamins((Element) linkNode); - } - } catch (Exception e) { - - } - } - isLatch = XmlFactory.getTagValue("isLatch", eElement).contains("true"); - setIndexLatch(Double.parseDouble(XmlFactory.getTagValue("indexLatch", eElement))); - isStopOnLatch = XmlFactory.getTagValue("isStopOnLatch", eElement).contains("true"); - if (staticOffset > getUpperLimit() || staticOffset < getLowerLimit()) - Log.error("PID group " + getHardwareIndex() + " staticOffset is " + staticOffset - + " but needs to be between " + getUpperLimit() + " and " + getLowerLimit()); - // com.neuronrobotics.sdk.common.Log.error("Interted"+ inverted); - } - - /** - * Instantiates a new link configuration. - * - * @param args the args - */ - public LinkConfiguration(Object[] args) { - setName((String) args[6]); - setHardwareIndex((Integer) args[0]); - setScale((Double) args[5]); - setUpperLimit((Integer) args[4]); - setLowerLimit((Integer) args[3]); - setTypeString(LinkType.PID.getName()); - - setTotlaNumberOfLinks((Integer) args[1]); - fireChangeEvent(); - } - - /** - * Gets the vitamins. - * - * @param doc the doc - */ - protected void getVitamins(Element doc) { - - try { - vitamins = VitaminLocation.getVitamins(doc); - return; - } catch (Exception e) { - e.printStackTrace(); - } - return; - } - - /** - * Add a vitamin to this link - * - * @param name the name of this vitamin, if the name already exists, the data - * will be overwritten. - * @param type the vitamin type, this maps the the json filename - * @param id the part ID, theis maps to the key in the json for the vitamin - */ - @Deprecated - public void setVitamin(VitaminLocation location) { - addVitamin(location); - - } - - /** - * Add a vitamin to this link - * - * @param name the name of this vitamin, if the name already exists, the data - * will be overwritten. - * @param type the vitamin type, this maps the the json filename - * @param id the part ID, theis maps to the key in the json for the vitamin - */ - public void addVitaminInternal(VitaminLocation location) { - if (vitamins.contains(location)) - return; - vitamins.add(location); - location.addChangeListener(changeListener); - fireChangeEvent(); - } - - public void removeVitamin(VitaminLocation loc) { - if (vitamins.contains(loc)) - vitamins.remove(loc); - loc.removeChangeListener(changeListener); - fireChangeEvent(); - } - - /** - * Set a purchasing code for a vitamin - * - * @param name name of vitamin - * @param tagValue2 Purchaning code - */ - public void setVitaminVariant(String name, String tagValue2) { - vitaminVariant.put(name, tagValue2); - fireChangeEvent(); - } - - /** - * Get a purchaing code for a vitamin - * - * @param name name of vitamin - * @return - */ - public String getVitaminVariant(String name) { - return vitaminVariant.get(name); - } - - /** - * Instantiates a new link configuration. - */ - public LinkConfiguration() { - // default values - } - - public LinkConfiguration(LinkConfiguration from) { - setDeviceScriptingName(from.getDeviceScriptingName()); - - for (int i = 0; i < from.slaveLinks.size(); i++) { - slaveLinks.add(new LinkConfiguration(from.slaveLinks.get(i))); - } - - vitamins.addAll(from.vitamins); - setName(from.getName()); - - setTypeString(from.getTypeString()); - setHardwareIndex(from.getHardwareIndex()); - setScale(from.getScale()); - setUpperLimit(from.getUpperLimit()); - setLowerLimit(from.getLowerLimit()); - setUpperVelocity(from.getUpperVelocity()); - setStaticOffset(from.getStaticOffset()); - setDeviceTheoreticalMax(from.getDeviceTheoreticalMax()); - setDeviceTheoreticalMin(from.getDeviceTheoreticalMin()); - setLatch(from.isLatch()); - setIndexLatch(from.getIndexLatch()); - setStopOnLatch(from.isStopOnLatch()); - setHomingTicksPerSecond(from.getHomingTicksPerSecond()); - setPassive(from.isPassive()); - setMassKg(from.getMassKg()); - setCenterOfMassFromCentroid(from.getCenterOfMassFromCentroid()); - setimuFromCentroid(from.getimuFromCentroid()); - - } - - /** - * Instantiates a new link configuration. - * - * @param home the home - * @param llimit the llimit - * @param ulimit the ulimit - * @param d the d - */ - public LinkConfiguration(int home, int llimit, int ulimit, double d) { - setScale(d); - setUpperLimit(ulimit); - setLowerLimit(llimit); - setStaticOffset(home); - fireChangeEvent(); - } - - /* - * (non-Javadoc) - * - * @see java.lang.Object#toString() - */ - public String toString() { - String s = "LinkConfiguration: \n\tName: " + getName(); - if (deviceScriptingName != null) - s = "Device Name: \n\tName: " + getDeviceScriptingName(); - s += "\n\tType: " + getTypeEnum() + " " + getTypeString(); - s += "\n\tHardware Board Index: " + getHardwareIndex(); - s += "\n\tScale: " + getScale(); - s += "\n\tUpper Limit: " + getUpperLimit(); - s += "\n\tLower Limit: " + getLowerLimit(); - s += "\n\tHoming Ticks Per Second: " + getHomingTicksPerSecond(); - return s; - } - - /** - * Gets the xml. - * - * @return the xml - */ - /* - * - * Generate the xml configuration to generate a link of this configuration. - */ - public String getXml() { - String DevStr = deviceScriptingName != null ? "" + getDeviceScriptingName() + "\n" - : ""; - String slaves = ""; - for (int i = 0; i < slaveLinks.size(); i++) { - slaves += "\n\t\n" + slaveLinks.get(i).getXml() + "\n\t\n"; - } - - String vitamnsString = VitaminLocation.getAllXML(vitamins); - return "\t" + getName() + "\n" + "\t" + DevStr + "\t" + getTypeString() + "\n" - + "\t" + getHardwareIndex() + "\n" + "\t" + getScale() + "\n" - + "\t" + getUpperLimit() + "\n" + "\t" + getLowerLimit() - + "\n" + "\t" + getUpperVelocity() + "\n" - + "\t" + getLowerVelocity() + "\n" + "\t" - + getStaticOffset() + "\n" + "\t" + getDeviceTheoreticalMax() - + "\n" + "\t" + getDeviceTheoreticalMin() - + "\n" + "\t" + isLatch() + "\n" + "\t" - + getIndexLatch() + "\n" + "\t" + isStopOnLatch() + "\n" - + "\t" + getHomingTicksPerSecond() + "\n" + vitamnsString + "\t" - + isPassive() + "\n" + "\t" + getMassKg() + "\n" + "\t" - + getCenterOfMassFromCentroid().getXml() + "\n" + "\t" - + getimuFromCentroid().getXml() + "\n" + slaves; - } - - /** - * Sets the name. - * - * @param name the new name - */ - public void setName(String name) { - Log.info("Setting controller name: " + name); - this.name = name; - fireChangeEvent(); - } - - /** - * Gets the name. - * - * @return the name - */ - public String getName() { - return name; - } - - /** - * sets the hardware index for maping this kinematics link to its assocaited - * hardware index. - * - * @param index the new hardware index - */ - public void setHardwareIndex(int index) { - this.index = index; - fireChangeEvent(); - } - - /** - * gets the hardware index for maping this kinematics link to its assocaited - * hardware index. - * - * @return the hardware index - */ - public int getHardwareIndex() { - return index; - } - - /** - * Sets the scale. - * - * @param scale the new scale - */ - public void setScale(double scale) { - this.scale = scale; - fireChangeEvent(); - } - - /** - * Gets the scale. - * - * @return the scale - */ - public double getScale() { - return scale; - } - - public double getDeviceTheoreticalMax() { - return deviceTheoreticalMax; - } - - public void setDeviceTheoreticalMax(double deviceTheoreticalMax) { - this.deviceTheoreticalMax = deviceTheoreticalMax; - fireChangeEvent(); - } - - public double getDeviceTheoreticalMin() { - return deviceTheoreticalMin; - } - - public void setDeviceTheoreticalMin(double deviceTheoreticalMin) { - this.deviceTheoreticalMin = deviceTheoreticalMin; - fireChangeEvent(); - } - - /** - * Sets the upper limit. - * - * @param upperLimit the new upper limit - */ - public void setUpperLimit(double upperLimit) { - this.upperLimit = upperLimit; - if (upperLimit > getDeviceTheoreticalMax()) { - if (!newAbs) - this.upperLimit = getDeviceTheoreticalMax(); - else - setDeviceTheoreticalMax(upperLimit); - - } - fireChangeEvent(); - } - - /** - * Gets the upper limit. - * - * @return the upper limit - */ - public double getUpperLimit() { - return upperLimit; - } - - /** - * Sets the lower limit. - * - * @param lowerLimit the new lower limit - */ - public void setLowerLimit(double lowerLimit) { - this.lowerLimit = lowerLimit; - if (lowerLimit < getDeviceTheoreticalMin()) { - if (!newAbs) { - this.lowerLimit = getDeviceTheoreticalMin(); - } else { - setDeviceTheoreticalMin(lowerLimit); - } - } - - fireChangeEvent(); - } - - /** - * Gets the lower limit. - * - * @return the lower limit - */ - public double getLowerLimit() { - return lowerLimit; - } - - /** - * Gets the kp. - * - * @return the kp - */ - public double getKP() { - return k[0]; - } - - /** - * Gets the ki. - * - * @return the ki - */ - public double getKI() { - return k[1]; - } - - /** - * Gets the kd. - * - * @return the kd - */ - public double getKD() { - return k[2]; - } - - /** - * Sets the kp. - * - * @param kP the new kp - */ - public void setKP(double kP) { - k[0] = kP; - fireChangeEvent(); - } - - /** - * Sets the ki. - * - * @param kI the new ki - */ - public void setKI(double kI) { - k[1] = kI; - fireChangeEvent(); - } - - /** - * Sets the kd. - * - * @param kD the new kd - */ - public void setKD(double kD) { - k[2] = kD; - fireChangeEvent(); - } - - /** - * Sets the inverted. - * - * @param inverted the new inverted - */ - public void setInverted(boolean inverted) { - this.inverted = inverted; - fireChangeEvent(); - } - - /** - * Checks if is inverted. - * - * @return true, if is inverted - */ - public boolean isInverted() { - return inverted; - } - - /** - * Sets the index latch. - * - * @param indexLatch the new index latch - */ - public void setIndexLatch(double indexLatch) { - - if (indexLatch > getDeviceTheoreticalMax()) - indexLatch = getDeviceTheoreticalMax(); - if (indexLatch < getDeviceTheoreticalMin()) - indexLatch = getDeviceTheoreticalMin(); - this.indexLatch = indexLatch; - fireChangeEvent(); - } - - /** - * Gets the index latch. - * - * @return the index latch - */ - public double getIndexLatch() { - return indexLatch; - } - - /** - * Sets the latch. - * - * @param isLatch the new latch - */ - public void setLatch(boolean isLatch) { - this.isLatch = isLatch; - } - - /** - * Checks if is latch. - * - * @return true, if is latch - */ - public boolean isLatch() { - return isLatch; - } - - /** - * Sets the stop on latch. - * - * @param isStopOnLatch the new stop on latch - */ - public void setStopOnLatch(boolean isStopOnLatch) { - this.isStopOnLatch = isStopOnLatch; - fireChangeEvent(); - } - - /** - * Checks if is stop on latch. - * - * @return true, if is stop on latch - */ - public boolean isStopOnLatch() { - return isStopOnLatch; - } - - /** - * Sets the homing ticks per second. - * - * @param homingTicksPerSecond the new homing ticks per second - */ - public void setHomingTicksPerSecond(int homingTicksPerSecond) { - this.homingTicksPerSecond = homingTicksPerSecond; - fireChangeEvent(); - } - - /** - * Gets the homing ticks per second. - * - * @return the homing ticks per second - */ - public int getHomingTicksPerSecond() { - return homingTicksPerSecond; - } - - /** - * Gets the type. - * - * @return the type - */ - LinkType getTypeEnum() { - return LinkType.fromString(type); - } - - /** - * Sets the upper velocity. - * - * @param upperVelocity the new upper velocity - */ - public void setUpperVelocity(double upperVelocity) { - this.velocityLimit = upperVelocity; - fireChangeEvent(); - } - - /** - * Gets the upper velocity. - * - * @return the upper velocity - */ - public double getUpperVelocity() { - return velocityLimit; - } - - /** - * Gets the lower velocity. - * - * @return the lower velocity - */ - public double getLowerVelocity() { - return -velocityLimit; - } - - /** - * THis is the index of this link in its kinematics chain. - * - * @return the link index - */ - public int getLinkIndex() { - return linkIndex; - } - - /** - * This sets the index of the link in itts kinematic chain. - * - * @param linkIndex the new link index - */ - public void setLinkIndex(int linkIndex) { - this.linkIndex = linkIndex; - fireChangeEvent(); - } - - /** - * Gets the totla number of links. - * - * @return the totla number of links - */ - public int getTotlaNumberOfLinks() { - return totlaNumberOfLinks; - } - - /** - * Sets the totla number of links. - * - * @param totlaNumberOfLinks the new totla number of links - */ - public void setTotlaNumberOfLinks(int totlaNumberOfLinks) { - this.totlaNumberOfLinks = totlaNumberOfLinks; - fireChangeEvent(); - } - - /** - * Gets the pid configuration. - * - * @return the pid configuration - */ - public PIDConfiguration getPidConfiguration() { - PIDConfiguration pid = new PIDConfiguration(); - pid.setKD(getKD()); - pid.setGroup(getHardwareIndex()); - pid.setStopOnIndex(isStopOnLatch()); - pid.setKI(getKI()); - pid.setKP(getKP()); - pid.setIndexLatch(getIndexLatch()); - pid.setInverted(isInverted()); - return pid; - } - - /** - * Sets the pid configuration. - * - * @param pid the new pid configuration - */ - public void setPidConfiguration(IPidControlNamespace pid) { - PIDConfiguration conf = pid.getPIDConfiguration(getHardwareIndex()); - if (getTypeEnum() == LinkType.PID) { - k[0] = conf.getKP(); - k[1] = conf.getKI(); - k[2] = conf.getKD(); - inverted = conf.isInverted(); - setHomingTicksPerSecond(10000); - } - - isLatch = conf.isUseLatch(); - indexLatch = (int) conf.getIndexLatch(); - isStopOnLatch = conf.isStopOnIndex(); - fireChangeEvent(); -// if(indexLatch>getUpperLimit() || indexLatch getUpperLimit()) - staticOffset = getUpperLimit(); - if (staticOffset < getLowerLimit()) - staticOffset = getLowerLimit(); - this.staticOffset = staticOffset; - fireChangeEvent(); - } - - public boolean isInvertLimitVelocityPolarity() { - return invertLimitVelocityPolarity; - } - - public void setInvertLimitVelocityPolarity(boolean invertVelocity) { - this.invertLimitVelocityPolarity = invertVelocity; - fireChangeEvent(); - } - - public ArrayList getSlaveLinks() { - return slaveLinks; - } - - public void setSlaveLinks(ArrayList slaveLinks) { - this.slaveLinks = slaveLinks; - fireChangeEvent(); - } - - public double getMassKg() { - return mass; - } - - public void setMassKg(double mass) { - this.mass = mass; - fireChangeEvent(); - } - - public TransformNR getCenterOfMassFromCentroid() { - return centerOfMassFromCentroid; - } - - public void setCenterOfMassFromCentroid(TransformNR com) { - if (this.centerOfMassFromCentroid != null) - this.centerOfMassFromCentroid.removeChangeListener(this); - this.centerOfMassFromCentroid = com; - this.centerOfMassFromCentroid.addChangeListener(this); - fireChangeEvent(); - } - - public TransformNR getimuFromCentroid() { - return imuFromCentroid; - } - - public void setimuFromCentroid(TransformNR imu) { - if (this.imuFromCentroid != null) - this.imuFromCentroid.removeChangeListener(this); - this.imuFromCentroid = imu; - this.imuFromCentroid.addChangeListener(this); - fireChangeEvent(); - } - -// private String electroMechanicalType = "hobbyServo"; -// private String electroMechanicalSize = "standardMicro"; -// private String shaftType = "hobbyServoHorn"; -// private String shaftSize = "standardMicro1"; - public ArrayList getNonActuatorVitamins() { - ArrayList back = new ArrayList<>(); - back.addAll(vitamins); - back.remove(getShaftVitamin()); - back.remove(getElectroMechanicalVitamin()); - return back; - } - - public VitaminLocation getShaftVitamin(boolean makeNew) { - for (VitaminLocation loc : vitamins) - if (loc.getName().contentEquals("shaft")) - return loc; - if (makeNew) { - VitaminLocation e = new VitaminLocation(false,"shaft", "hobbyServoHorn", "standardMicro1", new TransformNR()); - e.setFrame(VitaminFrame.LinkOrigin); - vitamins.add(e); - return e; - } - return null; - } - - public VitaminLocation getElectroMechanicalVitamin(boolean makeNew) { - for (VitaminLocation loc : vitamins) - if (loc.getName().contentEquals("electroMechanical")) - return loc; - if (makeNew) { - VitaminLocation e = new VitaminLocation(false,"electroMechanical", "hobbyServo", "mg92b", new TransformNR()); - e.setFrame(VitaminFrame.previousLinkTip); - vitamins.add(e); - return e; - } - return null; - } - - public VitaminLocation getShaftVitamin() { - return getShaftVitamin(false); - } - - public VitaminLocation getElectroMechanicalVitamin() { - return getElectroMechanicalVitamin(false); - } - - public String getElectroMechanicalType() { - return getElectroMechanicalVitamin().getType(); - } - - public void setElectroMechanicalType(String electroMechanicalType) { - getElectroMechanicalVitamin().setType(electroMechanicalType); - fireChangeEvent(); - } - - public String getElectroMechanicalSize() { - return getElectroMechanicalVitamin().getSize(); - } - - public void setElectroMechanicalSize(String electroMechanicalSize) { - getElectroMechanicalVitamin().setSize(electroMechanicalSize); - fireChangeEvent(); - } - - public String getShaftType() { - return getShaftVitamin().getType(); - } - - public void setShaftType(String shaftType) { - getShaftVitamin().setType(shaftType); - ; - fireChangeEvent(); - } - - public String getShaftSize() { - return getShaftVitamin().getSize(); - } - - public void setShaftSize(String shaftSize) { - getShaftVitamin().setSize(shaftSize); - fireChangeEvent(); - } - - public boolean isPassive() { - return passive; - } - - public void setPassive(boolean passive) { - this.passive = passive; - fireChangeEvent(); - } - - public ArrayList getVitamins() { - return vitamins; - } - - public void setVitamins(ArrayList v) { - if (vitamins != null) - for (VitaminLocation l : vitamins) - l.removeChangeListener(changeListener); - this.vitamins = v; - for (VitaminLocation l : vitamins) - l.addChangeListener(changeListener); - fireChangeEvent(); - } - - public String getTypeString() { - return type; - } - - public void setTypeString(String typeString) { - if (typeString == null) - throw new NullPointerException(); - type = typeString; - fireChangeEvent(); - } - - /** - * Checks if is virtual. - * - * @return true, if is virtual - */ - public boolean isVirtual() { - switch (getTypeEnum()) { - - case DUMMY: - case VIRTUAL: - return true; - case USERDEFINED: - if (getTypeString().toLowerCase().contains("virtual")) { - return true; - } - default: - return false; - } - } - - /** - * Checks if is tool. - * - * @return true, if is tool - */ - public boolean isTool() { - switch (getTypeEnum()) { - case PID_TOOL: - case GCODE_STEPPER_TOOL: - case GCODE_HEATER_TOOL: - return true; - case USERDEFINED: - if (getTypeString().toLowerCase().contains("tool")) { - return true; - } - default: - return false; - - } - } - - /** - * Checks if is prismatic. - * - * @return true, if is prismatic - */ - public boolean isPrismatic() { - switch (getTypeEnum()) { - case ANALOG_PRISMATIC: - case PID_PRISMATIC: - case GCODE_STEPPER_PRISMATIC: - return true; - case USERDEFINED: - if (getTypeString().toLowerCase().contains("prismatic")) { - return true; - } - default: - return false; - - } - } - - public void addChangeListener(ILinkConfigurationChangeListener l) { - if (!getListeners().contains(l)) - getListeners().add(l); - } - - public void removeChangeListener(ILinkConfigurationChangeListener l) { - if (getListeners().contains(l)) - getListeners().remove(l); - } - - public void clearChangeListener() { - getListeners().clear(); - listeners = null; - } - - public ArrayList getListeners() { - if (listeners == null) - listeners = new ArrayList(); - return listeners; - } - - void fireChangeEvent() { - if (pauseEvents) - return; - if (listeners != null) { - for (int i = 0; i < listeners.size(); i++) { - try { - listeners.get(i).event(this); - } catch (Throwable t) { - t.printStackTrace(); - } - } - } - } - - @Override - public void event(TransformNR changed) { - fireChangeEvent(); - } - - public boolean isPauseEvents() { - return pauseEvents; - } - - public void setPauseEvents(boolean pauseEvents) { - this.pauseEvents = pauseEvents; - } - -} +package com.neuronrobotics.sdk.addons.kinematics; + +import java.util.ArrayList; +import java.util.HashMap; +import java.util.NoSuchElementException; + +import org.w3c.dom.Element; +import org.w3c.dom.Node; +import org.w3c.dom.NodeList; + +import com.neuronrobotics.sdk.addons.kinematics.math.ITransformNRChangeListener; +import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; +import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; +import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; +import com.neuronrobotics.sdk.common.Log; +//import org.w3c.dom.Node; +//import org.w3c.dom.NodeList; +import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; +import com.neuronrobotics.sdk.pid.PIDConfiguration; + +// Auto-generated Javadoc +/** + * The Class LinkConfiguration. + */ +public class LinkConfiguration implements ITransformNRChangeListener, IVitaminHolder { + private ArrayList listeners = null; + private boolean pauseEvents = false; + /** The name. */ + private String name = "newLink";// = getTagValue("name",eElement); + + /** The type. */ + private String type = "virtual"; + + /** The index. */ + private int index = 0;// = Double.parseDouble(getTagValue("index",eElement)); + + /** The totla number of links. */ + private int totlaNumberOfLinks = 1; + + /** The link index. */ + private int linkIndex = 0; + + /** The scale. */ + // private double length;// = + // Double.parseDouble(getTagValue("length",eElement)); + private double scale = 1.0;// = Double.parseDouble(getTagValue("scale",eElement)); + + /** The upper limit. */ + private double upperLimit = 100000;// = Double.parseDouble(getTagValue("upperLimit",eElement)); + + /** The lower limit. */ + private double lowerLimit = -100000;// = Double.parseDouble(getTagValue("lowerLimit",eElement)); + + /** The k. */ + private double k[] = new double[]{1, 0, 0}; + + /** The inverted. */ + private boolean inverted = false; + + /** The is latch. */ + private boolean isLatch = false; + + /** The index latch. */ + private double indexLatch = 0; + + /** The is stop on latch. */ + private boolean isStopOnLatch = false; + + /** The homing ticks per second. */ + private int homingTicksPerSecond = 10000000; + + /** The upper velocity. */ + private double velocityLimit = 100000000; + + /** The device scripting name. */ + private String deviceScriptingName = "exampleDevice"; + private double deviceTheoreticalMax = 180; + private double deviceTheoreticalMin = 0; + private double mass = 0.01;// KG + private TransformNR centerOfMassFromCentroid = new TransformNR(); + private TransformNR imuFromCentroid = new TransformNR(); + /** The static offset. */ + private double staticOffset = 0; + + private ArrayList slaveLinks = new ArrayList(); + + /** + * This is the flag for setting the direction of the velocity lock out for limit + * switches + */ + private boolean invertVelocity = false; + + /** + * This is the flag for setting the direction of the velocity lock out for limit + * switches + */ + private boolean invertLimitVelocityPolarity = false; + + private ArrayList vitamins = new ArrayList(); + private HashMap vitaminVariant = new HashMap(); + private boolean passive = false; + private boolean newAbs = false; + private Runnable changeListener = () -> { + fireChangeEvent(); + }; + + /** + * Instantiates a new link configuration. + * + * @param eElement + * the e element + */ + public LinkConfiguration(Element eElement) { + setName(XmlFactory.getTagValue("name", eElement)); + setHardwareIndex(Integer.parseInt(XmlFactory.getTagValue("index", eElement))); + setScale(Double.parseDouble(XmlFactory.getTagValue("scale", eElement))); + try { + setDeviceTheoreticalMax(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMax", eElement))); + } catch (Exception e) { + newAbs = true; + } + try { + setDeviceTheoreticalMin(Double.parseDouble(XmlFactory.getTagValue("deviceTheoreticalMin", eElement))); + } catch (Exception e) { + newAbs = true; + } + setUpperLimit(Double.parseDouble(XmlFactory.getTagValue("upperLimit", eElement))); + setLowerLimit(Double.parseDouble(XmlFactory.getTagValue("lowerLimit", eElement))); + try { + setDeviceScriptingName(XmlFactory.getTagValue("deviceName", eElement)); + } catch (NullPointerException e) { + // no device from connection engine specified + } + try { + invertLimitVelocityPolarity = XmlFactory.getTagValue("invertLimitVelocityPolarity", eElement) + .contains("true"); + + } catch (NullPointerException e) { + // no device from connection engine specified + } + try { + setTypeString(XmlFactory.getTagValue("type", eElement)); + try { + setTypeString(getTypeString()); + } catch (NoSuchElementException e) { + setTypeString(LinkType.VIRTUAL.getName()); + setTypeString("virtual"); + } + } catch (NullPointerException e) { + setTypeString(LinkType.PID.getName()); + } + if (getTypeEnum() == LinkType.PID) { + try { + k[0] = Double.parseDouble(XmlFactory.getTagValue("pGain", eElement)); + k[1] = Double.parseDouble(XmlFactory.getTagValue("iGain", eElement)); + k[2] = Double.parseDouble(XmlFactory.getTagValue("dGain", eElement)); + inverted = XmlFactory.getTagValue("isInverted", eElement).contains("true"); + setHomingTicksPerSecond(Integer.parseInt(XmlFactory.getTagValue("homingTPS", eElement))); + } catch (Exception ex) { + } + } + + try { + setUpperVelocity(Double.parseDouble(XmlFactory.getTagValue("upperVelocity", eElement))); + } catch (Exception e) { + + } + try { + setStaticOffset(Double.parseDouble(XmlFactory.getTagValue("staticOffset", eElement))); + } catch (Exception e) { + + } + + try { + setMassKg(Double.parseDouble(XmlFactory.getTagValue("mass", eElement))); + } catch (Exception e) { + + } + try { + setElectroMechanicalType(XmlFactory.getTagValue("electroMechanicalType", eElement)); + } catch (Exception e) { + + } + + try { + setElectroMechanicalSize(XmlFactory.getTagValue("electroMechanicalSize", eElement)); + } catch (Exception e) { + + } + try { + setShaftType(XmlFactory.getTagValue("shaftType", eElement)); + } catch (Exception e) { + + } + + try { + setShaftSize(XmlFactory.getTagValue("shaftSize", eElement)); + } catch (Exception e) { + + } + try { + setPassive(Boolean.parseBoolean(XmlFactory.getTagValue("passive", eElement))); + } catch (Exception e) { + + } + NodeList nodListofLinks = eElement.getChildNodes(); + + for (int i = 0; i < nodListofLinks.getLength(); i++) { + Node linkNode = nodListofLinks.item(i); + try { + if (linkNode.getNodeType() == Node.ELEMENT_NODE + && linkNode.getNodeName().contentEquals("centerOfMassFromCentroid")) { + Element cntr = (Element) linkNode; + setCenterOfMassFromCentroid(new TransformNR(Double.parseDouble(XmlFactory.getTagValue("x", cntr)), + Double.parseDouble(XmlFactory.getTagValue("y", cntr)), + Double.parseDouble(XmlFactory.getTagValue("z", cntr)), + new RotationNR(new double[]{Double.parseDouble(XmlFactory.getTagValue("rotw", cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotx", cntr)), + Double.parseDouble(XmlFactory.getTagValue("roty", cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotz", cntr))}))); + } + } catch (Exception e) { + + } + try { + if (linkNode.getNodeType() == Node.ELEMENT_NODE + && linkNode.getNodeName().contentEquals("imuFromCentroid")) { + Element cntr = (Element) linkNode; + setimuFromCentroid(new TransformNR(Double.parseDouble(XmlFactory.getTagValue("x", cntr)), + Double.parseDouble(XmlFactory.getTagValue("y", cntr)), + Double.parseDouble(XmlFactory.getTagValue("z", cntr)), + new RotationNR(new double[]{Double.parseDouble(XmlFactory.getTagValue("rotw", cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotx", cntr)), + Double.parseDouble(XmlFactory.getTagValue("roty", cntr)), + Double.parseDouble(XmlFactory.getTagValue("rotz", cntr))}))); + } + } catch (Exception e) { + + } + try { + if (linkNode.getNodeType() == Node.ELEMENT_NODE && linkNode.getNodeName().contentEquals("vitamins")) { + getVitamins((Element) linkNode); + } + } catch (Exception e) { + + } + } + isLatch = XmlFactory.getTagValue("isLatch", eElement).contains("true"); + setIndexLatch(Double.parseDouble(XmlFactory.getTagValue("indexLatch", eElement))); + isStopOnLatch = XmlFactory.getTagValue("isStopOnLatch", eElement).contains("true"); + if (staticOffset > getUpperLimit() || staticOffset < getLowerLimit()) + Log.error("PID group " + getHardwareIndex() + " staticOffset is " + staticOffset + + " but needs to be between " + getUpperLimit() + " and " + getLowerLimit()); + // com.neuronrobotics.sdk.common.Log.error("Interted"+ inverted); + } + + /** + * Instantiates a new link configuration. + * + * @param args + * the args + */ + public LinkConfiguration(Object[] args) { + setName((String) args[6]); + setHardwareIndex((Integer) args[0]); + setScale((Double) args[5]); + setUpperLimit((Integer) args[4]); + setLowerLimit((Integer) args[3]); + setTypeString(LinkType.PID.getName()); + + setTotlaNumberOfLinks((Integer) args[1]); + fireChangeEvent(); + } + + /** + * Gets the vitamins. + * + * @param doc + * the doc + */ + protected void getVitamins(Element doc) { + + try { + vitamins = VitaminLocation.getVitamins(doc); + return; + } catch (Exception e) { + e.printStackTrace(); + } + return; + } + + /** + * Add a vitamin to this link + * + * @param name + * the name of this vitamin, if the name already exists, the data + * will be overwritten. + * @param type + * the vitamin type, this maps the the json filename + * @param id + * the part ID, theis maps to the key in the json for the vitamin + */ + @Deprecated + public void setVitamin(VitaminLocation location) { + addVitamin(location); + + } + + /** + * Add a vitamin to this link + * + * @param name + * the name of this vitamin, if the name already exists, the data + * will be overwritten. + * @param type + * the vitamin type, this maps the the json filename + * @param id + * the part ID, theis maps to the key in the json for the vitamin + */ + public void addVitaminInternal(VitaminLocation location) { + if (vitamins.contains(location)) + return; + vitamins.add(location); + location.addChangeListener(changeListener); + fireChangeEvent(); + } + + public void removeVitamin(VitaminLocation loc) { + if (vitamins.contains(loc)) + vitamins.remove(loc); + loc.removeChangeListener(changeListener); + fireChangeEvent(); + } + + /** + * Set a purchasing code for a vitamin + * + * @param name + * name of vitamin + * @param tagValue2 + * Purchaning code + */ + public void setVitaminVariant(String name, String tagValue2) { + vitaminVariant.put(name, tagValue2); + fireChangeEvent(); + } + + /** + * Get a purchaing code for a vitamin + * + * @param name + * name of vitamin + * @return + */ + public String getVitaminVariant(String name) { + return vitaminVariant.get(name); + } + + /** + * Instantiates a new link configuration. + */ + public LinkConfiguration() { + // default values + } + + public LinkConfiguration(LinkConfiguration from) { + setDeviceScriptingName(from.getDeviceScriptingName()); + + for (int i = 0; i < from.slaveLinks.size(); i++) { + slaveLinks.add(new LinkConfiguration(from.slaveLinks.get(i))); + } + + vitamins.addAll(from.vitamins); + setName(from.getName()); + + setTypeString(from.getTypeString()); + setHardwareIndex(from.getHardwareIndex()); + setScale(from.getScale()); + setUpperLimit(from.getUpperLimit()); + setLowerLimit(from.getLowerLimit()); + setUpperVelocity(from.getUpperVelocity()); + setStaticOffset(from.getStaticOffset()); + setDeviceTheoreticalMax(from.getDeviceTheoreticalMax()); + setDeviceTheoreticalMin(from.getDeviceTheoreticalMin()); + setLatch(from.isLatch()); + setIndexLatch(from.getIndexLatch()); + setStopOnLatch(from.isStopOnLatch()); + setHomingTicksPerSecond(from.getHomingTicksPerSecond()); + setPassive(from.isPassive()); + setMassKg(from.getMassKg()); + setCenterOfMassFromCentroid(from.getCenterOfMassFromCentroid()); + setimuFromCentroid(from.getimuFromCentroid()); + + } + + /** + * Instantiates a new link configuration. + * + * @param home + * the home + * @param llimit + * the llimit + * @param ulimit + * the ulimit + * @param d + * the d + */ + public LinkConfiguration(int home, int llimit, int ulimit, double d) { + setScale(d); + setUpperLimit(ulimit); + setLowerLimit(llimit); + setStaticOffset(home); + fireChangeEvent(); + } + + /* + * (non-Javadoc) + * + * @see java.lang.Object#toString() + */ + public String toString() { + String s = "LinkConfiguration: \n\tName: " + getName(); + if (deviceScriptingName != null) + s = "Device Name: \n\tName: " + getDeviceScriptingName(); + s += "\n\tType: " + getTypeEnum() + " " + getTypeString(); + s += "\n\tHardware Board Index: " + getHardwareIndex(); + s += "\n\tScale: " + getScale(); + s += "\n\tUpper Limit: " + getUpperLimit(); + s += "\n\tLower Limit: " + getLowerLimit(); + s += "\n\tHoming Ticks Per Second: " + getHomingTicksPerSecond(); + return s; + } + + /** + * Gets the xml. + * + * @return the xml + */ + /* + * + * Generate the xml configuration to generate a link of this configuration. + */ + public String getXml() { + String DevStr = deviceScriptingName != null + ? "" + getDeviceScriptingName() + "\n" + : ""; + String slaves = ""; + for (int i = 0; i < slaveLinks.size(); i++) { + slaves += "\n\t\n" + slaveLinks.get(i).getXml() + "\n\t\n"; + } + + String vitamnsString = VitaminLocation.getAllXML(vitamins); + return "\t" + getName() + "\n" + "\t" + DevStr + "\t" + getTypeString() + "\n" + + "\t" + getHardwareIndex() + "\n" + "\t" + getScale() + "\n" + + "\t" + getUpperLimit() + "\n" + "\t" + getLowerLimit() + + "\n" + "\t" + getUpperVelocity() + "\n" + + "\t" + getLowerVelocity() + "\n" + "\t" + + getStaticOffset() + "\n" + "\t" + getDeviceTheoreticalMax() + + "\n" + "\t" + getDeviceTheoreticalMin() + + "\n" + "\t" + isLatch() + "\n" + "\t" + + getIndexLatch() + "\n" + "\t" + isStopOnLatch() + "\n" + + "\t" + getHomingTicksPerSecond() + "\n" + vitamnsString + "\t" + + isPassive() + "\n" + "\t" + getMassKg() + "\n" + "\t" + + getCenterOfMassFromCentroid().getXml() + "\n" + "\t" + + getimuFromCentroid().getXml() + "\n" + slaves; + } + + /** + * Sets the name. + * + * @param name + * the new name + */ + public void setName(String name) { + Log.info("Setting controller name: " + name); + this.name = name; + fireChangeEvent(); + } + + /** + * Gets the name. + * + * @return the name + */ + public String getName() { + return name; + } + + /** + * sets the hardware index for maping this kinematics link to its assocaited + * hardware index. + * + * @param index + * the new hardware index + */ + public void setHardwareIndex(int index) { + this.index = index; + fireChangeEvent(); + } + + /** + * gets the hardware index for maping this kinematics link to its assocaited + * hardware index. + * + * @return the hardware index + */ + public int getHardwareIndex() { + return index; + } + + /** + * Sets the scale. + * + * @param scale + * the new scale + */ + public void setScale(double scale) { + this.scale = scale; + fireChangeEvent(); + } + + /** + * Gets the scale. + * + * @return the scale + */ + public double getScale() { + return scale; + } + + public double getDeviceTheoreticalMax() { + return deviceTheoreticalMax; + } + + public void setDeviceTheoreticalMax(double deviceTheoreticalMax) { + this.deviceTheoreticalMax = deviceTheoreticalMax; + fireChangeEvent(); + } + + public double getDeviceTheoreticalMin() { + return deviceTheoreticalMin; + } + + public void setDeviceTheoreticalMin(double deviceTheoreticalMin) { + this.deviceTheoreticalMin = deviceTheoreticalMin; + fireChangeEvent(); + } + + /** + * Sets the upper limit. + * + * @param upperLimit + * the new upper limit + */ + public void setUpperLimit(double upperLimit) { + this.upperLimit = upperLimit; + if (upperLimit > getDeviceTheoreticalMax()) { + if (!newAbs) + this.upperLimit = getDeviceTheoreticalMax(); + else + setDeviceTheoreticalMax(upperLimit); + + } + fireChangeEvent(); + } + + /** + * Gets the upper limit. + * + * @return the upper limit + */ + public double getUpperLimit() { + return upperLimit; + } + + /** + * Sets the lower limit. + * + * @param lowerLimit + * the new lower limit + */ + public void setLowerLimit(double lowerLimit) { + this.lowerLimit = lowerLimit; + if (lowerLimit < getDeviceTheoreticalMin()) { + if (!newAbs) { + this.lowerLimit = getDeviceTheoreticalMin(); + } else { + setDeviceTheoreticalMin(lowerLimit); + } + } + + fireChangeEvent(); + } + + /** + * Gets the lower limit. + * + * @return the lower limit + */ + public double getLowerLimit() { + return lowerLimit; + } + + /** + * Gets the kp. + * + * @return the kp + */ + public double getKP() { + return k[0]; + } + + /** + * Gets the ki. + * + * @return the ki + */ + public double getKI() { + return k[1]; + } + + /** + * Gets the kd. + * + * @return the kd + */ + public double getKD() { + return k[2]; + } + + /** + * Sets the kp. + * + * @param kP + * the new kp + */ + public void setKP(double kP) { + k[0] = kP; + fireChangeEvent(); + } + + /** + * Sets the ki. + * + * @param kI + * the new ki + */ + public void setKI(double kI) { + k[1] = kI; + fireChangeEvent(); + } + + /** + * Sets the kd. + * + * @param kD + * the new kd + */ + public void setKD(double kD) { + k[2] = kD; + fireChangeEvent(); + } + + /** + * Sets the inverted. + * + * @param inverted + * the new inverted + */ + public void setInverted(boolean inverted) { + this.inverted = inverted; + fireChangeEvent(); + } + + /** + * Checks if is inverted. + * + * @return true, if is inverted + */ + public boolean isInverted() { + return inverted; + } + + /** + * Sets the index latch. + * + * @param indexLatch + * the new index latch + */ + public void setIndexLatch(double indexLatch) { + + if (indexLatch > getDeviceTheoreticalMax()) + indexLatch = getDeviceTheoreticalMax(); + if (indexLatch < getDeviceTheoreticalMin()) + indexLatch = getDeviceTheoreticalMin(); + this.indexLatch = indexLatch; + fireChangeEvent(); + } + + /** + * Gets the index latch. + * + * @return the index latch + */ + public double getIndexLatch() { + return indexLatch; + } + + /** + * Sets the latch. + * + * @param isLatch + * the new latch + */ + public void setLatch(boolean isLatch) { + this.isLatch = isLatch; + } + + /** + * Checks if is latch. + * + * @return true, if is latch + */ + public boolean isLatch() { + return isLatch; + } + + /** + * Sets the stop on latch. + * + * @param isStopOnLatch + * the new stop on latch + */ + public void setStopOnLatch(boolean isStopOnLatch) { + this.isStopOnLatch = isStopOnLatch; + fireChangeEvent(); + } + + /** + * Checks if is stop on latch. + * + * @return true, if is stop on latch + */ + public boolean isStopOnLatch() { + return isStopOnLatch; + } + + /** + * Sets the homing ticks per second. + * + * @param homingTicksPerSecond + * the new homing ticks per second + */ + public void setHomingTicksPerSecond(int homingTicksPerSecond) { + this.homingTicksPerSecond = homingTicksPerSecond; + fireChangeEvent(); + } + + /** + * Gets the homing ticks per second. + * + * @return the homing ticks per second + */ + public int getHomingTicksPerSecond() { + return homingTicksPerSecond; + } + + /** + * Gets the type. + * + * @return the type + */ + LinkType getTypeEnum() { + return LinkType.fromString(type); + } + + /** + * Sets the upper velocity. + * + * @param upperVelocity + * the new upper velocity + */ + public void setUpperVelocity(double upperVelocity) { + this.velocityLimit = upperVelocity; + fireChangeEvent(); + } + + /** + * Gets the upper velocity. + * + * @return the upper velocity + */ + public double getUpperVelocity() { + return velocityLimit; + } + + /** + * Gets the lower velocity. + * + * @return the lower velocity + */ + public double getLowerVelocity() { + return -velocityLimit; + } + + /** + * THis is the index of this link in its kinematics chain. + * + * @return the link index + */ + public int getLinkIndex() { + return linkIndex; + } + + /** + * This sets the index of the link in itts kinematic chain. + * + * @param linkIndex + * the new link index + */ + public void setLinkIndex(int linkIndex) { + this.linkIndex = linkIndex; + fireChangeEvent(); + } + + /** + * Gets the totla number of links. + * + * @return the totla number of links + */ + public int getTotlaNumberOfLinks() { + return totlaNumberOfLinks; + } + + /** + * Sets the totla number of links. + * + * @param totlaNumberOfLinks + * the new totla number of links + */ + public void setTotlaNumberOfLinks(int totlaNumberOfLinks) { + this.totlaNumberOfLinks = totlaNumberOfLinks; + fireChangeEvent(); + } + + /** + * Gets the pid configuration. + * + * @return the pid configuration + */ + public PIDConfiguration getPidConfiguration() { + PIDConfiguration pid = new PIDConfiguration(); + pid.setKD(getKD()); + pid.setGroup(getHardwareIndex()); + pid.setStopOnIndex(isStopOnLatch()); + pid.setKI(getKI()); + pid.setKP(getKP()); + pid.setIndexLatch(getIndexLatch()); + pid.setInverted(isInverted()); + return pid; + } + + /** + * Sets the pid configuration. + * + * @param pid + * the new pid configuration + */ + public void setPidConfiguration(IPidControlNamespace pid) { + PIDConfiguration conf = pid.getPIDConfiguration(getHardwareIndex()); + if (getTypeEnum() == LinkType.PID) { + k[0] = conf.getKP(); + k[1] = conf.getKI(); + k[2] = conf.getKD(); + inverted = conf.isInverted(); + setHomingTicksPerSecond(10000); + } + + isLatch = conf.isUseLatch(); + indexLatch = (int) conf.getIndexLatch(); + isStopOnLatch = conf.isStopOnIndex(); + fireChangeEvent(); + // if(indexLatch>getUpperLimit() || indexLatch getUpperLimit()) + staticOffset = getUpperLimit(); + if (staticOffset < getLowerLimit()) + staticOffset = getLowerLimit(); + this.staticOffset = staticOffset; + fireChangeEvent(); + } + + public boolean isInvertLimitVelocityPolarity() { + return invertLimitVelocityPolarity; + } + + public void setInvertLimitVelocityPolarity(boolean invertVelocity) { + this.invertLimitVelocityPolarity = invertVelocity; + fireChangeEvent(); + } + + public ArrayList getSlaveLinks() { + return slaveLinks; + } + + public void setSlaveLinks(ArrayList slaveLinks) { + this.slaveLinks = slaveLinks; + fireChangeEvent(); + } + + public double getMassKg() { + return mass; + } + + public void setMassKg(double mass) { + this.mass = mass; + fireChangeEvent(); + } + + public TransformNR getCenterOfMassFromCentroid() { + return centerOfMassFromCentroid; + } + + public void setCenterOfMassFromCentroid(TransformNR com) { + if (this.centerOfMassFromCentroid != null) + this.centerOfMassFromCentroid.removeChangeListener(this); + this.centerOfMassFromCentroid = com; + this.centerOfMassFromCentroid.addChangeListener(this); + fireChangeEvent(); + } + + public TransformNR getimuFromCentroid() { + return imuFromCentroid; + } + + public void setimuFromCentroid(TransformNR imu) { + if (this.imuFromCentroid != null) + this.imuFromCentroid.removeChangeListener(this); + this.imuFromCentroid = imu; + this.imuFromCentroid.addChangeListener(this); + fireChangeEvent(); + } + + // private String electroMechanicalType = "hobbyServo"; + // private String electroMechanicalSize = "standardMicro"; + // private String shaftType = "hobbyServoHorn"; + // private String shaftSize = "standardMicro1"; + public ArrayList getNonActuatorVitamins() { + ArrayList back = new ArrayList<>(); + back.addAll(vitamins); + back.remove(getShaftVitamin()); + back.remove(getElectroMechanicalVitamin()); + return back; + } + + public VitaminLocation getShaftVitamin(boolean makeNew) { + for (VitaminLocation loc : vitamins) + if (loc.getName().contentEquals("shaft")) + return loc; + if (makeNew) { + VitaminLocation e = new VitaminLocation(false, "shaft", "hobbyServoHorn", "standardMicro1", + new TransformNR()); + e.setFrame(VitaminFrame.LinkOrigin); + vitamins.add(e); + return e; + } + return null; + } + + public VitaminLocation getElectroMechanicalVitamin(boolean makeNew) { + for (VitaminLocation loc : vitamins) + if (loc.getName().contentEquals("electroMechanical")) + return loc; + if (makeNew) { + VitaminLocation e = new VitaminLocation(false, "electroMechanical", "hobbyServo", "mg92b", + new TransformNR()); + e.setFrame(VitaminFrame.previousLinkTip); + vitamins.add(e); + return e; + } + return null; + } + + public VitaminLocation getShaftVitamin() { + return getShaftVitamin(false); + } + + public VitaminLocation getElectroMechanicalVitamin() { + return getElectroMechanicalVitamin(false); + } + + public String getElectroMechanicalType() { + return getElectroMechanicalVitamin().getType(); + } + + public void setElectroMechanicalType(String electroMechanicalType) { + getElectroMechanicalVitamin().setType(electroMechanicalType); + fireChangeEvent(); + } + + public String getElectroMechanicalSize() { + return getElectroMechanicalVitamin().getSize(); + } + + public void setElectroMechanicalSize(String electroMechanicalSize) { + getElectroMechanicalVitamin().setSize(electroMechanicalSize); + fireChangeEvent(); + } + + public String getShaftType() { + return getShaftVitamin().getType(); + } + + public void setShaftType(String shaftType) { + getShaftVitamin().setType(shaftType);; + fireChangeEvent(); + } + + public String getShaftSize() { + return getShaftVitamin().getSize(); + } + + public void setShaftSize(String shaftSize) { + getShaftVitamin().setSize(shaftSize); + fireChangeEvent(); + } + + public boolean isPassive() { + return passive; + } + + public void setPassive(boolean passive) { + this.passive = passive; + fireChangeEvent(); + } + + public ArrayList getVitamins() { + return vitamins; + } + + public void setVitamins(ArrayList v) { + if (vitamins != null) + for (VitaminLocation l : vitamins) + l.removeChangeListener(changeListener); + this.vitamins = v; + for (VitaminLocation l : vitamins) + l.addChangeListener(changeListener); + fireChangeEvent(); + } + + public String getTypeString() { + return type; + } + + public void setTypeString(String typeString) { + if (typeString == null) + throw new NullPointerException(); + type = typeString; + fireChangeEvent(); + } + + /** + * Checks if is virtual. + * + * @return true, if is virtual + */ + public boolean isVirtual() { + switch (getTypeEnum()) { + + case DUMMY : + case VIRTUAL : + return true; + case USERDEFINED : + if (getTypeString().toLowerCase().contains("virtual")) { + return true; + } + default : + return false; + } + } + + /** + * Checks if is tool. + * + * @return true, if is tool + */ + public boolean isTool() { + switch (getTypeEnum()) { + case PID_TOOL : + case GCODE_STEPPER_TOOL : + case GCODE_HEATER_TOOL : + return true; + case USERDEFINED : + if (getTypeString().toLowerCase().contains("tool")) { + return true; + } + default : + return false; + + } + } + + /** + * Checks if is prismatic. + * + * @return true, if is prismatic + */ + public boolean isPrismatic() { + switch (getTypeEnum()) { + case ANALOG_PRISMATIC : + case PID_PRISMATIC : + case GCODE_STEPPER_PRISMATIC : + return true; + case USERDEFINED : + if (getTypeString().toLowerCase().contains("prismatic")) { + return true; + } + default : + return false; + + } + } + + public void addChangeListener(ILinkConfigurationChangeListener l) { + if (!getListeners().contains(l)) + getListeners().add(l); + } + + public void removeChangeListener(ILinkConfigurationChangeListener l) { + if (getListeners().contains(l)) + getListeners().remove(l); + } + + public void clearChangeListener() { + getListeners().clear(); + listeners = null; + } + + public ArrayList getListeners() { + if (listeners == null) + listeners = new ArrayList(); + return listeners; + } + + void fireChangeEvent() { + if (pauseEvents) + return; + if (listeners != null) { + for (int i = 0; i < listeners.size(); i++) { + try { + listeners.get(i).event(this); + } catch (Throwable t) { + t.printStackTrace(); + } + } + } + } + + @Override + public void event(TransformNR changed) { + fireChangeEvent(); + } + + public boolean isPauseEvents() { + return pauseEvents; + } + + public void setPauseEvents(boolean pauseEvents) { + this.pauseEvents = pauseEvents; + } + +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java index f5de8ca2..edf5cf68 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkFactory.java @@ -4,19 +4,13 @@ import java.util.HashMap; import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice; -import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodePrismatic; import com.neuronrobotics.sdk.common.BowlerAbstractDevice; import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.common.IFlushable; -import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.common.TickToc; import com.neuronrobotics.sdk.dyio.DyIO; import com.neuronrobotics.sdk.dyio.peripherals.AnalogInputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.CounterOutputChannel; -import com.neuronrobotics.sdk.dyio.peripherals.ServoChannel; import com.neuronrobotics.sdk.namespace.bcs.pid.IExtendedPIDControl; import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; -import com.neuronrobotics.sdk.pid.GenericPIDDevice; import com.neuronrobotics.sdk.pid.ILinkFactoryProvider; import com.neuronrobotics.sdk.pid.VirtualGenericPIDDevice; @@ -35,10 +29,11 @@ public class LinkFactory implements IHardwareSyncPulseReciver, IHardwareSyncPuls /** * Add a new link provider - * - * @param typeTag a string to link it to the string in the XML that determines - * type - * @param provider the provider module + * + * @param typeTag + * a string to link it to the string in the XML that determines type + * @param provider + * the provider module */ public static void addLinkProvider(String typeTag, INewLinkProvider provider) { userLinkProviders.put(typeTag, provider); @@ -47,7 +42,7 @@ public static void addLinkProvider(String typeTag, INewLinkProvider provider) { /** * Check to see if link provider is already defined - * + * * @param typeTag * @return */ @@ -65,7 +60,8 @@ public LinkFactory() { /** * Instantiates a new link factory. * - * @param bad the bad + * @param bad + * the bad */ public LinkFactory(BowlerAbstractDevice bad) { if (bad != null) @@ -75,8 +71,10 @@ public LinkFactory(BowlerAbstractDevice bad) { /** * Instantiates a new link factory. * - * @param connection the connection - * @param d the d + * @param connection + * the connection + * @param d + * the d */ public LinkFactory(ILinkFactoryProvider connection, IExtendedPIDControl d) { this(null); @@ -97,7 +95,8 @@ public LinkFactory(ILinkFactoryProvider connection, IExtendedPIDControl d) { /** * Gets the link. * - * @param name the name + * @param name + * the name * @return the link */ public AbstractLink getLink(String name) { @@ -115,7 +114,8 @@ public AbstractLink getLink(String name) { /** * Gets the link. * - * @param c the c + * @param c + * the c * @return the link */ public AbstractLink getLink(LinkConfiguration c) { @@ -129,7 +129,8 @@ public AbstractLink getLink(LinkConfiguration c) { /** * Refresh hardware layer. * - * @param c the c + * @param c + * the c */ public void refreshHardwareLayer(LinkConfiguration c) { // retreive the old link @@ -146,7 +147,8 @@ public void refreshHardwareLayer(LinkConfiguration c) { /** * Gets the link local. * - * @param c the c + * @param c + * the c * @return the link local */ private AbstractLink getLinkLocal(LinkConfiguration c) { @@ -157,59 +159,60 @@ private AbstractLink getLinkLocal(LinkConfiguration c) { try { switch (c.getTypeEnum()) { - case ANALOG_PRISMATIC: - if (getDyio(c) != null) { - tmp = new AnalogPrismaticLink(new AnalogInputChannel(getDyio(c).getChannel(c.getHardwareIndex())), - c); - tmp.setUseLimits(false); - } - break; - case ANALOG_ROTORY: - if (getDyio(c) != null) { - tmp = new AnalogRotoryLink(new AnalogInputChannel(getDyio(c).getChannel(c.getHardwareIndex())), c); - tmp.setUseLimits(false); - } - break; - case PID_TOOL: - case PID: - if (getPid(c) != null) { - tmp = new PidRotoryLink(getPid(c).getPIDChannel(c.getHardwareIndex()), c, false); - } - break; - case PID_PRISMATIC: - if (getPid(c) != null) { - tmp = new PidPrismaticLink(getPid(c).getPIDChannel(c.getHardwareIndex()), c, false); - } - break; - case DUMMY: - case VIRTUAL: - String myVirtualDevName = c.getDeviceScriptingName(); - tmp = new PidRotoryLink(getVirtual(myVirtualDevName).getPIDChannel(c.getHardwareIndex()), c, true); - break; - case GCODE_HEATER_TOOL: - if (getGCODE(c) != null) { - tmp = getGCODE(c).getHeater(c); - } - break; - case GCODE_STEPPER_PRISMATIC: - case GCODE_STEPPER_ROTORY: - case GCODE_STEPPER_TOOL: - if (getGCODE(c) != null) { - tmp = getGCODE(c).getLink(c); - } - break; - case USERDEFINED: - if (userLinkProviders.containsKey(c.getTypeString())) { - INewLinkProvider iNewLinkProvider = userLinkProviders.get(c.getTypeString()); - tmp = iNewLinkProvider.generate(c); - if (IHardwareSyncPulseProvider.class.isInstance(iNewLinkProvider)) { - IHardwareSyncPulseProvider r = (IHardwareSyncPulseProvider) iNewLinkProvider; - r.addIHardwareSyncPulseReciver(this); + case ANALOG_PRISMATIC : + if (getDyio(c) != null) { + tmp = new AnalogPrismaticLink( + new AnalogInputChannel(getDyio(c).getChannel(c.getHardwareIndex())), c); + tmp.setUseLimits(false); } - } - break; - default: - break; + break; + case ANALOG_ROTORY : + if (getDyio(c) != null) { + tmp = new AnalogRotoryLink(new AnalogInputChannel(getDyio(c).getChannel(c.getHardwareIndex())), + c); + tmp.setUseLimits(false); + } + break; + case PID_TOOL : + case PID : + if (getPid(c) != null) { + tmp = new PidRotoryLink(getPid(c).getPIDChannel(c.getHardwareIndex()), c, false); + } + break; + case PID_PRISMATIC : + if (getPid(c) != null) { + tmp = new PidPrismaticLink(getPid(c).getPIDChannel(c.getHardwareIndex()), c, false); + } + break; + case DUMMY : + case VIRTUAL : + String myVirtualDevName = c.getDeviceScriptingName(); + tmp = new PidRotoryLink(getVirtual(myVirtualDevName).getPIDChannel(c.getHardwareIndex()), c, true); + break; + case GCODE_HEATER_TOOL : + if (getGCODE(c) != null) { + tmp = getGCODE(c).getHeater(c); + } + break; + case GCODE_STEPPER_PRISMATIC : + case GCODE_STEPPER_ROTORY : + case GCODE_STEPPER_TOOL : + if (getGCODE(c) != null) { + tmp = getGCODE(c).getLink(c); + } + break; + case USERDEFINED : + if (userLinkProviders.containsKey(c.getTypeString())) { + INewLinkProvider iNewLinkProvider = userLinkProviders.get(c.getTypeString()); + tmp = iNewLinkProvider.generate(c); + if (IHardwareSyncPulseProvider.class.isInstance(iNewLinkProvider)) { + IHardwareSyncPulseProvider r = (IHardwareSyncPulseProvider) iNewLinkProvider; + r.addIHardwareSyncPulseReciver(this); + } + } + break; + default : + break; } } catch (Throwable t) { t.printStackTrace(); @@ -229,8 +232,9 @@ private AbstractLink getLinkLocal(LinkConfiguration c) { /** * THis interface lets the user add a link after instantiation - * - * @param link the link to be added in order + * + * @param link + * the link to be added in order */ public void addLink(AbstractLink link) { links.add(link); @@ -267,7 +271,8 @@ public double[] getUpperLimits() { /** * Adds the link listener. * - * @param l the l + * @param l + * the l */ public void addLinkListener(ILinkListener l) { for (AbstractLink lin : links) { @@ -278,7 +283,8 @@ public void addLinkListener(ILinkListener l) { /** * Flush. * - * @param seconds the seconds + * @param seconds + * the seconds */ public void flush(final double seconds) { HashMap flushed = new HashMap(); @@ -302,7 +308,8 @@ public void flush(final double seconds) { // TickToc.tic("Done Checking "+name+" for flush "); } - // com.neuronrobotics.sdk.common.Log.error("Flush Took "+(System.currentTimeMillis()-time)+"ms"); + // com.neuronrobotics.sdk.common.Log.error("Flush Took + // "+(System.currentTimeMillis()-time)+"ms"); } /** @@ -342,7 +349,8 @@ public GcodeDevice getGCODE(LinkConfiguration c) { /** * Sets the cached targets. * - * @param jointSpaceVect the new cached targets + * @param jointSpaceVect + * the new cached targets */ public void setCachedTargets(double[] jointSpaceVect) { if (jointSpaceVect.length != links.size()) @@ -390,7 +398,8 @@ public ArrayList getLinkConfigurations() { /** * Removes the link listener. * - * @param l the l + * @param l + * the l */ public void removeLinkListener(AbstractKinematicsNR l) { // Auto-generated method stub @@ -402,7 +411,8 @@ public void removeLinkListener(AbstractKinematicsNR l) { /** * Delete link. * - * @param i the i + * @param i + * the i */ public void deleteLink(int i) { links.remove(i); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java index cafe7641..baa4fbe1 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/LinkType.java @@ -3,124 +3,120 @@ import java.util.ArrayList; import java.util.HashMap; import java.util.Map; -import java.util.NoSuchElementException; // Auto-generated Javadoc /** * The Enum LinkType. */ public enum LinkType { - - - - /** The pid. */ PID("pid"), - + /** The pid tool. */ - PID_TOOL("pid-tool"), - + PID_TOOL("pid-tool"), + /** The pid prismatic. */ - PID_PRISMATIC("pid-prismatic"), - + PID_PRISMATIC("pid-prismatic"), + /** The analog rotory. */ ANALOG_ROTORY("analog-rotory"), - + /** The analog prismatic. */ ANALOG_PRISMATIC("analog-prismatic"), - + /** The dummy. */ DUMMY("dummy"), - + /** The virtual. */ VIRTUAL("virtual"), - - + /** The stepper rotory. */ - GCODE_STEPPER_ROTORY("gcode-stepper-rotory"), + GCODE_STEPPER_ROTORY("gcode-stepper-rotory"), /** The stepper tool. */ - GCODE_STEPPER_TOOL("gcode-stepper-tool"), + GCODE_STEPPER_TOOL("gcode-stepper-tool"), /** The stepper tool. */ - GCODE_STEPPER_PRISMATIC("gcode-stepper-prismatic"), + GCODE_STEPPER_PRISMATIC("gcode-stepper-prismatic"), /** The stepper tool. */ - GCODE_HEATER_TOOL("gcode-heater-tool"), - + GCODE_HEATER_TOOL("gcode-heater-tool"), + /** Camera */ CAMERA("camera"), /** Camera */ USERDEFINED(null); - - /** The name. */ - private final String name; - - /** The Constant map. */ - private static final Map map = - new HashMap(); - - static { - for (LinkType type : LinkType.values()) { - map.put(type.name, type); - } - } - - public static ArrayList getUserDefined(){ - ArrayList back = new ArrayList(); - for(String s:map.keySet()) { - if(map.get(s)==USERDEFINED) { - back.add(s); - } - } - return back; - - } - /** - * Only classes in this package should add types, and only from LinkFactory - * @param type a new type name to regester as user defined - */ - public static void addType(String type){ - map.put(type, USERDEFINED); - } - - /** - * Instantiates a new link type. - * - * @param name the name - */ - private LinkType(String name) { - this.name = name; - } - - /** - * Gets the name. - * - * @return the name - */ - public String getName() { - return name; - } - - /** - * From string. - * - * @param name the name - * @return the link type - */ - public static LinkType fromString(String name) { - if (!map.containsKey(name)) { - map.put(name, USERDEFINED); - } - return map.get(name); - } - - - - - /* (non-Javadoc) - * @see java.lang.Enum#toString() - */ - @Override - public String toString(){ - return name; - } + + /** The name. */ + private final String name; + + /** The Constant map. */ + private static final Map map = new HashMap(); + + static { + for (LinkType type : LinkType.values()) { + map.put(type.name, type); + } + } + + public static ArrayList getUserDefined() { + ArrayList back = new ArrayList(); + for (String s : map.keySet()) { + if (map.get(s) == USERDEFINED) { + back.add(s); + } + } + return back; + + } + /** + * Only classes in this package should add types, and only from LinkFactory + * + * @param type + * a new type name to regester as user defined + */ + public static void addType(String type) { + map.put(type, USERDEFINED); + } + + /** + * Instantiates a new link type. + * + * @param name + * the name + */ + private LinkType(String name) { + this.name = name; + } + + /** + * Gets the name. + * + * @return the name + */ + public String getName() { + return name; + } + + /** + * From string. + * + * @param name + * the name + * @return the link type + */ + public static LinkType fromString(String name) { + if (!map.containsKey(name)) { + map.put(name, USERDEFINED); + } + return map.get(name); + } + + /* + * (non-Javadoc) + * + * @see java.lang.Enum#toString() + */ + @Override + public String toString() { + return name; + } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java index 9c39985d..ee48e450 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/MobileBase.java @@ -26,8 +26,14 @@ /** * The Class MobileBase. */ -public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurationChangeListener, - IOnMobileBaseRenderChange, IJointSpaceUpdateListenerNR, IHardwareSyncPulseReciver, IHardwareSyncPulseProvider,IVitaminHolder { +public class MobileBase extends AbstractKinematicsNR + implements + ILinkConfigurationChangeListener, + IOnMobileBaseRenderChange, + IJointSpaceUpdateListenerNR, + IHardwareSyncPulseReciver, + IHardwareSyncPulseProvider, + IVitaminHolder { /** The legs. */ private final ArrayList legs = new ArrayList(); @@ -48,8 +54,8 @@ public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurati private IDriveEngine walkingDriveEngine = new WalkingDriveEngine(); /** The walking engine. */ - private String[] walkingEngine = new String[] { "https://github.com/madhephaestus/carl-the-hexapod.git", - "WalkingDriveEngine.groovy" }; + private String[] walkingEngine = new String[]{"https://github.com/madhephaestus/carl-the-hexapod.git", + "WalkingDriveEngine.groovy"}; private ArrayList vitamins = new ArrayList<>(); private HashMap vitaminVariant = new HashMap(); @@ -64,7 +70,8 @@ public class MobileBase extends AbstractKinematicsNR implements ILinkConfigurati private HashMap parallelGroups = new HashMap(); private ICalcLimbHomeProvider homeProvider = null; - private Runnable configurationUpdate = ()->{}; + private Runnable configurationUpdate = () -> { + }; /** * Instantiates a new mobile base. @@ -73,10 +80,10 @@ public MobileBase() { }// used for building new bases live public void fireConfigurationUpdate() { - if(configurationUpdate!=null) + if (configurationUpdate != null) try { configurationUpdate.run(); - }catch(Throwable t) { + } catch (Throwable t) { t.printStackTrace(); } } @@ -104,8 +111,8 @@ public HashMap getTipLocations() { return tipList; } public DHParameterKinematics getLimb(AbstractLink l) { - for(DHParameterKinematics k:getAllDHChains()) { - if(k.getLinkIndex(l)>=0) + for (DHParameterKinematics k : getAllDHChains()) { + if (k.getLinkIndex(l) >= 0) return k; } return null; @@ -149,7 +156,8 @@ public boolean pose(TransformNR newAbsolutePose, TransformNR around, /** * Instantiates a new mobile base. * - * @param configFile the config file + * @param configFile + * the config file */ public MobileBase(InputStream configFile) { this(); @@ -176,7 +184,8 @@ public MobileBase(InputStream configFile) { /** * Instantiates a new mobile base. * - * @param doc the doc + * @param doc + * the doc */ public MobileBase(Element doc) { @@ -238,7 +247,8 @@ private void removeLimFromParallel(DHParameterKinematics limb) { /** * Load configs. * - * @param doc the doc + * @param doc + * the doc */ private void loadConfigs(Element doc) { setScriptingName(XmlFactory.getTagValue("name", doc)); @@ -272,7 +282,7 @@ private void loadConfigs(Element doc) { setIMUFromCentroid(IMUcenter); TransformNR baseToZframe = loadTransform("baseToZframe", doc); setRobotToFiducialTransform(baseToZframe); - + fireBaseUpdates(); } @@ -306,10 +316,10 @@ private TransformNR loadTransform(String tagname, Element e) { return new TransformNR(Double.parseDouble(XmlFactory.getTagValue("x", cntr)), Double.parseDouble(XmlFactory.getTagValue("y", cntr)), Double.parseDouble(XmlFactory.getTagValue("z", cntr)), - new RotationNR(new double[] { Double.parseDouble(XmlFactory.getTagValue("rotw", cntr)), + new RotationNR(new double[]{Double.parseDouble(XmlFactory.getTagValue("rotw", cntr)), Double.parseDouble(XmlFactory.getTagValue("rotx", cntr)), Double.parseDouble(XmlFactory.getTagValue("roty", cntr)), - Double.parseDouble(XmlFactory.getTagValue("rotz", cntr)) })); + Double.parseDouble(XmlFactory.getTagValue("rotz", cntr))})); } } @@ -323,8 +333,10 @@ private TransformNR loadTransform(String tagname, Element e) { /** * Gets the name. * - * @param e the e - * @param tag the tag + * @param e + * the e + * @param tag + * the tag * @return the name */ private String getname(Element e) { @@ -337,22 +349,24 @@ private String getname(Element e) { /** * Gets the contents in the group. * - * @param e the e - * @param tag the tag + * @param e + * the e + * @param tag + * the tag * @return the name */ private String getParallelGroup(Element e) { return getTag(e, "parallelGroup"); } - + private String findNameTag(Node e) { NodeList firstLevelList = e.getChildNodes(); - for(int i=0;i list) { NodeList nodListofLinks = doc.getChildNodes(); @@ -431,9 +451,9 @@ private void loadLimb(Element doc, String tag, ArrayList ParallelGroup parallelGroup = getParallelGroup(parallel); parallelGroup.setScriptingName(parallel); parallelGroup.setupReferencedLimbStartup(kin, paraOffset, relativeName, index); -// if(!list.contains(parallelGroup)) { -// list.add(parallelGroup); -// } + // if(!list.contains(parallelGroup)) { + // list.add(parallelGroup); + // } } // else { list.add(kin); @@ -444,7 +464,7 @@ private void loadLimb(Element doc, String tag, ArrayList /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# * disconnectDevice() */ @@ -457,7 +477,7 @@ public void disconnectDevice() { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# * connectDevice() */ @@ -474,7 +494,7 @@ public boolean connectDevice() { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# * inverseKinematics(com.neuronrobotics.sdk.addons.kinematics.math. TransformNR) */ @@ -486,7 +506,7 @@ public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Excepti /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR# * forwardKinematics(double[]) */ @@ -540,9 +560,12 @@ public ArrayList getAllDHChains() { /** * Load limb. * - * @param doc the doc - * @param tag the tag - * @param list the list + * @param doc + * the doc + * @param tag + * the tag + * @param list + * the list */ private void loadVitamins(Element doc) { NodeList nodListofLinks = doc.getChildNodes(); @@ -565,14 +588,15 @@ public ArrayList getVitamins() { /** * Gets the vitamins. * - * @param doc the doc + * @param doc + * the doc */ private void getVitamins(Element doc) { try { vitamins = VitaminLocation.getVitamins(doc); - for(VitaminLocation vl:vitamins) { - vl.addChangeListener(()->{ + for (VitaminLocation vl : vitamins) { + vl.addChangeListener(() -> { fireConfigurationUpdate(); }); } @@ -585,45 +609,53 @@ private void getVitamins(Element doc) { /** * Add a vitamin to this link - * - * @param name the name of this vitamin, if the name already exists, the data - * will be overwritten. - * @param type the vitamin type, this maps the the json filename - * @param id the part ID, theis maps to the key in the json for the vitamin + * + * @param name + * the name of this vitamin, if the name already exists, the data + * will be overwritten. + * @param type + * the vitamin type, this maps the the json filename + * @param id + * the part ID, theis maps to the key in the json for the vitamin */ @Deprecated public void setVitamin(VitaminLocation location) { addVitamin(location); - + } /** * Add a vitamin to this link - * - * @param name the name of this vitamin, if the name already exists, the data - * will be overwritten. - * @param type the vitamin type, this maps the the json filename - * @param id the part ID, theis maps to the key in the json for the vitamin + * + * @param name + * the name of this vitamin, if the name already exists, the data + * will be overwritten. + * @param type + * the vitamin type, this maps the the json filename + * @param id + * the part ID, theis maps to the key in the json for the vitamin */ public void addVitaminInternal(VitaminLocation location) { - if(vitamins.contains(location)) + if (vitamins.contains(location)) return; vitamins.add(location); - location.addChangeListener(()->{ + location.addChangeListener(() -> { fireConfigurationUpdate(); }); fireConfigurationUpdate(); } public void removeVitamin(VitaminLocation loc) { - if(vitamins.contains(loc)) + if (vitamins.contains(loc)) vitamins.remove(loc); - fireConfigurationUpdate();//fireChangeEvent(); + fireConfigurationUpdate();// fireChangeEvent(); } /** * Set a purchasing code for a vitamin - * - * @param name name of vitamin - * @param tagValue2 Purchaning code + * + * @param name + * name of vitamin + * @param tagValue2 + * Purchaning code */ public void setVitaminVariant(String name, String tagValue2) { vitaminVariant.put(name, tagValue2); @@ -631,8 +663,9 @@ public void setVitaminVariant(String name, String tagValue2) { /** * Get a purchaing code for a vitamin - * - * @param name name of vitamin + * + * @param name + * name of vitamin * @return */ public String getVitaminVariant(String name) { @@ -641,11 +674,11 @@ public String getVitaminVariant(String name) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.addons.kinematics.AbstractKinematicsNR#getXml() */ /* - * + * * Generate the xml configuration to generate an XML of this robot. */ public String getXml() { @@ -661,23 +694,24 @@ public String getXml() { * @return the embedable xml */ /* - * + * * Generate the xml configuration to generate an XML of this robot. */ public String getEmbedableXml() { TransformNR location = getFiducialToGlobalTransform(); -// String allVitamins = ""; -// for (String key : getVitamins().keySet()) { -// String v = "\t\t\n"; -// v += "\t\t\t" + key + "\n" + "\t\t\t" + getVitamins().get(key)[0] + "\n" -// + "\t\t\t" + getVitamins().get(key)[1] + "\n"; -// if (getVitaminVariant(key) != null) { -// v += "\t\t\t" + getVitamins().get(key)[1] + "\n"; -// } -// v += "\t\t\n"; -// allVitamins += v; -// } + // String allVitamins = ""; + // for (String key : getVitamins().keySet()) { + // String v = "\t\t\n"; + // v += "\t\t\t" + key + "\n" + "\t\t\t" + + // getVitamins().get(key)[0] + "\n" + // + "\t\t\t" + getVitamins().get(key)[1] + "\n"; + // if (getVitaminVariant(key) != null) { + // v += "\t\t\t" + getVitamins().get(key)[1] + "\n"; + // } + // v += "\t\t\n"; + // allVitamins += v; + // } String xml = "\n"; xml += "\t\n"; @@ -760,39 +794,39 @@ private String makeLimbTag(String xml, DHParameterKinematics l) { xml += l.getEmbedableXml(); return xml; } - + public boolean isWheel(AbstractLink link) { - ArrayList possible= new ArrayList<>(); + ArrayList possible = new ArrayList<>(); possible.addAll(getSteerable()); possible.addAll(getDrivable()); - for(DHParameterKinematics kin:possible) { - for(int i=0;i possible= new ArrayList<>(); + ArrayList possible = new ArrayList<>(); possible.addAll(legs); - for(DHParameterKinematics kin:possible) { - for(int i=0;i allDHChains = getAllDHChains(); for (int j = 0; j < allDHChains.size(); j++) { DHParameterKinematics d = allDHChains.get(j); - if(d.getScriptingName().contentEquals(name)) { - if(legs.contains(d)) + if (d.getScriptingName().contentEquals(name)) { + if (legs.contains(d)) legs.remove(d); - if(appendages.contains(d)) + if (appendages.contains(d)) appendages.remove(d); - if(drivable.contains(d)) + if (drivable.contains(d)) drivable.remove(d); - if(steerable.contains(d)) + if (steerable.contains(d)) steerable.remove(d); - return ; + return; } - for(int i=0;i links = chain.getLinks(); setTarget(target); - searchTree step=new searchTree(jointSpaceVector,startingIncrement);; + searchTree step = new searchTree(jointSpaceVector, startingIncrement);; boolean done = false; configuration conf = new configuration(jointSpaceVector, target); -// double previousV =conf.getOffsetOrientationMagnitude(); -// double previousO =conf.getOffsetVectorMagnitude(); + // double previousV =conf.getOffsetOrientationMagnitude(); + // double previousO =conf.getOffsetVectorMagnitude(); int iter = 1000; int i = 0; - do{ - double [] current = conf.getJoints(); + do { + double[] current = conf.getJoints(); conf = step.getBest(current); - + double vect = conf.getOffsetOrientationMagnitude(); double orient = conf.getOffsetVectorMagnitude(); - - if(vect<10 && orient< .05){ + + if (vect < 10 && orient < .05) { done = true; - com.neuronrobotics.sdk.common.Log.error("SearchTreeSolver Success stats: \n\tIterations = "+i+" out of "+iter+"\n"+conf); + com.neuronrobotics.sdk.common.Log.error( + "SearchTreeSolver Success stats: \n\tIterations = " + i + " out of " + iter + "\n" + conf); } - if(i++==iter){ + if (i++ == iter) { done = true; - com.neuronrobotics.sdk.common.Log.error("SearchTreeSolver FAILED stats: \n\tIterations = "+i+" out of "+iter+"\n"+conf); + com.neuronrobotics.sdk.common.Log.error( + "SearchTreeSolver FAILED stats: \n\tIterations = " + i + " out of " + iter + "\n" + conf); } - }while(! done); + } while (!done); return conf.getJoints(); } - + /** * Gets the target. * @@ -88,7 +96,8 @@ public TransformNR getTarget() { /** * Sets the target. * - * @param target the new target + * @param target + * the new target */ public void setTarget(TransformNR target) { this.target = target; @@ -106,163 +115,175 @@ public DHChain getDhChain() { /** * Sets the dh chain. * - * @param dhChain the new dh chain + * @param dhChain + * the new dh chain */ public void setDhChain(DHChain dhChain) { this.dhChain = dhChain; } - + /** * Fk. * - * @param jointSpaceVector the joint space vector + * @param jointSpaceVector + * the joint space vector * @return the transform nr */ - public TransformNR fk(double[] jointSpaceVector){ + public TransformNR fk(double[] jointSpaceVector) { return getDhChain().forwardKinematics(jointSpaceVector); } /** * The Class searchTree. */ - private class searchTree{ - + private class searchTree { + /** The nodes. */ - //double[] start; - searchNode [] nodes; - + // double[] start; + searchNode[] nodes; + /** * Instantiates a new search tree. * - * @param jointSpaceVector the joint space vector - * @param startingIncrement the starting increment + * @param jointSpaceVector + * the joint space vector + * @param startingIncrement + * the starting increment */ - public searchTree(double[] jointSpaceVector,double startingIncrement){ - nodes = new searchNode [jointSpaceVector.length]; - for(int i=0;i configurations = new ArrayList (); - for(int i=0;i configurations = new ArrayList(); + for (int i = 0; i < jointSpaceVector.length; i++) { nodes[i].setCurrent(jointSpaceVector[i]); } - double [] tmp = new double[6]; + double[] tmp = new double[6]; int num = 3; - for(int i=0;igetJoints()[i]+.1 || - c.getJoints()[i] getJoints()[i] + .1 || c.getJoints()[i] < getJoints()[i] - .1) { return false; } } return true; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ - public String toString(){ + public String toString() { getTransform(); - String s="\tTarget = "+target.toString()+"\n\tVector = "+v+"\n\tOrient "+o+"\n\tCurrent = "+getTransform().toString(); + String s = "\tTarget = " + target.toString() + "\n\tVector = " + v + "\n\tOrient " + o + "\n\tCurrent = " + + getTransform().toString(); return s; } } - + /** * The Class searchNode. */ - private class searchNode{ - + private class searchNode { + /** The start. */ private double start; - + /** The starting increment. */ private final double startingIncrement; - + /** The link. */ private final int link; - + /** * Instantiates a new search node. * - * @param link the link - * @param start the start - * @param inc the inc + * @param link + * the link + * @param start + * the start + * @param inc + * the inc */ - public searchNode(int link,double start, double inc){ + public searchNode(int link, double start, double inc) { this.link = link; this.start = start; startingIncrement = inc; - if (inc<0) + if (inc < 0) throw new RuntimeException("Increment must be positive"); } - + /** * Sets the current. * - * @param d the new current + * @param d + * the new current */ public void setCurrent(double d) { - start=d; + start = d; } - + /** * Gets the upper. * * @return the upper */ - double getUpper(){ - double b = start+startingIncrement; - if( b>getDhChain().getUpperLimits()[link] || - b getDhChain().getUpperLimits()[link] || b < getDhChain().getlowerLimits()[link]) { throw new RuntimeException("Limit bounded"); } return b; } - + /** * Gets the lower. * * @return the lower */ - double getLower(){ - double b= start-startingIncrement; - if( b>getDhChain().getUpperLimits()[link] || - b getDhChain().getUpperLimits()[link] || b < getDhChain().getlowerLimits()[link]) { throw new RuntimeException("Limit bounded"); } return b; } - + /** * Gets the none. * * @return the none */ - double getNone(){ + double getNone() { return start; } - + /** * Gets the. * - * @param index the index + * @param index + * the index * @return the double */ - double get(int index){ - switch(index){ - case 0: - return getLower(); - case 1: - return getUpper(); - case 2: - return getNone(); - default: - throw new RuntimeException("Index must be 0-2"); + double get(int index) { + switch (index) { + case 0 : + return getLower(); + case 1 : + return getUpper(); + case 2 : + return getNone(); + default : + throw new RuntimeException("Index must be 0-2"); } } } -} \ No newline at end of file +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminFrame.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminFrame.java index 374ce31b..21fdd8fa 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminFrame.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminFrame.java @@ -2,10 +2,12 @@ public enum VitaminFrame { // the MobilBase root, or the tip of the link - DefaultFrame("default"), - // the place on the link where the previous one ends, where the shaft for the motor that turns it should be - LinkOrigin("origin"), - // The tip of the previous link. the place where the motor that turns a link would be mounted. if the first link this would be the limbs root + DefaultFrame("default"), + // the place on the link where the previous one ends, where the shaft for the + // motor that turns it should be + LinkOrigin("origin"), + // The tip of the previous link. the place where the motor that turns a link + // would be mounted. if the first link this would be the limbs root previousLinkTip("lastlink"); private String text; diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java index 534c4535..7acca05c 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/VitaminLocation.java @@ -12,8 +12,8 @@ import com.neuronrobotics.sdk.addons.kinematics.xml.XmlFactory; public class VitaminLocation implements ITransformNRChangeListener { - @Expose (serialize = false, deserialize = false) - ArrayList listeners=new ArrayList<>(); + @Expose(serialize = false, deserialize = false) + ArrayList listeners = new ArrayList<>(); @Expose(serialize = true, deserialize = true) private String name; @Expose(serialize = true, deserialize = true) @@ -21,28 +21,30 @@ public class VitaminLocation implements ITransformNRChangeListener { @Expose(serialize = true, deserialize = true) private String size; @Expose(serialize = true, deserialize = true) - private TransformNR location=null; + private TransformNR location = null; @Expose(serialize = true, deserialize = true) - private boolean isScript =false; + private boolean isScript = false; - private VitaminFrame frame=VitaminFrame.DefaultFrame; -// public VitaminLocation() { -// this.setName("NO NAME"); -// this.setType("NO TYPE"); -// this.setSize("NO SIZE"); -// this.setLocation(new TransformNR()); -// } + private VitaminFrame frame = VitaminFrame.DefaultFrame; + // public VitaminLocation() { + // this.setName("NO NAME"); + // this.setType("NO TYPE"); + // this.setSize("NO SIZE"); + // this.setLocation(new TransformNR()); + // } @Deprecated public VitaminLocation(String name, String type, String size, TransformNR location) { - this(false,name,type,size,location); - new RuntimeException("@Deprecated, please specifiy if this is a script, assuming it is not for now").printStackTrace(); + this(false, name, type, size, location); + new RuntimeException("@Deprecated, please specifiy if this is a script, assuming it is not for now") + .printStackTrace(); } @Deprecated - public VitaminLocation(String name, String type, String size, TransformNR location,IVitaminHolder h) { - this(false,name,type,size,location,h); - new RuntimeException("@Deprecated, please specifiy if this is a script, assuming it is not for now").printStackTrace(); + public VitaminLocation(String name, String type, String size, TransformNR location, IVitaminHolder h) { + this(false, name, type, size, location, h); + new RuntimeException("@Deprecated, please specifiy if this is a script, assuming it is not for now") + .printStackTrace(); } - public VitaminLocation(boolean isScript,String name, String type, String size, TransformNR location) { + public VitaminLocation(boolean isScript, String name, String type, String size, TransformNR location) { this.setName(name); this.setType(type); this.setSize(size); @@ -56,61 +58,62 @@ public VitaminLocation(VitaminLocation loc, String name2) { this.setLocation(loc.location); setScript(loc.isScript); } - public VitaminLocation(boolean isScript,String name, String type, String size, TransformNR location,IVitaminHolder h) { - this(isScript,name,type,size,location); + public VitaminLocation(boolean isScript, String name, String type, String size, TransformNR location, + IVitaminHolder h) { + this(isScript, name, type, size, location); try { h.addVitamin(this); - }catch(Throwable t){ - com.neuronrobotics.sdk.common.Log.error("Vitamin "+name+" exists in "+h); + } catch (Throwable t) { + com.neuronrobotics.sdk.common.Log.error("Vitamin " + name + " exists in " + h); } } public VitaminLocation(Element vitamins) { setName(XmlFactory.getTagValue("name", vitamins)); setType(XmlFactory.getTagValue("type", vitamins)); setSize(XmlFactory.getTagValue("id", vitamins)); - String scriptyness=null; + String scriptyness = null; try { - scriptyness=XmlFactory.getTagValue("script", vitamins); - }catch(Exception ex) {}//ignore - if(scriptyness==null) { - isScript=false; - }else{ + scriptyness = XmlFactory.getTagValue("script", vitamins); + } catch (Exception ex) { + } // ignore + if (scriptyness == null) { + isScript = false; + } else { setScript(Boolean.parseBoolean(scriptyness)); } NodeList nodListofLinks = vitamins.getChildNodes(); - TransformNR tf=null; + TransformNR tf = null; for (int i = 0; i < nodListofLinks.getLength(); i++) { Node linkNode = nodListofLinks.item(i); - if(linkNode.getNodeType() != Node.ELEMENT_NODE) + if (linkNode.getNodeType() != Node.ELEMENT_NODE) continue; Element eElement = (Element) linkNode; - if(linkNode.getNodeName().contentEquals("pose")) { - tf=XmlFactory.getTransform(eElement); + if (linkNode.getNodeName().contentEquals("pose")) { + tf = XmlFactory.getTransform(eElement); } } - if(tf==null) - tf=new TransformNR(); + if (tf == null) + tf = new TransformNR(); setLocation(tf); try { - setFrame(VitaminFrame.fromString( XmlFactory.getTagValue("frame", vitamins))); - }catch(NullPointerException ex) { - if(name.contentEquals("electroMechanical")) { + setFrame(VitaminFrame.fromString(XmlFactory.getTagValue("frame", vitamins))); + } catch (NullPointerException ex) { + if (name.contentEquals("electroMechanical")) { setFrame(VitaminFrame.previousLinkTip); } - if(name.contentEquals("shaft")) { + if (name.contentEquals("shaft")) { setFrame(VitaminFrame.LinkOrigin); } } } - public void addChangeListener(Runnable r) { - if(listeners.contains(r)) + if (listeners.contains(r)) return; listeners.add(r); } public void removeChangeListener(Runnable r) { - if(listeners.contains(r)) + if (listeners.contains(r)) listeners.remove(r); } void fireChangeEvent() { @@ -123,19 +126,14 @@ void fireChangeEvent() { } } } - + } public String getXML() { - - return "\n\t\t\n"+ - "\t\t\t"+name+"\n"+ - "\t\t\t"+type+"\n"+ - "\t\t\t"+size+"\n"+ - "\t\t\t"+location.getXml()+"\t\t\t\n"+ - "\t\t\t"+getFrame().getText()+"\n"+ - "\t\t\t\n"+ - "\t\t\n" - ; + + return "\n\t\t\n" + "\t\t\t" + name + "\n" + "\t\t\t" + type + "\n" + + "\t\t\t" + size + "\n" + "\t\t\t" + location.getXml() + "\t\t\t\n" + + "\t\t\t" + getFrame().getText() + "\n" + "\t\t\t\n" + + "\t\t\n"; } public static ArrayList getVitamins(Element doc) { ArrayList locations = new ArrayList<>(); @@ -153,15 +151,15 @@ public static ArrayList getVitamins(Element doc) { } return locations; } - + public static String getAllXML(ArrayList list) { - - String vitamins="\n\t\n"; - for(VitaminLocation loc:list) { - vitamins+=loc.getXML(); + + String vitamins = "\n\t\n"; + for (VitaminLocation loc : list) { + vitamins += loc.getXML(); } - return vitamins+"\n\t\n"; - + return vitamins + "\n\t\n"; + } public String toString() { return getXML(); @@ -171,15 +169,16 @@ public String toString() { * @return the name */ public String getName() { - + return name; } /** - * @param name the name to set + * @param name + * the name to set */ public void setName(String name) { - if (name==null) + if (name == null) throw new RuntimeException("Name can not be null"); this.name = name; fireChangeEvent(); @@ -193,11 +192,12 @@ public String getType() { } /** - * @param type the type to set + * @param type + * the type to set */ public void setType(String type) { - if (type==null) + if (type == null) throw new RuntimeException("type can not be null"); this.type = type; fireChangeEvent(); @@ -211,10 +211,11 @@ public String getSize() { } /** - * @param size the size to set + * @param size + * the size to set */ public void setSize(String size) { - if (size==null) + if (size == null) throw new RuntimeException("size can not be null"); this.size = size; fireChangeEvent(); @@ -228,16 +229,17 @@ public TransformNR getLocation() { } /** - * @param location the location to set + * @param location + * the location to set */ public void setLocation(TransformNR l) { - if(l==location) { + if (l == location) { fireChangeEvent(); return; - } - if (l==null) + } + if (l == null) throw new RuntimeException("location can not be null"); - if(l!=null) + if (l != null) l.removeChangeListener(this); this.location = l; location.addChangeListener(this); @@ -250,32 +252,33 @@ public void event(TransformNR changed) { } /** - * - // the MobilBase root, or the tip of the link - DefaultFrame("default"), - // the place on the link where the previous one ends, where the shaft for the motor that turns it should be - LinkOrigin("origin"), - // The tip of the previous link. the place where the motor that turns a link would be mounted. if the first link this would be the limbs root - LastLinkTip("lastlink"); + * + * // the MobilBase root, or the tip of the link DefaultFrame("default"), // the + * place on the link where the previous one ends, where the shaft for the motor + * that turns it should be LinkOrigin("origin"), // The tip of the previous + * link. the place where the motor that turns a link would be mounted. if the + * first link this would be the limbs root LastLinkTip("lastlink"); + * * @return the frame */ public VitaminFrame getFrame() { - if(frame==null) + if (frame == null) return VitaminFrame.DefaultFrame; return frame; } /** - // the MobilBase root, or the tip of the link - DefaultFrame("default"), - // the place on the link where the previous one ends, where the shaft for the motor that turns it should be - LinkOrigin("origin"), - // The tip of the previous link. the place where the motor that turns a link would be mounted. if the first link this would be the limbs root - LastLinkTip("lastlink"); - * @param frame the frame to set + * // the MobilBase root, or the tip of the link DefaultFrame("default"), // the + * place on the link where the previous one ends, where the shaft for the motor + * that turns it should be LinkOrigin("origin"), // The tip of the previous + * link. the place where the motor that turns a link would be mounted. if the + * first link this would be the limbs root LastLinkTip("lastlink"); + * + * @param frame + * the frame to set */ public void setFrame(VitaminFrame frame) { - if(frame==null) + if (frame == null) throw new NullPointerException("Frame can not be null"); this.frame = frame; fireChangeEvent(); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java index c3947ccc..a06bd942 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/WalkingDriveEngine.java @@ -4,75 +4,80 @@ import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -import com.neuronrobotics.sdk.util.ThreadUtil; // Auto-generated Javadoc /** * The Class WalkingDriveEngine. */ public class WalkingDriveEngine implements IDriveEngine { - + /** The step over height. */ - double stepOverHeight=5; - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.addons.kinematics.IDriveEngine#DriveArc(com.neuronrobotics.sdk.addons.kinematics.MobileBase, com.neuronrobotics.sdk.addons.kinematics.math.TransformNR, double) + double stepOverHeight = 5; + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.addons.kinematics.IDriveEngine#DriveArc(com. + * neuronrobotics.sdk.addons.kinematics.MobileBase, + * com.neuronrobotics.sdk.addons.kinematics.math.TransformNR, double) */ @Override public void DriveArc(MobileBase source, TransformNR newPose, double seconds) { int numlegs = source.getLegs().size(); - TransformNR [] feetLocations = new TransformNR[numlegs]; - TransformNR [] home = new TransformNR[numlegs]; + TransformNR[] feetLocations = new TransformNR[numlegs]; + TransformNR[] home = new TransformNR[numlegs]; ArrayList legs = source.getLegs(); - // Load in the locations of the tips of each of the feet. - for(int i=0;i scores = new HashMap<>(); score(calculated, current, scores, kin); score(alt1, current, scores, kin); @@ -31,17 +29,17 @@ public static double[] normalize(double[] calculated, double[] current, DHChain score(calculated7, current, scores, kin); score(als4, current, scores, kin); score(alt5, current, scores, kin); - score(option( calculated[0] -180, -calculated[1], calculated[2]+180 ), current, scores, kin); - score(option( alt1[0] -180, alt1[1], -alt1[2]+180 ), current, scores, kin); - score(option( calculated[0] +180, -calculated[1], calculated[2]-180 ), current, scores, kin); - score(option( alt1[0] +180, -alt1[1], alt1[2]-180 ), current, scores, kin); - + score(option(calculated[0] - 180, -calculated[1], calculated[2] + 180), current, scores, kin); + score(option(alt1[0] - 180, alt1[1], -alt1[2] + 180), current, scores, kin); + score(option(calculated[0] + 180, -calculated[1], calculated[2] - 180), current, scores, kin); + score(option(alt1[0] + 180, -alt1[1], alt1[2] - 180), current, scores, kin); + if (scores.size() > 0) { - double[] start =calculated ; - if(scores.get(start)==null) { + double[] start = calculated; + if (scores.get(start) == null) { start = (double[]) scores.keySet().toArray()[0]; } - double score=scores.get(start); + double score = scores.get(start); double[] ret = start; for (double[] tmp : scores.keySet()) { double delt = scores.get(tmp); @@ -54,21 +52,21 @@ public static double[] normalize(double[] calculated, double[] current, DHChain return ret; } - if(!strictMode) + if (!strictMode) return current; throw new RuntimeException("No Wrist Solution! "); } - private static double[] option(double w1,double w2,double w3) { - return new double[] {w1,w2,w3}; + private static double[] option(double w1, double w2, double w3) { + return new double[]{w1, w2, w3}; } - + private static void score(double[] calculated, double[] current, HashMap scores, AbstractKinematicsNR kin) { double delt = 0; for (int i = 0; i < 3; i++) { int i3 = i + 3; calculated[i] = calculated[i] % 360; - if(strictMode) { + if (strictMode) { if (calculated[i] > kin.getMaxEngineeringUnits(i3)) { return; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeHeater.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeHeater.java index 8499a5ba..40d0055a 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeHeater.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GCodeHeater.java @@ -3,12 +3,12 @@ import com.neuronrobotics.sdk.addons.kinematics.AbstractLink; import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; -public class GCodeHeater extends AbstractLink implements IGCodeChannel { +public class GCodeHeater extends AbstractLink implements IGCodeChannel { private GcodeDevice device; private String axis = ""; - private double value =0; - public GCodeHeater(LinkConfiguration conf, String gcodeAxis,GcodeDevice device) { + private double value = 0; + public GCodeHeater(LinkConfiguration conf, String gcodeAxis, GcodeDevice device) { super(conf); // Auto-generated constructor stub this.axis = gcodeAxis; @@ -23,11 +23,11 @@ public void cacheTargetValueDevice() { @Override public void flushDevice(double time) { - if(axis.contains("B")){ - device.runLine("M104 S"+getTargetValue()); + if (axis.contains("B")) { + device.runLine("M104 S" + getTargetValue()); } - if(axis.contains("T")){ - device.runLine("M140 S"+getTargetValue()); + if (axis.contains("T")) { + device.runLine("M140 S" + getTargetValue()); } } @@ -50,7 +50,7 @@ public String getAxis() { @Override public void setValue(double value) { - this.value=value; + this.value = value; } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java index 3b74c239..e542eaf8 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeDevice.java @@ -4,26 +4,20 @@ import java.io.DataOutputStream; import java.io.File; import java.io.IOException; -import java.io.InputStream; -import java.io.OutputStream; -import java.io.StringReader; -import java.io.StringWriter; import java.util.ArrayList; import java.util.HashMap; import com.neuronrobotics.sdk.addons.kinematics.AbstractLink; import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; import com.neuronrobotics.sdk.addons.kinematics.LinkType; -import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.common.IFlushable; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.common.NonBowlerDevice; -import com.neuronrobotics.sdk.util.ThreadUtil; import gnu.io.NRSerialPort; -public class GcodeDevice extends NonBowlerDevice implements IGcodeExecuter, IFlushable{ - +public class GcodeDevice extends NonBowlerDevice implements IGcodeExecuter, IFlushable { + private static final String tool = LinkType.GCODE_STEPPER_TOOL.getName(); private static final String rot = LinkType.GCODE_STEPPER_ROTORY.getName(); @@ -31,105 +25,104 @@ public class GcodeDevice extends NonBowlerDevice implements IGcodeExecuter, IFlu private static final String pris = LinkType.GCODE_STEPPER_PRISMATIC.getName(); private NRSerialPort serial; - - private DataInputStream ins=null; - private DataOutputStream outs=null; + + private DataInputStream ins = null; + private DataOutputStream outs = null; private int timeoutMs = 1000; private GCodeDeviceConfiguration config = new GCodeDeviceConfiguration(); - private HashMap links = new HashMap(); - private AbstractLink heater=null; - private AbstractLink bed=null; - + private HashMap links = new HashMap(); + private AbstractLink heater = null; + private AbstractLink bed = null; - public GcodeDevice(NRSerialPort serial){ + public GcodeDevice(NRSerialPort serial) { this.serial = serial; - + } - public AbstractLink getHeater(LinkConfiguration axis){ + public AbstractLink getHeater(LinkConfiguration axis) { String gcodeAxis; - switch(axis.getHardwareIndex()){ - case 0: - gcodeAxis=("T"); - if(heater==null) - heater = new GCodeHeater(axis,gcodeAxis,this); - return heater; - case 1: - gcodeAxis=("B"); - if(bed==null) - bed = new GCodeHeater(axis,gcodeAxis,this); - return bed; - default: - throw new RuntimeException("Gcode devices only support 2 heaters"); + switch (axis.getHardwareIndex()) { + case 0 : + gcodeAxis = ("T"); + if (heater == null) + heater = new GCodeHeater(axis, gcodeAxis, this); + return heater; + case 1 : + gcodeAxis = ("B"); + if (bed == null) + bed = new GCodeHeater(axis, gcodeAxis, this); + return bed; + default : + throw new RuntimeException("Gcode devices only support 2 heaters"); } - + } - public AbstractLink getLink(LinkConfiguration axis){ - if(links.get(axis)!=null) - return (AbstractLink)links.get(axis); + public AbstractLink getLink(LinkConfiguration axis) { + if (links.get(axis) != null) + return (AbstractLink) links.get(axis); String gcodeAxis = ""; - AbstractLink tmp=null; + AbstractLink tmp = null; axis.setDeviceTheoreticalMax(Integer.MAX_VALUE); axis.setDeviceTheoreticalMin(Integer.MIN_VALUE); - int test =0; - if(axis.getTypeString().contentEquals(pris)) - test=1; - if(axis.getTypeString().contentEquals(rot)) - test=2; - if(axis.getTypeString().contentEquals(tool)) - test=3; - switch(test){ - case 1: - case 2: - case 3: - switch(axis.getHardwareIndex()){ - case 0: - gcodeAxis=("X"); + int test = 0; + if (axis.getTypeString().contentEquals(pris)) + test = 1; + if (axis.getTypeString().contentEquals(rot)) + test = 2; + if (axis.getTypeString().contentEquals(tool)) + test = 3; + switch (test) { + case 1 : + case 2 : + case 3 : + switch (axis.getHardwareIndex()) { + case 0 : + gcodeAxis = ("X"); + break; + case 1 : + gcodeAxis = ("Y"); + break; + case 2 : + gcodeAxis = ("Z"); + break; + case 3 : + gcodeAxis = ("E"); + break; + default : + throw new RuntimeException("Gcode devices only support 4 axis"); + } break; - case 1: - gcodeAxis=("Y"); + default : break; - case 2: - gcodeAxis=("Z"); + } + switch (test) { + case 1 : + tmp = new GcodePrismatic(axis, this, gcodeAxis); + break; - case 3: - gcodeAxis=("E"); + case 2 : + tmp = new GcodeRotory(axis, this, gcodeAxis); + break; - default: - throw new RuntimeException("Gcode devices only support 4 axis"); - } - break; - default: + case 3 : + tmp = new GcodeRotory(axis, this, gcodeAxis); + break; - } - switch(test){ - case 1: - tmp = new GcodePrismatic(axis,this,gcodeAxis); - - break; - case 2: - tmp = new GcodeRotory(axis,this,gcodeAxis); - - break; - case 3: - tmp = new GcodeRotory(axis,this,gcodeAxis); - - break; - default: + default : break; } - if(tmp!=null){ - links.put(axis,(IGCodeChannel) tmp); + if (tmp != null) { + links.put(axis, (IGCodeChannel) tmp); } return tmp; } @Override public void disconnectDeviceImp() { - if(serial.isConnected()){ + if (serial.isConnected()) { runLine("M84");// Disable motors on exit getLine();// fluch buffer } - if(outs!=null){ + if (outs != null) { try { outs.flush(); } catch (IOException e) { @@ -143,27 +136,27 @@ public void disconnectDeviceImp() { e.printStackTrace(); } } - if(ins!=null) + if (ins != null) try { ins.close(); } catch (IOException e) { // Auto-generated catch block e.printStackTrace(); } - outs=null; - ins=null; - if(serial.isConnected()) + outs = null; + ins = null; + if (serial.isConnected()) serial.disconnect(); } @Override public boolean connectDeviceImp() { disconnectDeviceImp(); - if(!serial.connect()){ + if (!serial.connect()) { throw new RuntimeException("Failed to connect to the serial device"); } - ins= new DataInputStream(serial.getInputStream()); - outs = new DataOutputStream(serial.getOutputStream()); + ins = new DataInputStream(serial.getInputStream()); + outs = new DataOutputStream(serial.getOutputStream()); runLine("M105");// initializes the device return true; } @@ -174,55 +167,54 @@ public ArrayList getNamespacesImp() { return new ArrayList(); } @SuppressWarnings("resource") - private String getLine(){ - - String ret=""; + private String getLine() { + + String ret = ""; try { - if(ins.available()>0){ + if (ins.available() > 0) { java.util.Scanner s = new java.util.Scanner(ins).useDelimiter("\\A"); - ret =s.hasNext() ? s.next() : ""; + ret = s.hasNext() ? s.next() : ""; } } catch (IOException e) { // Auto-generated catch block e.printStackTrace(); } - return ret; + return ret; } - //usb.dst contains "1.121.2" + // usb.dst contains "1.121.2" @Override - public String runLine(String line) { - if(!line.endsWith("\r\n")) - line = line+"\r\n"; + public String runLine(String line) { + if (!line.endsWith("\r\n")) + line = line + "\r\n"; try { - //synchronized(outs){ - outs.write(line.getBytes()); - outs.flush(); - //} + // synchronized(outs){ + outs.write(line.getBytes()); + outs.flush(); + // } } catch (IOException e) { // Auto-generated catch block e.printStackTrace(); } long start = currentTimeMillis(); - String ret= ""; - while(ret.contentEquals("") && - (currentTimeMillis()-start)>"+line); - Log.info("R<<"+ret); + Log.info("S>>" + line); + Log.info("R<<" + ret); return ret; } @Override public void runFile(File gcode) { // Auto-generated method stub - + } public int getTimeoutMs() { @@ -241,34 +233,34 @@ public GCodeDeviceConfiguration getConfiguration() { @Override public void flush(double seconds) { String run = "G1 "; - for(LinkConfiguration l:links.keySet()){ + for (LinkConfiguration l : links.keySet()) { IGCodeChannel thisLink = links.get(l); - run +=thisLink.getAxis()+""+((AbstractLink)thisLink).getTargetValue()+" "; + run += thisLink.getAxis() + "" + ((AbstractLink) thisLink).getTargetValue() + " "; } loadCurrent(); - AbstractLink firstLink = (AbstractLink)links.get(links.keySet().toArray()[0]); - double distance = firstLink.getTargetValue()-firstLink.getCurrentPosition(); - if(distance !=0 && seconds>0){ - int feedrate = (int)Math.abs((distance/(seconds/60)));//mm/min - run +=" F"+feedrate; + AbstractLink firstLink = (AbstractLink) links.get(links.keySet().toArray()[0]); + double distance = firstLink.getTargetValue() - firstLink.getCurrentPosition(); + if (distance != 0 && seconds > 0) { + int feedrate = (int) Math.abs((distance / (seconds / 60)));// mm/min + run += " F" + feedrate; } - if(bed!=null) + if (bed != null) bed.flush(seconds); - if(heater!=null) + if (heater != null) heater.flush(seconds); runLine(run); } - - public void loadCurrent(){ - String m114 =runLine("M114"); + + public void loadCurrent() { + String m114 = runLine("M114"); String[] currentPosStr = m114.split("Count")[0].split(" ");// get the current position - //com.neuronrobotics.sdk.common.Log.error("Fush with current = "+m114); - for(String s:currentPosStr){ - for(LinkConfiguration l:links.keySet()){ + // com.neuronrobotics.sdk.common.Log.error("Fush with current = "+m114); + for (String s : currentPosStr) { + for (LinkConfiguration l : links.keySet()) { IGCodeChannel thisLink = links.get(l); - if(s.contains(thisLink.getAxis())){ - String [] parts = s.split(":"); - ///com.neuronrobotics.sdk.common.Log.error("Found axis = "+s); + if (s.contains(thisLink.getAxis())) { + String[] parts = s.split(":"); + /// com.neuronrobotics.sdk.common.Log.error("Found axis = "+s); thisLink.setValue(Double.parseDouble(parts[1])); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java index f510d489..303f0d60 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodePrismatic.java @@ -6,32 +6,32 @@ public class GcodePrismatic extends AbstractPrismaticLink implements IGCodeChannel { private GcodeDevice device; private String axis = ""; - private double value =0; + private double value = 0; public GcodePrismatic(LinkConfiguration conf, GcodeDevice device, String linkAxis) { super(conf); // Auto-generated constructor stub this.device = device; - axis=linkAxis; - //loadCurrent(); + axis = linkAxis; + // loadCurrent(); } @Override public void cacheTargetValueDevice() { - //value + // value } - - private void loadCurrent(){ + + private void loadCurrent() { device.loadCurrent(); } @Override public void flushDevice(double time) { loadCurrent(); - - double distance = getTargetValue()-getValue(); - if(distance !=0){ - int feedrate = (int)Math.abs((distance/(time/60)));//mm/min - device.runLine("G1 "+getAxis()+""+getTargetValue()+" F"+feedrate); + + double distance = getTargetValue() - getValue(); + if (distance != 0) { + int feedrate = (int) Math.abs((distance / (time / 60)));// mm/min + device.runLine("G1 " + getAxis() + "" + getTargetValue() + " F" + feedrate); } } @@ -43,7 +43,7 @@ public void flushAllDevice(double time) { @Override public double getCurrentPosition() { - return getValue(); + return getValue(); } public String getAxis() { @@ -60,7 +60,7 @@ public double getValue() { public void setValue(double value) { this.value = value; - fireLinkListener( value); + fireLinkListener(value); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java index 289dc70e..44527415 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/GcodeRotory.java @@ -1,38 +1,37 @@ package com.neuronrobotics.sdk.addons.kinematics.gcodebridge; -import com.neuronrobotics.sdk.addons.kinematics.AbstractPrismaticLink; import com.neuronrobotics.sdk.addons.kinematics.AbstractRotoryLink; import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; public class GcodeRotory extends AbstractRotoryLink implements IGCodeChannel { private GcodeDevice device; private String axis = ""; - private double value =0; + private double value = 0; public GcodeRotory(LinkConfiguration conf, GcodeDevice device, String linkAxis) { super(conf); // Auto-generated constructor stub this.device = device; - axis=linkAxis; - //loadCurrent(); + axis = linkAxis; + // loadCurrent(); } @Override public void cacheTargetValueDevice() { - //value + // value } - - private void loadCurrent(){ + + private void loadCurrent() { device.loadCurrent(); } @Override public void flushDevice(double time) { loadCurrent(); - - double distance = getTargetValue()-getValue(); - if(distance !=0){ - int feedrate = (int)Math.abs((distance/(time/60)));//mm/min - device.runLine("G1 "+getAxis()+""+getTargetValue()+" F"+feedrate); + + double distance = getTargetValue() - getValue(); + if (distance != 0) { + int feedrate = (int) Math.abs((distance / (time / 60)));// mm/min + device.runLine("G1 " + getAxis() + "" + getTargetValue() + " F" + feedrate); } } @@ -44,7 +43,7 @@ public void flushAllDevice(double time) { @Override public double getCurrentPosition() { - return getValue(); + return getValue(); } public String getAxis() { @@ -61,7 +60,7 @@ public double getValue() { public void setValue(double value) { this.value = value; - fireLinkListener( value); + fireLinkListener(value); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGCodeChannel.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGCodeChannel.java index 6bde42f8..0ec25f69 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGCodeChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGCodeChannel.java @@ -3,14 +3,17 @@ public interface IGCodeChannel { /** * Return the gcode axis of this channel + * * @return the axis */ public String getAxis(); - + /** * Set a value of the current position - * @param value of the current psition + * + * @param value + * of the current psition */ - public void setValue(double value) ; + public void setValue(double value); } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGcodeExecuter.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGcodeExecuter.java index fd7ebb58..733a19b4 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGcodeExecuter.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/gcodebridge/IGcodeExecuter.java @@ -5,18 +5,21 @@ public interface IGcodeExecuter { /** * Execute a single line of gcode + * * @param line * @return */ public String runLine(String line); /** * Run all the lines in a file + * * @param gcode */ public void runFile(File gcode); - + /** - * Return the configuration of the gcode device. + * Return the configuration of the gcode device. + * * @return */ public GCodeDeviceConfiguration getConfiguration(); diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java index 4fb10070..21976c0f 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/ik/DeltaIKModel.java @@ -12,24 +12,19 @@ public class DeltaIKModel implements DhInverseSolver { boolean debug = false; - int limbIndex =0; + int limbIndex = 0; @Override public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector, DHChain chain) { - return inverseKinematics6dof(target,jointSpaceVector,chain); + return inverseKinematics6dof(target, jointSpaceVector, chain); } TransformNR linkOffset(DHLink link) { return new TransformNR(link.DhStep(0)); } double length(TransformNR tr) { - return Math.sqrt( - Math.pow(tr.getX(), 2)+ - Math.pow(tr.getY(), 2)+ - Math.pow(tr.getZ(), 2) - ); + return Math.sqrt(Math.pow(tr.getX(), 2) + Math.pow(tr.getY(), 2) + Math.pow(tr.getZ(), 2)); } - - + public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVector, DHChain chain) { ArrayList links = chain.getLinks(); @@ -42,20 +37,20 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec double z = target.getZ(); double y = target.getY(); double x = target.getX(); - TransformNR targetNoRot =new TransformNR(x,y,z,new RotationNR()); - + TransformNR targetNoRot = new TransformNR(x, y, z, new RotationNR()); + RotationNR q = target.getRotation(); - TransformNR newCenter =target.copy(); + TransformNR newCenter = target.copy(); // Start by finding the IK to the wrist center - if(linkNum>=6) { - //offset for tool - //if(debug)com.neuronrobotics.sdk.common.Log.error( "Offestting for tool" + if (linkNum >= 6) { + // offset for tool + // if(debug)com.neuronrobotics.sdk.common.Log.error( "Offestting for tool" TransformNR tool = new TransformNR(); - if(linkNum==7) - tool=linkOffset(links.get(6)); + if (linkNum == 7) + tool = linkOffset(links.get(6)); // compute the transform from tip to wrist center TransformNR wristCenterOffsetTransform = linkOffset(links.get(5)).times(tool); - //com.neuronrobotics.sdk.common.Log.error( wristCenterOffsetTransform + // com.neuronrobotics.sdk.common.Log.error( wristCenterOffsetTransform // take off the tool from the target to get the center of the wrist newCenter = target.times(wristCenterOffsetTransform.inverse()); } @@ -64,163 +59,152 @@ public double[] inverseKinematics6dof(TransformNR target, double[] jointSpaceVec z = newCenter.getZ(); y = newCenter.getY(); x = newCenter.getX(); - //xyz now are at the wrist center + // xyz now are at the wrist center // Compute the xy plane projection of the tip // this is the angle of the tipto the base link - if(x==0&&y==0) { - com.neuronrobotics.sdk.common.Log.error( "Singularity! try something else"); - return inverseKinematics6dof(target.copy().translateX(0.01),jointSpaceVector,chain); + if (x == 0 && y == 0) { + com.neuronrobotics.sdk.common.Log.error("Singularity! try something else"); + return inverseKinematics6dof(target.copy().translateX(0.01), jointSpaceVector, chain); } - if(debug)com.neuronrobotics.sdk.common.Log.error( "Wrist center for IK "+x+","+y+","+z); - double baseVectorAngle = Math.toDegrees(Math.atan2(y , x)); + if (debug) + com.neuronrobotics.sdk.common.Log.error("Wrist center for IK " + x + "," + y + "," + z); + double baseVectorAngle = Math.toDegrees(Math.atan2(y, x)); double elbowLink1CompositeLength = length(l1Offset); - double elbowLink2CompositeLength=length(l3Offset); + double elbowLink2CompositeLength = length(l3Offset); double wristVect = length(newCenter); - if(debug)com.neuronrobotics.sdk.common.Log.error( "elbowLink1CompositeLength "+elbowLink1CompositeLength); - if(debug)com.neuronrobotics.sdk.common.Log.error( "elbowLink2CompositeLength "+elbowLink2CompositeLength); - if(debug)com.neuronrobotics.sdk.common.Log.error( "Elbo Hypotinuse "+wristVect); - double elbowTiltAngle =-( Math.toDegrees( - Math.acos( - ( - Math.pow(elbowLink2CompositeLength,2)+ - Math.pow(elbowLink1CompositeLength,2) - -Math.pow(wristVect,2) - ) - / - (2 * elbowLink2CompositeLength * elbowLink1CompositeLength) - ) - )); - if(debug)com.neuronrobotics.sdk.common.Log.error( "Elbow angle " + elbowTiltAngle); + if (debug) + com.neuronrobotics.sdk.common.Log.error("elbowLink1CompositeLength " + elbowLink1CompositeLength); + if (debug) + com.neuronrobotics.sdk.common.Log.error("elbowLink2CompositeLength " + elbowLink2CompositeLength); + if (debug) + com.neuronrobotics.sdk.common.Log.error("Elbo Hypotinuse " + wristVect); + double elbowTiltAngle = -(Math + .toDegrees(Math.acos((Math.pow(elbowLink2CompositeLength, 2) + Math.pow(elbowLink1CompositeLength, 2) + - Math.pow(wristVect, 2)) / (2 * elbowLink2CompositeLength * elbowLink1CompositeLength)))); + if (debug) + com.neuronrobotics.sdk.common.Log.error("Elbow angle " + elbowTiltAngle); jointSpaceVector[2] = elbowTiltAngle - Math.toDegrees(links.get(2).getTheta()); - - TransformNR local = new TransformNR(0,0,0,new RotationNR(0, -baseVectorAngle, 0)); + + TransformNR local = new TransformNR(0, 0, 0, new RotationNR(0, -baseVectorAngle, 0)); TransformNR tipOnXVect = local.times(newCenter); double elZ = tipOnXVect.getZ(); double elX = tipOnXVect.getX(); double L1 = length(l1Offset); double L2 = length(l3Offset); - - if(debug)com.neuronrobotics.sdk.common.Log.error( "L1 "+L1+" l2 "+L2+" z "+elZ+" x "+elX); - /** - * System of equasions - * Theta2 = asin(z/wristVect) - * l3 = wristVect * cos( theta2) + + if (debug) + com.neuronrobotics.sdk.common.Log.error("L1 " + L1 + " l2 " + L2 + " z " + elZ + " x " + elX); + /** + * System of equasions Theta2 = asin(z/wristVect) l3 = wristVect * cos( theta2) * theta1 = acos(l1^2+x^2-l3^2/2*l1*x) - * + * */ - double asinVal = elZ/L2; - if(asinVal>1 || asinVal<-1) - throw new RuntimeException("Target outside workspace, passive links too short to reach "+L2); + double asinVal = elZ / L2; + if (asinVal > 1 || asinVal < -1) + throw new RuntimeException("Target outside workspace, passive links too short to reach " + L2); double theta2 = Math.asin(asinVal); - - double L3 = L2*Math.cos(theta2); - double theta1 = Math.acos( - ( - Math.pow(L1, 2) + - Math.pow(elX, 2)- - Math.pow(L3, 2) - )/ - (2 * L1 *elX) - ); - jointSpaceVector[0]=-(90-(Math.toDegrees(theta1)+baseVectorAngle)); + + double L3 = L2 * Math.cos(theta2); + double theta1 = Math.acos((Math.pow(L1, 2) + Math.pow(elX, 2) - Math.pow(L3, 2)) / (2 * L1 * elX)); + jointSpaceVector[0] = -(90 - (Math.toDegrees(theta1) + baseVectorAngle)); TransformNR reorient; try { - reorient =new TransformNR(0,0,0,new RotationNR(0, -jointSpaceVector[0], 0)); - }catch (Throwable t){ - //t.printStackTrace() - throw new RuntimeException( "error calculating base angle: \nL1 "+L1+ - " \nl2 "+L2+ - " \nz "+elZ+ - " \nx "+elX+ - " \nl3 "+L3+ - " \ntheta2 "+Math.toDegrees(theta2)+ - " \nasinVal "+asinVal - - ); + reorient = new TransformNR(0, 0, 0, new RotationNR(0, -jointSpaceVector[0], 0)); + } catch (Throwable t) { + // t.printStackTrace() + throw new RuntimeException("error calculating base angle: \nL1 " + L1 + " \nl2 " + L2 + " \nz " + elZ + + " \nx " + elX + " \nl3 " + L3 + " \ntheta2 " + Math.toDegrees(theta2) + " \nasinVal " + asinVal + + ); } TransformNR sphericalElbowTartget = reorient.times(newCenter); - //com.neuronrobotics.sdk.common.Log.error( newCenter - //com.neuronrobotics.sdk.common.Log.error( sphericalElbowTartget - sphericalElbowTartget = new TransformNR(0.0,-sphericalElbowTartget.getY(), 0.0, new RotationNR()).times(sphericalElbowTartget); - //com.neuronrobotics.sdk.common.Log.error( sphericalElbowTartget + // com.neuronrobotics.sdk.common.Log.error( newCenter + // com.neuronrobotics.sdk.common.Log.error( sphericalElbowTartget + sphericalElbowTartget = new TransformNR(0.0, -sphericalElbowTartget.getY(), 0.0, new RotationNR()) + .times(sphericalElbowTartget); + // com.neuronrobotics.sdk.common.Log.error( sphericalElbowTartget double theta3 = Math.atan2(sphericalElbowTartget.getZ(), sphericalElbowTartget.getX()); - jointSpaceVector[1] = -Math.toDegrees(theta3) ; - - //return jointSpaceVector + jointSpaceVector[1] = -Math.toDegrees(theta3); + + // return jointSpaceVector /** - // compute the top of the wrist now that the first 3 links are calculated - * + * // compute the top of the wrist now that the first 3 links are calculated + * */ - double[] wristLinks=new double[jointSpaceVector.length]; - for (int i = 0;i < 3; i++) - wristLinks[i]=jointSpaceVector[i]; + double[] wristLinks = new double[jointSpaceVector.length]; + for (int i = 0; i < 3; i++) + wristLinks[i] = jointSpaceVector[i]; for (int i = 3; i < jointSpaceVector.length; i++) wristLinks[i] = 0; - ArrayList chainToLoad =new ArrayList<>(); - chain.forwardKinematicsMatrix(wristLinks,chainToLoad); - TransformNR startOfWristSet=chain.kin.inverseOffset(chainToLoad.get(2)); - TransformNR virtualcenter = newCenter.times(new TransformNR(0, 0, 10, - new RotationNR(Math.toDegrees(links.get(5).getAlpha()),0 ,0))); - TransformNR wristMOvedToCenter0 =startOfWristSet - .inverse()// move back from base ot wrist to world home - .times(virtualcenter);// move forward to target, leaving the angle between the tip and the start of the rotation - //if(debug)com.neuronrobotics.sdk.common.Log.error( wristMOvedToCenter0 - RotationNR qWrist=wristMOvedToCenter0.getRotation(); + ArrayList chainToLoad = new ArrayList<>(); + chain.forwardKinematicsMatrix(wristLinks, chainToLoad); + TransformNR startOfWristSet = chain.kin.inverseOffset(chainToLoad.get(2)); + TransformNR virtualcenter = newCenter + .times(new TransformNR(0, 0, 10, new RotationNR(Math.toDegrees(links.get(5).getAlpha()), 0, 0))); + TransformNR wristMOvedToCenter0 = startOfWristSet.inverse()// move back from base ot wrist to world home + .times(virtualcenter);// move forward to target, leaving the angle between the tip and the start of + // the rotation + // if(debug)com.neuronrobotics.sdk.common.Log.error( wristMOvedToCenter0 + RotationNR qWrist = wristMOvedToCenter0.getRotation(); if ((wristMOvedToCenter0.getX() == 0) && (wristMOvedToCenter0.getY() == 0)) { - com.neuronrobotics.sdk.common.Log.error( "Singularity! try something else"); - return inverseKinematics6dof(target.copy().translateX(0.01),jointSpaceVector,chain); + com.neuronrobotics.sdk.common.Log.error("Singularity! try something else"); + return inverseKinematics6dof(target.copy().translateX(0.01), jointSpaceVector, chain); } - double closest = (Math.toDegrees(Math.atan2(wristMOvedToCenter0.getY(), wristMOvedToCenter0.getX())) - Math.toDegrees(links.get(3).getTheta())); + double closest = (Math.toDegrees(Math.atan2(wristMOvedToCenter0.getY(), wristMOvedToCenter0.getX())) + - Math.toDegrees(links.get(3).getTheta())); jointSpaceVector[3] = closest; wristLinks[3] = jointSpaceVector[3]; - if(jointSpaceVector.length == 4) + if (jointSpaceVector.length == 4) return jointSpaceVector; - + chainToLoad = new ArrayList<>(); /** - // Calculte the second angle - * + * // Calculte the second angle + * */ chainToLoad.clear(); - chain.forwardKinematicsMatrix(wristLinks,chainToLoad); - TransformNR startOfWristSet2=chain.kin.inverseOffset(chainToLoad.get(3)); + chain.forwardKinematicsMatrix(wristLinks, chainToLoad); + TransformNR startOfWristSet2 = chain.kin.inverseOffset(chainToLoad.get(3)); - TransformNR wristMOvedToCenter1 =startOfWristSet2 - .inverse()// move back from base ot wrist to world home - .times(virtualcenter);// move forward to target, leaving the angle between the tip and the start of the rotation - //if(debug)com.neuronrobotics.sdk.common.Log.error( " Middle link =" +wristMOvedToCenter1 + TransformNR wristMOvedToCenter1 = startOfWristSet2.inverse()// move back from base ot wrist to world home + .times(virtualcenter);// move forward to target, leaving the angle between the tip and the start of + // the rotation + // if(debug)com.neuronrobotics.sdk.common.Log.error( " Middle link =" + // +wristMOvedToCenter1 RotationNR qWrist2 = wristMOvedToCenter1.getRotation(); - if (wristMOvedToCenter1.getX()==0&&wristMOvedToCenter1.getY() == 0) { - com.neuronrobotics.sdk.common.Log.error( "Singularity! try something else"); - return inverseKinematics6dof(target.copy().translateX(0.01),jointSpaceVector,chain); + if (wristMOvedToCenter1.getX() == 0 && wristMOvedToCenter1.getY() == 0) { + com.neuronrobotics.sdk.common.Log.error("Singularity! try something else"); + return inverseKinematics6dof(target.copy().translateX(0.01), jointSpaceVector, chain); } - jointSpaceVector[4] = (Math.toDegrees(Math.atan2(wristMOvedToCenter1.getY(), wristMOvedToCenter1.getX())) - - Math.toDegrees(links.get(4).getTheta()) - 90); + jointSpaceVector[4] = (Math.toDegrees(Math.atan2(wristMOvedToCenter1.getY(), wristMOvedToCenter1.getX())) + - Math.toDegrees(links.get(4).getTheta()) - 90); wristLinks[4] = jointSpaceVector[4]; if (jointSpaceVector.length == 5) return jointSpaceVector; chainToLoad = new ArrayList<>(); /** - // Calculte the last angle - * + * // Calculte the last angle + * */ - chain.forwardKinematicsMatrix(wristLinks,chainToLoad); - TransformNR startOfWristSet3=chain.kin.inverseOffset(chainToLoad.get(4)); + chain.forwardKinematicsMatrix(wristLinks, chainToLoad); + TransformNR startOfWristSet3 = chain.kin.inverseOffset(chainToLoad.get(4)); TransformNR tool = new TransformNR(); if (linkNum == 7) - tool=linkOffset(links.get(6)); - TransformNR wristMOvedToCenter2 =startOfWristSet3 - .inverse()// move back from base ot wrist to world home - .times(target.times(tool.inverse()));// move forward to target, leaving the angle between the tip and the start of the rotation - //if(debug)com.neuronrobotics.sdk.common.Log.error( "\n\nLastLink " +wristMOvedToCenter2 + tool = linkOffset(links.get(6)); + TransformNR wristMOvedToCenter2 = startOfWristSet3.inverse()// move back from base ot wrist to world home + .times(target.times(tool.inverse()));// move forward to target, leaving the angle between the tip and + // the start of the rotation + // if(debug)com.neuronrobotics.sdk.common.Log.error( "\n\nLastLink " + // +wristMOvedToCenter2 RotationNR qWrist3 = wristMOvedToCenter2.getRotation(); - jointSpaceVector[5] = (Math.toDegrees(qWrist3.getRotationAzimuthRadians()) - Math.toDegrees(links.get(5).getTheta())); - + jointSpaceVector[5] = (Math.toDegrees(qWrist3.getRotationAzimuthRadians()) + - Math.toDegrees(links.get(5).getTheta())); + return jointSpaceVector; } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java index e8686940..f70102fd 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/imu/IMU.java @@ -4,59 +4,57 @@ import com.neuronrobotics.sdk.addons.kinematics.time.TimeKeeper; -public class IMU extends TimeKeeper{ +public class IMU extends TimeKeeper { private ArrayList virtualListeneras = new ArrayList(); private ArrayList hardwareListeneras = new ArrayList(); - - private IMUUpdate virtualState=new IMUUpdate(0.0,0.0,0.0,0.0,0.0,0.0,currentTimeMillis()); - private IMUUpdate hardwareState=new IMUUpdate(null,null,null,null,null,null,currentTimeMillis()); - - public void addhardwareListeners(IMUUpdateListener l){ - if(!hardwareListeneras.contains(l)) + + private IMUUpdate virtualState = new IMUUpdate(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, currentTimeMillis()); + private IMUUpdate hardwareState = new IMUUpdate(null, null, null, null, null, null, currentTimeMillis()); + + public void addhardwareListeners(IMUUpdateListener l) { + if (!hardwareListeneras.contains(l)) hardwareListeneras.add(l); } - public void addvirtualListeners(IMUUpdateListener l){ - if(!virtualListeneras.contains(l)) + public void addvirtualListeners(IMUUpdateListener l) { + if (!virtualListeneras.contains(l)) virtualListeneras.add(l); } - - public void removehardwareListeners(IMUUpdateListener l){ - if(hardwareListeneras.contains(l)) + + public void removehardwareListeners(IMUUpdateListener l) { + if (hardwareListeneras.contains(l)) hardwareListeneras.remove(l); } - public void removevirtualListeners(IMUUpdateListener l){ - if(virtualListeneras.contains(l)) + public void removevirtualListeners(IMUUpdateListener l) { + if (virtualListeneras.contains(l)) virtualListeneras.remove(l); } - public void clearhardwareListeners(){ + public void clearhardwareListeners() { - hardwareListeneras.clear();; + hardwareListeneras.clear();; } - public void clearvirtualListeners(){ - - virtualListeneras.clear(); + public void clearvirtualListeners() { + + virtualListeneras.clear(); } public IMUUpdate getVirtualState() { - + return virtualState; } public void setVirtualState(IMUUpdate virtualState) { this.virtualState = virtualState; - for(int i=0;i epsilon)) angles[0] = 0; @@ -421,7 +445,7 @@ private void simpilfyAngles(double [] angles){ } } - private double eulerFix(double offsetSize, int index){ + private double eulerFix(double offsetSize, int index) { double offset = ((index == 1) ? offsetSize : 0); TransformNR current = new TransformNR(0, 0, 0, this); TransformNR newTf = current.times(new TransformNR(0, 0, 0, new RotationNR(0, 0, Math.toDegrees(offsetSize)))); @@ -510,4 +534,4 @@ public void set(double[][] poseRot) { loadRotations(poseRot); } -} \ No newline at end of file +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java index 4ce0977f..c08ec39d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNRLegacy.java @@ -8,7 +8,7 @@ /** * This class is to represent a 3x3 rotation sub-matrix This class also contains * static methods for dealing with 3x3 rotations. - * + * * @author Kevin Harrington * */ @@ -16,7 +16,7 @@ public class RotationNRLegacy { /** The rotation matrix. */ - double[][] rotationMatrix = new double[][] { { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 } }; + double[][] rotationMatrix = new double[][]{{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}; /** * Null constructor forms a. @@ -47,7 +47,8 @@ public RotationNRLegacy(double tilt, double elevation, double azumeth) { loadFromAngles(tilt, azumeth, elevation); if (Double.isNaN(getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotationMatrix2QuaturnionX()) || Double.isNaN(getRotationMatrix2QuaturnionY()) || Double.isNaN(getRotationMatrix2QuaturnionZ())) { - // com.neuronrobotics.sdk.common.Log.error("Failing to set proper angle, jittering"); + // com.neuronrobotics.sdk.common.Log.error("Failing to set proper angle, + // jittering"); loadFromAngles(tilt + Math.random() * .02 + .001, azumeth + Math.random() * .02 + .001, elevation + Math.random() * .02 + .001); } @@ -70,7 +71,8 @@ private void loadFromAngles(double tilt, double azumeth, double elevation) { double s3 = Math.sin(bank / 2); double c1c2 = c1 * c2; double s1s2 = s1 * s2; - // com.neuronrobotics.sdk.common.Log.error("C1 ="+c1+" S1 ="+s1+" |C2 ="+c2+" S2 ="+s2+" |C3 + // com.neuronrobotics.sdk.common.Log.error("C1 ="+c1+" S1 ="+s1+" |C2 ="+c2+" S2 + // ="+s2+" |C3 // ="+c3+" S3 ="+s3); w = c1c2 * c3 - s1s2 * s3; x = c1c2 * s3 + s1s2 * c3; @@ -255,7 +257,7 @@ public double[][] getRotationMatrix() { /* * (non-Javadoc) - * + * * @see java.lang.Object#toString() */ // return a string representation of the invoking object @@ -272,8 +274,8 @@ public String toString() { s += "]"; return "Quaturnion: " + "W=" + getRotationMatrix2QuaturnionW() + ", " + "x=" + getRotationMatrix2QuaturnionX() + ", " + "y=" + getRotationMatrix2QuaturnionY() + ", " + "z=" + getRotationMatrix2QuaturnionZ() + "\t" - + "Rotation angle (degrees): " + "Azimuth=" + getRotationAzimuthRadians() + ", " + "Elevation=" + getRotationElevationRadians() + ", " + "Tilt=" - + getRotationTiltRadians() + ""; + + "Rotation angle (degrees): " + "Azimuth=" + getRotationAzimuthRadians() + ", " + "Elevation=" + + getRotationElevationRadians() + ", " + "Tilt=" + getRotationTiltRadians() + ""; } /** @@ -519,14 +521,14 @@ private double getRotAngle(int index) { } switch (index) { - case 0: - return tilt; - case 1: - return elev; - case 2: - return azumeth; - default: - return 0; + case 0 : + return tilt; + case 1 : + return elev; + case 2 : + return azumeth; + default : + return 0; } } @@ -583,34 +585,34 @@ public double getRotationAzimuthRadians() { * * @return the rotation x */ -// @Deprecated // use getRotationBank() -// public double getRotationX() { -// -// return getRotAngle(0); -// -// } + // @Deprecated // use getRotationBank() + // public double getRotationX() { + // + // return getRotAngle(0); + // + // } /** * Gets the rotation y. * * @return the rotation y */ -// @Deprecated // use getRotationAttitude() -// public double getRotationY() { -// -// return getRotAngle(2); -// } + // @Deprecated // use getRotationAttitude() + // public double getRotationY() { + // + // return getRotAngle(2); + // } /** * Gets the rotation z. * * @return the rotation z */ -// @Deprecated // use getRotationHeading() -// public double getRotationZ() { -// -// return getRotAngle(1); -// } + // @Deprecated // use getRotationHeading() + // public double getRotationZ() { + // + // return getRotAngle(1); + // } /** * Gets the rotation matrix2 quaturnion w. @@ -654,4 +656,4 @@ public double getRotationMatrix2QuaturnionZ() { return (rotationMatrix[1][0] - rotationMatrix[0][1]) * 0.25 / temp; } -} \ No newline at end of file +} diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java index 4481ff1f..c600c9eb 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/TransformNR.java @@ -5,7 +5,6 @@ import java.util.ArrayList; import com.google.gson.annotations.Expose; -import com.neuronrobotics.sdk.common.Log; import Jama.Matrix; // Auto-generated Javadoc @@ -13,443 +12,469 @@ * The Class TransformNR. */ public class TransformNR { -@Expose (serialize = false, deserialize = false) - private ArrayList listeners=null; - /** The x. */ -@Expose (serialize = true, deserialize = true) - private double x; - - /** The y. */ -@Expose (serialize = true, deserialize = true) - private double y; - - /** The z. */ -@Expose (serialize = true, deserialize = true) - private double z; - - /** The rotation. */ - -@Expose (serialize = true, deserialize = true) - private RotationNR rotation; - - - - /** - * Instantiates a new transform nr. - * - * @param m the m - */ - public TransformNR(Matrix m) { - this.setX(m.get(0, 3)); - this.setY(m.get(1, 3)); - this.setZ(m.get(2, 3)); - this.setRotation(new RotationNR(m)); - } - /** - * Instantiates a new transform nr. - * - * @param m the m - */ - public TransformNR(TransformNR in) { - this(in.getMatrixTransform()); - } - - /** - * Instantiates a new transform nr. - * - * @param x the x - * @param y the y - * @param z the z - * @param w the w - * @param rotx the rotx - * @param roty the roty - * @param rotz the rotz - */ - public TransformNR(double x, double y, double z, double w, double rotx, double roty, - double rotz) { - this.setX(x); - this.setY(y); - this.setZ(z); - this.setRotation(new RotationNR(new double[] {w, rotx, roty, rotz})); - } - - /** - * Instantiates a new transform nr. - * - * @param cartesianSpaceVector the cartesian space vector - * @param rotationMatrix the rotation matrix - */ - public TransformNR(double[] cartesianSpaceVector, double[][] rotationMatrix) { - this.setX(cartesianSpaceVector[0]); - this.setY(cartesianSpaceVector[1]); - this.setZ(cartesianSpaceVector[2]); - this.setRotation(new RotationNR(rotationMatrix)); - } - - /** - * Instantiates a new transform nr. - * - * @param cartesianSpaceVector the cartesian space vector - * @param quaternionVector the quaternion vector - */ - public TransformNR(double[] cartesianSpaceVector, double[] quaternionVector) { - this.setX(cartesianSpaceVector[0]); - this.setY(cartesianSpaceVector[1]); - this.setZ(cartesianSpaceVector[2]); - this.setRotation(new RotationNR(quaternionVector)); - } - - /** - * Instantiates a new transform nr. - * - * @param x the x - * @param y the y - * @param z the z - * @param q the q - */ - public TransformNR(double x, double y, double z, RotationNR q) { - this.setX(x); - this.setY(y); - this.setZ(z); - this.setRotation(q); - } - /** - * Instantiates a new transform nr. - * - * @param x the x - * @param y the y - * @param z the z - * @param q the q - */ - public TransformNR(double x, double y, double z) { - this.setX(x); - this.setY(y); - this.setZ(z); - this.setRotation(new RotationNR()); - } - /** - * Instantiates a new transform nr. - * - * @param rot A pure rotation - */ - public TransformNR(RotationNR rot) { - this.setX(0); - this.setY(0); - this.setZ(0); - this.setRotation(rot); - } - /** - * Instantiates a new transform nr. - * - * @param cartesianSpaceVector the cartesian space vector - * @param q the q - */ - public TransformNR(double[] cartesianSpaceVector, RotationNR q) { - this.setX(cartesianSpaceVector[0]); - this.setY(cartesianSpaceVector[1]); - this.setZ(cartesianSpaceVector[2]); - this.setRotation(q); - } - - /** - * Instantiates a new transform nr. - */ - public TransformNR() { - this.setX(0); - this.setY(0); - this.setZ(0); - this.setRotation(new RotationNR()); - } - - /** - * Gets the x. - * - * @return the x - */ - public double getX() { - return x; - } - - /** - * Gets the y. - * - * @return the y - */ - public double getY() { - return y; - } - - /** - * Gets the z. - * - * @return the z - */ - public double getZ() { - return z; - } - - /** - * Gets the rotation matrix array. - * - * @return the rotation matrix array - */ - public double[][] getRotationMatrixArray() { - return getRotation().getRotationMatrix(); - } - - /** - * Gets the rotation matrix. - * - * @return the rotation matrix - */ - public RotationNR getRotationMatrix() { - return getRotation(); - } - - /** - * Gets the rotation value. - * - * @param i the i - * @param j the j - * @return the rotation value - */ - public double getRotationValue(int i, int j) { - return getRotation().getRotationMatrix()[i][j]; - } - - /** - * Gets the rotation. - * - * @return the rotation - */ - public RotationNR getRotation() { - - return rotation; - } - - /** - * Times. - * - * @param t the t - * @return the transform nr - */ - public TransformNR times(TransformNR t) { - return new TransformNR(getMatrixTransform().times(t.getMatrixTransform())); - } - - /* - * (non-Javadoc) - * - * @see java.lang.Object#toString() - */ - @Override - public String toString() { - try { - return getMatrixString(getMatrixTransform()) + getRotation().toString(); - } catch (Exception ex) { - return "Transform error" + ex.getLocalizedMessage(); - } - } - - public String toSimpleString() { - return toPositionString()+" "+toAngleString(); - } - - public String toPositionString() { - DecimalFormat decimalFormat = new DecimalFormat("000.00"); - - return "x="+decimalFormat.format(x)+" "+ - "y="+decimalFormat.format(y)+" "+ - "z="+decimalFormat.format(z); - } - - public String toAngleString() { + @Expose(serialize = false, deserialize = false) + private ArrayList listeners = null; + /** The x. */ + @Expose(serialize = true, deserialize = true) + private double x; + + /** The y. */ + @Expose(serialize = true, deserialize = true) + private double y; + + /** The z. */ + @Expose(serialize = true, deserialize = true) + private double z; + + /** The rotation. */ + + @Expose(serialize = true, deserialize = true) + private RotationNR rotation; + + /** + * Instantiates a new transform nr. + * + * @param m + * the m + */ + public TransformNR(Matrix m) { + this.setX(m.get(0, 3)); + this.setY(m.get(1, 3)); + this.setZ(m.get(2, 3)); + this.setRotation(new RotationNR(m)); + } + /** + * Instantiates a new transform nr. + * + * @param m + * the m + */ + public TransformNR(TransformNR in) { + this(in.getMatrixTransform()); + } + + /** + * Instantiates a new transform nr. + * + * @param x + * the x + * @param y + * the y + * @param z + * the z + * @param w + * the w + * @param rotx + * the rotx + * @param roty + * the roty + * @param rotz + * the rotz + */ + public TransformNR(double x, double y, double z, double w, double rotx, double roty, double rotz) { + this.setX(x); + this.setY(y); + this.setZ(z); + this.setRotation(new RotationNR(new double[]{w, rotx, roty, rotz})); + } + + /** + * Instantiates a new transform nr. + * + * @param cartesianSpaceVector + * the cartesian space vector + * @param rotationMatrix + * the rotation matrix + */ + public TransformNR(double[] cartesianSpaceVector, double[][] rotationMatrix) { + this.setX(cartesianSpaceVector[0]); + this.setY(cartesianSpaceVector[1]); + this.setZ(cartesianSpaceVector[2]); + this.setRotation(new RotationNR(rotationMatrix)); + } + + /** + * Instantiates a new transform nr. + * + * @param cartesianSpaceVector + * the cartesian space vector + * @param quaternionVector + * the quaternion vector + */ + public TransformNR(double[] cartesianSpaceVector, double[] quaternionVector) { + this.setX(cartesianSpaceVector[0]); + this.setY(cartesianSpaceVector[1]); + this.setZ(cartesianSpaceVector[2]); + this.setRotation(new RotationNR(quaternionVector)); + } + + /** + * Instantiates a new transform nr. + * + * @param x + * the x + * @param y + * the y + * @param z + * the z + * @param q + * the q + */ + public TransformNR(double x, double y, double z, RotationNR q) { + this.setX(x); + this.setY(y); + this.setZ(z); + this.setRotation(q); + } + /** + * Instantiates a new transform nr. + * + * @param x + * the x + * @param y + * the y + * @param z + * the z + * @param q + * the q + */ + public TransformNR(double x, double y, double z) { + this.setX(x); + this.setY(y); + this.setZ(z); + this.setRotation(new RotationNR()); + } + /** + * Instantiates a new transform nr. + * + * @param rot + * A pure rotation + */ + public TransformNR(RotationNR rot) { + this.setX(0); + this.setY(0); + this.setZ(0); + this.setRotation(rot); + } + /** + * Instantiates a new transform nr. + * + * @param cartesianSpaceVector + * the cartesian space vector + * @param q + * the q + */ + public TransformNR(double[] cartesianSpaceVector, RotationNR q) { + this.setX(cartesianSpaceVector[0]); + this.setY(cartesianSpaceVector[1]); + this.setZ(cartesianSpaceVector[2]); + this.setRotation(q); + } + + /** + * Instantiates a new transform nr. + */ + public TransformNR() { + this.setX(0); + this.setY(0); + this.setZ(0); + this.setRotation(new RotationNR()); + } + + /** + * Gets the x. + * + * @return the x + */ + public double getX() { + return x; + } + + /** + * Gets the y. + * + * @return the y + */ + public double getY() { + return y; + } + + /** + * Gets the z. + * + * @return the z + */ + public double getZ() { + return z; + } + + /** + * Gets the rotation matrix array. + * + * @return the rotation matrix array + */ + public double[][] getRotationMatrixArray() { + return getRotation().getRotationMatrix(); + } + + /** + * Gets the rotation matrix. + * + * @return the rotation matrix + */ + public RotationNR getRotationMatrix() { + return getRotation(); + } + + /** + * Gets the rotation value. + * + * @param i + * the i + * @param j + * the j + * @return the rotation value + */ + public double getRotationValue(int i, int j) { + return getRotation().getRotationMatrix()[i][j]; + } + + /** + * Gets the rotation. + * + * @return the rotation + */ + public RotationNR getRotation() { + + return rotation; + } + + /** + * Times. + * + * @param t + * the t + * @return the transform nr + */ + public TransformNR times(TransformNR t) { + return new TransformNR(getMatrixTransform().times(t.getMatrixTransform())); + } + + /* + * (non-Javadoc) + * + * @see java.lang.Object#toString() + */ + @Override + public String toString() { + try { + return getMatrixString(getMatrixTransform()) + getRotation().toString(); + } catch (Exception ex) { + return "Transform error" + ex.getLocalizedMessage(); + } + } + + public String toSimpleString() { + return toPositionString() + " " + toAngleString(); + } + + public String toPositionString() { + DecimalFormat decimalFormat = new DecimalFormat("000.00"); + + return "x=" + decimalFormat.format(x) + " " + "y=" + decimalFormat.format(y) + " " + "z=" + + decimalFormat.format(z); + } + + public String toAngleString() { + DecimalFormat decimalFormat = new DecimalFormat("000.00"); + + return "az=" + decimalFormat.format(Math.toDegrees(getRotation().getRotationAzimuthRadians())) + " " + "el=" + + decimalFormat.format(Math.toDegrees(getRotation().getRotationElevationRadians())) + " " + "tl=" + + decimalFormat.format(Math.toDegrees(getRotation().getRotationTiltRadians())); + } + + /** + * Gets the matrix string. + * + * @param matrix + * the matrix + * @return the matrix string + */ + public static String getMatrixString(Matrix matrix) { + + String s = "{\n"; + double[][] m = matrix.getArray(); + DecimalFormat decimalFormat = new DecimalFormat("000.00"); + int across = m.length; + int down = m[0].length; + + for (int i = 0; i < across; i++) { + s += "{ "; + for (int j = 0; j < down; j++) { + if (m[i][j] < 0) { + s += decimalFormat.format(m[i][j]); + } else + s += decimalFormat.format(m[i][j]); + if (j < down - 1) + s += ","; + s += "\t"; + } + s += " }"; + if (i < across - 1) + s += ","; + s += "\n"; + } + return s + "}\n"; + } + + /** + * Gets the position array. + * + * @return the position array + */ + public double[] getPositionArray() { + return new double[]{getX(), getY(), getZ()}; + } + + /** + * Gets the matrix transform. + * + * @return the matrix transform + */ + public Matrix getMatrixTransform() { + double[][] transform = new double[4][4]; + double[][] rotation = getRotationMatrixArray(); + + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + transform[i][j] = rotation[i][j]; + + for (int i = 0; i < 3; i++) + transform[3][i] = 0; + + transform[3][3] = 1; + transform[0][3] = getX(); + transform[1][3] = getY(); + transform[2][3] = getZ(); + + return new Matrix(transform); + } + + /** + * Gets the offset orientation magnitude. + * + * @param t + * the t + * @return the offset orientation magnitude + */ + public double getOffsetOrientationMagnitude(TransformNR t) { + double x = getRotation().getRotationMatrix2QuaturnionX() - t.getRotation().getRotationMatrix2QuaturnionX(); + double y = getRotation().getRotationMatrix2QuaturnionY() - t.getRotation().getRotationMatrix2QuaturnionY(); + double z = getRotation().getRotationMatrix2QuaturnionZ() - t.getRotation().getRotationMatrix2QuaturnionZ(); + double r = Math.sqrt((Math.pow(x, 2) + Math.pow(y, 2) + Math.pow(z, 2))); + return r; + } + + /** + * Gets the offset vector magnitude. + * + * @param t + * the t + * @return the offset vector magnitude + */ + public double getOffsetVectorMagnitude(TransformNR t) { + double x = getX() - t.getX(); + double y = getY() - t.getY(); + double z = getZ() - t.getZ(); + double r = Math.sqrt((Math.pow(x, 2) + Math.pow(y, 2) + Math.pow(z, 2))); + return r; + } + + /** + * Inverse. + * + * @return the transform nr + */ + public TransformNR inverse() { + return new TransformNR(getMatrixTransform().inverse()); + } + + /** + * Scale. + * + * @param scale + * the scale + * @return the transform nr + */ + public TransformNR scale(BigDecimal scale) { + return scale(scale.doubleValue()); + } + + /** + * Scale. + * + * @param t + * the scale from 0 to 1.0 + * @return the transform nr + */ + public TransformNR scale(double t) { + if (t > 1) + t = 1; + if (t <= 0) + return new TransformNR(); + + double tilt = Math.toDegrees(getRotation().getRotationTiltRadians() * t); + double az = Math.toDegrees(getRotation().getRotationAzimuthRadians() * t); + double ele = Math.toDegrees(getRotation().getRotationElevationRadians() * t); + return new TransformNR(getX() * t, getY() * t, getZ() * t, new RotationNR(tilt, az, ele)); + } + + /** + * Copy. + * + * @return the transform nr + */ + public TransformNR copy() { + return new TransformNR(getMatrixTransform()); + } + + /** + * Translate x. + * + * @param translation + * the translation + * @return + */ + public TransformNR translateX(double translation) { + setX(getX() + translation); + return this; + } + + /** + * Translate y. + * + * @param translation + * the translation + */ + public TransformNR translateY(double translation) { + setY(getY() + translation); + return this; + + } + + /** + * Translate z. + * + * @param translation + * the translation + */ + public TransformNR translateZ(double translation) { + + setZ(getZ() + translation); + return this; + } - return "az=" + decimalFormat.format(Math.toDegrees(getRotation().getRotationAzimuthRadians())) + " " + - "el=" + decimalFormat.format(Math.toDegrees(getRotation().getRotationElevationRadians())) + " " + - "tl=" + decimalFormat.format(Math.toDegrees(getRotation().getRotationTiltRadians())); - } - - /** - * Gets the matrix string. - * - * @param matrix the matrix - * @return the matrix string - */ - public static String getMatrixString(Matrix matrix) { - - String s = "{\n"; - double[][] m = matrix.getArray(); - - DecimalFormat decimalFormat = new DecimalFormat("000.00"); - int across = m.length; - int down = m[0].length; - - for (int i = 0; i < across; i++) { - s += "{ "; - for (int j = 0; j < down; j++) { - if (m[i][j] < 0) { - s += decimalFormat.format(m[i][j]); - } else - s += decimalFormat.format(m[i][j]); - if (j < down - 1) - s += ","; - s += "\t"; - } - s += " }"; - if (i < across - 1) - s += ","; - s += "\n"; - } - return s + "}\n"; - } - - /** - * Gets the position array. - * - * @return the position array - */ - public double[] getPositionArray() { - return new double[] {getX(), getY(), getZ()}; - } - - /** - * Gets the matrix transform. - * - * @return the matrix transform - */ - public Matrix getMatrixTransform() { - double[][] transform = new double[4][4]; - double[][] rotation = getRotationMatrixArray(); - - - for (int i = 0; i < 3; i++) - for (int j = 0; j < 3; j++) - transform[i][j] = rotation[i][j]; - - for (int i = 0; i < 3; i++) - transform[3][i] = 0; - - transform[3][3] = 1; - transform[0][3] = getX(); - transform[1][3] = getY(); - transform[2][3] = getZ(); - - - return new Matrix(transform); - } - - /** - * Gets the offset orientation magnitude. - * - * @param t the t - * @return the offset orientation magnitude - */ - public double getOffsetOrientationMagnitude(TransformNR t) { - double x = getRotation().getRotationMatrix2QuaturnionX() - - t.getRotation().getRotationMatrix2QuaturnionX(); - double y = getRotation().getRotationMatrix2QuaturnionY() - - t.getRotation().getRotationMatrix2QuaturnionY(); - double z = getRotation().getRotationMatrix2QuaturnionZ() - - t.getRotation().getRotationMatrix2QuaturnionZ(); - double r = Math.sqrt((Math.pow(x, 2) + Math.pow(y, 2) + Math.pow(z, 2))); - return r; - } - - /** - * Gets the offset vector magnitude. - * - * @param t the t - * @return the offset vector magnitude - */ - public double getOffsetVectorMagnitude(TransformNR t) { - double x = getX() - t.getX(); - double y = getY() - t.getY(); - double z = getZ() - t.getZ(); - double r = Math.sqrt((Math.pow(x, 2) + Math.pow(y, 2) + Math.pow(z, 2))); - return r; - } - - /** - * Inverse. - * - * @return the transform nr - */ - public TransformNR inverse() { - return new TransformNR(getMatrixTransform().inverse()); - } - - /** - * Scale. - * - * @param scale the scale - * @return the transform nr - */ - public TransformNR scale(BigDecimal scale) { - return scale(scale.doubleValue()); - } - - /** - * Scale. - * - * @param t the scale from 0 to 1.0 - * @return the transform nr - */ - public TransformNR scale(double t) { - if (t > 1) - t = 1; - if (t <= 0) - return new TransformNR(); - - double tilt = Math.toDegrees(getRotation().getRotationTiltRadians() * t); - double az = Math.toDegrees(getRotation().getRotationAzimuthRadians() * t); - double ele = Math.toDegrees(getRotation().getRotationElevationRadians() * t); - return new TransformNR(getX() * t, getY() * t, getZ() * t, new RotationNR(tilt, az, ele)); - } - - /** - * Copy. - * - * @return the transform nr - */ - public TransformNR copy() { - return new TransformNR(getMatrixTransform()); - } - - /** - * Translate x. - * - * @param translation the translation - * @return - */ - public TransformNR translateX(double translation) { - setX(getX() + translation); - return this; - } - - /** - * Translate y. - * - * @param translation the translation - */ - public TransformNR translateY(double translation) { - setY(getY() + translation); - return this; - - } - - /** - * Translate z. - * - * @param translation the translation - */ - public TransformNR translateZ(double translation) { - - setZ(getZ() + translation); - return this; - } - public TransformNR set(double tx, double ty, double tz, double[][] poseRot) { if (!Double.isFinite(tx)) throw new RuntimeException("Value can not be NaN"); @@ -465,108 +490,110 @@ public TransformNR set(double tx, double ty, double tz, double[][] poseRot) { return this; } - /** - * Sets the x. - * - * @param tx the new x - */ - public TransformNR setX(double tx) { - if (!Double.isFinite(tx)) - throw new RuntimeException("Value can not be NaN"); - x = tx; - fireChangeEvent(); - return this; - } - - /** - * Sets the y. - * - * @param ty the new y - */ - public TransformNR setY(double ty) { - if (!Double.isFinite(ty)) - throw new RuntimeException("Value can not be NaN"); - y = ty; - fireChangeEvent(); - return this; - } - - /** - * Sets the z. - * - * @param tz the new z - */ - public TransformNR setZ(double tz) { - if (!Double.isFinite(tz)) - throw new RuntimeException("Value can not be NaN"); - z = tz; - fireChangeEvent(); - return this; - } - - /** - * Gets the xml. - * - * @return the xml - */ - /* - * - * Generate the xml configuration to generate an XML of this robot. - */ - public String getXml() { - String xml = - "\n\t" + getX() + "\n" + "\t" + getY() + "\n" + "\t" + getZ() + "\n"; - if (!Double.isFinite(getRotation().getRotationMatrix2QuaturnionW()) - || !Double.isFinite(getRotation().getRotationMatrix2QuaturnionX()) - || !Double.isFinite(getRotation().getRotationMatrix2QuaturnionY()) - || !Double.isFinite(getRotation().getRotationMatrix2QuaturnionZ())) { - xml += "\n\t\n"; - setRotation(new RotationNR()); - } - xml += "\t" + getRotation().getRotationMatrix2QuaturnionW() + "\n" + "\t" - + getRotation().getRotationMatrix2QuaturnionX() + "\n" + "\t" - + getRotation().getRotationMatrix2QuaturnionY() + "\n" + "\t" - + getRotation().getRotationMatrix2QuaturnionZ() + "\n"; - - return xml; - } - - /** - * Sets the rotation. - * - * @param rotation the new rotation - */ - public TransformNR setRotation(RotationNR rotation) { - this.rotation = rotation; - fireChangeEvent(); - return this; - } + /** + * Sets the x. + * + * @param tx + * the new x + */ + public TransformNR setX(double tx) { + if (!Double.isFinite(tx)) + throw new RuntimeException("Value can not be NaN"); + x = tx; + fireChangeEvent(); + return this; + } + + /** + * Sets the y. + * + * @param ty + * the new y + */ + public TransformNR setY(double ty) { + if (!Double.isFinite(ty)) + throw new RuntimeException("Value can not be NaN"); + y = ty; + fireChangeEvent(); + return this; + } + + /** + * Sets the z. + * + * @param tz + * the new z + */ + public TransformNR setZ(double tz) { + if (!Double.isFinite(tz)) + throw new RuntimeException("Value can not be NaN"); + z = tz; + fireChangeEvent(); + return this; + } + + /** + * Gets the xml. + * + * @return the xml + */ + /* + * + * Generate the xml configuration to generate an XML of this robot. + */ + public String getXml() { + String xml = "\n\t" + getX() + "\n" + "\t" + getY() + "\n" + "\t" + getZ() + "\n"; + if (!Double.isFinite(getRotation().getRotationMatrix2QuaturnionW()) + || !Double.isFinite(getRotation().getRotationMatrix2QuaturnionX()) + || !Double.isFinite(getRotation().getRotationMatrix2QuaturnionY()) + || !Double.isFinite(getRotation().getRotationMatrix2QuaturnionZ())) { + xml += "\n\t\n"; + setRotation(new RotationNR()); + } + xml += "\t" + getRotation().getRotationMatrix2QuaturnionW() + "\n" + "\t" + + getRotation().getRotationMatrix2QuaturnionX() + "\n" + "\t" + + getRotation().getRotationMatrix2QuaturnionY() + "\n" + "\t" + + getRotation().getRotationMatrix2QuaturnionZ() + "\n"; + return xml; + } + + /** + * Sets the rotation. + * + * @param rotation + * the new rotation + */ + public TransformNR setRotation(RotationNR rotation) { + this.rotation = rotation; + fireChangeEvent(); + return this; + } public void addChangeListener(ITransformNRChangeListener l) { - if(!getListeners().contains(l)) + if (!getListeners().contains(l)) getListeners().add(l); } public void removeChangeListener(ITransformNRChangeListener l) { - if(getListeners().contains(l)) + if (getListeners().contains(l)) getListeners().remove(l); } public void clearChangeListener() { getListeners().clear(); - listeners=null; + listeners = null; } public ArrayList getListeners() { - if(listeners==null) - listeners=new ArrayList(); + if (listeners == null) + listeners = new ArrayList(); return listeners; } void fireChangeEvent() { - if(listeners!=null) { - for(int i=0;i constituantLimbs = new ArrayList(); @@ -18,16 +17,16 @@ public class ParallelGroup extends DHParameterKinematics { private HashMap tipOffsetRelativeToName = new HashMap<>(); private HashMap tipOffsetRelativeIndex = new HashMap<>(); /** The cad engine. */ - private String[] toolEngine = new String[] { "https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git", - "parallelTool.groovy" }; + private String[] toolEngine = new String[]{"https://gist.github.com/33f2c10ab3adc5bd91f0a58ea7f24d14.git", + "parallelTool.groovy"}; private String name; - - public TransformNR getTipOffsetFromThisLinkInLimb(DHParameterKinematics control,int index) { + + public TransformNR getTipOffsetFromThisLinkInLimb(DHParameterKinematics control, int index) { String name = control.getScriptingName(); - for(DHParameterKinematics s:tipOffsetRelativeToName.keySet()) { + for (DHParameterKinematics s : tipOffsetRelativeToName.keySet()) { String refName = tipOffsetRelativeToName.get(s); - if(refName.contentEquals(name)) { - if(index==tipOffsetRelativeIndex.get(s)) { + if (refName.contentEquals(name)) { + if (index == tipOffsetRelativeIndex.get(s)) { return getTipOffset(s); } } @@ -37,7 +36,7 @@ public TransformNR getTipOffsetFromThisLinkInLimb(DHParameterKinematics control, public ParallelGroup(String name) { this.name = name; - if (name==null) + if (name == null) throw new RuntimeException(); } @@ -90,36 +89,40 @@ public void setupReferencedLimbStartup(DHParameterKinematics limb, TransformNR t tipOffsetRelativeToName.put(limb, name); tipOffsetRelativeIndex.put(limb, index); getTipOffset().put(limb, tip); - com.neuronrobotics.sdk.common.Log.error("Limb "+limb.getScriptingName()+" set relative to "+name); + com.neuronrobotics.sdk.common.Log.error("Limb " + limb.getScriptingName() + " set relative to " + name); } else { clearReferencedLimb(limb); - DHParameterKinematics fk=getFKLimb(); -// fk.addPoseUpdateListener(new ITaskSpaceUpdateListenerNR() { -// @Override -// public void onTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) { -// -// } -// -// @Override -// public void onTargetTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) { -// HashMap IKvalues = new HashMap<>(); -// for (DHParameterKinematics d : getConstituantLimbs()) { -// if (getTipOffset(d) != null) { -// try { -// //com.neuronrobotics.sdk.common.Log.error("Setting Kinematics for follower "+d.getScriptingName()); -// double[] jointSpaceVect = compute(d, IKvalues, pose); -// //com.neuronrobotics.sdk.common.Log.error(fk.getScriptingName()+" is Setting sublimb target "+d.getScriptingName()); -// d.throwExceptionOnJointLimit(false); -// d.setDesiredJointSpaceVector(jointSpaceVect, 0); -// } catch (Exception e) { -// // Auto-generated catch block -// e.printStackTrace(); -// } -// } -// } -// IKvalues.clear(); -// } -// }); + DHParameterKinematics fk = getFKLimb(); + // fk.addPoseUpdateListener(new ITaskSpaceUpdateListenerNR() { + // @Override + // public void onTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR pose) + // { + // + // } + // + // @Override + // public void onTargetTaskSpaceUpdate(AbstractKinematicsNR source, TransformNR + // pose) { + // HashMap IKvalues = new HashMap<>(); + // for (DHParameterKinematics d : getConstituantLimbs()) { + // if (getTipOffset(d) != null) { + // try { + // //com.neuronrobotics.sdk.common.Log.error("Setting Kinematics for follower + // "+d.getScriptingName()); + // double[] jointSpaceVect = compute(d, IKvalues, pose); + // //com.neuronrobotics.sdk.common.Log.error(fk.getScriptingName()+" is Setting + // sublimb target "+d.getScriptingName()); + // d.throwExceptionOnJointLimit(false); + // d.setDesiredJointSpaceVector(jointSpaceVect, 0); + // } catch (Exception e) { + // // Auto-generated catch block + // e.printStackTrace(); + // } + // } + // } + // IKvalues.clear(); + // } + // }); } } @@ -149,7 +152,8 @@ private double[] compute(DHParameterKinematics ldh, HashMap IK TransformNR taskSpaceTransform) throws Exception { String scriptingName = ldh.getScriptingName(); if (IKvalues.get(scriptingName) == null) { - //com.neuronrobotics.sdk.common.Log.error("Perform IK "+ldh.getScriptingName()); + // com.neuronrobotics.sdk.common.Log.error("Perform IK + // "+ldh.getScriptingName()); if (getTipOffset().get(ldh) == null) { // no offset, compute as normal double[] jointSpaceVect = ldh.inverseKinematics(ldh.inverseOffset(taskSpaceTransform)); @@ -163,9 +167,9 @@ private double[] compute(DHParameterKinematics ldh, HashMap IK throw new RuntimeException("Referenced limb missing, IK for " + ldh.getScriptingName() + " Failed looking for " + refLimbName); double[] jointSpaceVectReferenced = compute(referencedLimb, IKvalues, taskSpaceTransform); - - TransformNR transformTOLinksTip = referencedLimb.getChain().getChain(jointSpaceVectReferenced).get(index) - .times(offset.inverse()); + + TransformNR transformTOLinksTip = referencedLimb.getChain().getChain(jointSpaceVectReferenced) + .get(index).times(offset.inverse()); double[] jointSpaceVect = ldh.inverseKinematics(ldh.inverseOffset(transformTOLinksTip)); IKvalues.put(scriptingName, jointSpaceVect); } @@ -179,8 +183,9 @@ private DHParameterKinematics findReferencedLimb(String refLimbName) { if (lm.getScriptingName().toLowerCase().contentEquals(refLimbName.toLowerCase())) { // FOund the referenced limb referencedLimb = lm; - }else { - //com.neuronrobotics.sdk.common.Log.error("Searching for "+refLimbName+" no match with "+lm.getScriptingName()); + } else { + // com.neuronrobotics.sdk.common.Log.error("Searching for "+refLimbName+" no + // match with "+lm.getScriptingName()); } } return referencedLimb; @@ -189,13 +194,15 @@ private DHParameterKinematics findReferencedLimb(String refLimbName) { /** * Sets the current pose target. * - * @param currentPoseTarget the new current pose target + * @param currentPoseTarget + * the new current pose target */ @Override public void setCurrentPoseTarget(TransformNR currentPoseTarget) { if (checkTaskSpaceTransform(currentPoseTarget)) { super.setCurrentPoseTarget(currentPoseTarget); - //com.neuronrobotics.sdk.common.Log.error("Paralell set to " + currentPoseTarget); + // com.neuronrobotics.sdk.common.Log.error("Paralell set to " + + // currentPoseTarget); } } public double[] getCurrentJointSpaceVector(DHParameterKinematics k) { @@ -226,7 +233,7 @@ public double[] inverseKinematics(TransformNR taskSpaceTransform) throws Excepti return linkValues; } public void printError(TransformNR taskSpaceTransform) throws Exception { - printError(taskSpaceTransform,t -> { + printError(taskSpaceTransform, t -> { com.neuronrobotics.sdk.common.Log.error(t); }); } @@ -266,11 +273,11 @@ public void printError(TransformNR taskSpaceTransform, Consumer printer) @Override public TransformNR forwardKinematics(double[] jointSpaceVector) { for (DHParameterKinematics l : getConstituantLimbs()) { - if(l==getFKLimb()) + if (l == getFKLimb()) return l.getCurrentTaskSpaceTransform(); } - throw new RuntimeException( "FK limb is missing!"); + throw new RuntimeException("FK limb is missing!"); } /** @@ -285,7 +292,8 @@ public String[] getGitCadToolEngine() { /** * Sets the cad engine. * - * @param cadEngine the new cad engine + * @param cadEngine + * the new cad engine */ public void setGitCadToolEngine(String[] cadEngine) { if (cadEngine != null && cadEngine[0] != null && cadEngine[1] != null) @@ -296,9 +304,10 @@ public ArrayList getConstituantLimbs() { return constituantLimbs; } -// public void setConstituantLimbs(ArrayList constituantLimbs) { -// this.constituantLimbs = constituantLimbs; -// } + // public void setConstituantLimbs(ArrayList + // constituantLimbs) { + // this.constituantLimbs = constituantLimbs; + // } public HashMap getTipOffset() { return tipOffset; @@ -326,7 +335,7 @@ public void setTipOffset(HashMap tipOffset) public void removeLimb(DHParameterKinematics limb) { if (constituantLimbs.contains(limb)) { - clearReferencedLimb( limb); + clearReferencedLimb(limb); constituantLimbs.remove(limb); setFactory(new LinkFactory());// clear the links for (DHParameterKinematics remaining : constituantLimbs) { @@ -350,6 +359,4 @@ public void close() { } - - } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/ITimeProvider.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/ITimeProvider.java index f3ae9a22..38256e9e 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/ITimeProvider.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/ITimeProvider.java @@ -1,14 +1,14 @@ package com.neuronrobotics.sdk.addons.kinematics.time; public interface ITimeProvider { - //default public final long timestamp = System.currentTimeMillis(); + // default public final long timestamp = System.currentTimeMillis(); default long currentTimeMillis() { return System.currentTimeMillis(); } default void sleep(long time) throws InterruptedException { Thread.sleep(time); } - default void sleep(long ms,int ns) throws InterruptedException { - Thread.sleep(ms,ns); + default void sleep(long ms, int ns) throws InterruptedException { + Thread.sleep(ms, ns); } } diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/TimeKeeper.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/TimeKeeper.java index d527edc5..54149a69 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/TimeKeeper.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/time/TimeKeeper.java @@ -2,86 +2,100 @@ import java.util.ArrayList; - public class TimeKeeper { private static ITimeProvider mostRecent; - private ArrayList timebaseChangeListener =new ArrayList<>(); - - private ITimeProvider clock = new ITimeProvider() {}; - public void setTimeProvider(ITimeProvider t) { - if(t==null) - t= new ITimeProvider() {}; + private ArrayList timebaseChangeListener = new ArrayList<>(); + + private ITimeProvider clock = new ITimeProvider() { + }; + public void setTimeProvider(ITimeProvider t) { + if (t == null) + t = new ITimeProvider() { + }; clock = t; setMostRecent(clock); - for(int i=0;i dataBytes = new ArrayList(); - + /** * Instantiates a new byte data. * - * @param address the address + * @param address + * the address */ - public ByteData(long address){ + public ByteData(long address) { this.setAddress(address); } /** * Sets the address. * - * @param address the new address + * @param address + * the new address */ private void setAddress(long address) { this.address = address; @@ -40,20 +42,21 @@ private void setAddress(long address) { public long getStartAddress() { return address; } - + /** * Gets the end address. * * @return the end address */ public long getEndAddress() { - return address+dataBytes.size(); + return address + dataBytes.size(); } /** * Sets the data. * - * @param data the new data + * @param data + * the new data */ public void setData(byte data) { dataBytes.add(new Byte(data)); @@ -64,19 +67,21 @@ public void setData(byte data) { * * @return the data */ - public byte [] getData() { - byte [] b = new byte[dataBytes.size()]; - int i=0; - for (Byte bld:dataBytes){ - b[i++]=bld.byteValue(); + public byte[] getData() { + byte[] b = new byte[dataBytes.size()]; + int i = 0; + for (Byte bld : dataBytes) { + b[i++] = bld.byteValue(); } return b; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ - public String toString(){ - return "Address: "+address+" Number of bytes:" + dataBytes.size()+" Data: "+dataBytes; + public String toString() { + return "Address: " + address + " Number of bytes:" + dataBytes.size() + " Data: " + dataBytes; } } diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/Core.java b/src/main/java/com/neuronrobotics/sdk/bootloader/Core.java index 7988363b..bb9d4204 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/Core.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/Core.java @@ -11,65 +11,72 @@ * The Class Core. */ public class Core { - + /** The index. */ private int index; - + /** The type. */ private NRBootCoreType type; - + /** The lines. */ private ArrayList lines = new ArrayList(); - + /** * Instantiates a new core. * - * @param core the core - * @param lines the lines - * @param type the type + * @param core + * the core + * @param lines + * the lines + * @param type + * the type */ - public Core(int core,ArrayList lines,NRBootCoreType type){ + public Core(int core, ArrayList lines, NRBootCoreType type) { setIndex(core); this.setType(type); - this.lines=lines; + this.lines = lines; } - + /** * Instantiates a new core. * - * @param core the core - * @param file the file - * @param type the type + * @param core + * the core + * @param file + * the file + * @param type + * the type */ - public Core(int core,String file, NRBootCoreType type){ + public Core(int core, String file, NRBootCoreType type) { setIndex(core); this.setType(type); try { ArrayList tmp = new ArrayList(); - // Get the object of DataInputStream - DataInputStream in = new DataInputStream(new FileInputStream(file)); - BufferedReader br = new BufferedReader(new InputStreamReader(in)); - String strLine; - while ((strLine = br.readLine()) != null) { - // Print the content on the console - try { + // Get the object of DataInputStream + DataInputStream in = new DataInputStream(new FileInputStream(file)); + BufferedReader br = new BufferedReader(new InputStreamReader(in)); + String strLine; + while ((strLine = br.readLine()) != null) { + // Print the content on the console + try { tmp.add(new hexLine(strLine)); } catch (Exception e) { com.neuronrobotics.sdk.common.Log.error("This is not a valid hex file"); } - } - //Close the input stream - in.close(); + } + // Close the input stream + in.close(); setLines(tmp); - }catch (Exception e) { - ////com.neuronrobotics.sdk.common.Log.error("File not found!!"); + } catch (Exception e) { + //// com.neuronrobotics.sdk.common.Log.error("File not found!!"); } } /** * Sets the index. * - * @param index the new index + * @param index + * the new index */ public void setIndex(int index) { this.index = index; @@ -87,7 +94,8 @@ public int getIndex() { /** * Sets the type. * - * @param type the new type + * @param type + * the new type */ public void setType(NRBootCoreType type) { this.type = type; @@ -105,7 +113,8 @@ public NRBootCoreType getType() { /** * Sets the lines. * - * @param lines the new lines + * @param lines + * the new lines */ public void setLines(ArrayList lines) { this.lines = lines; @@ -119,12 +128,14 @@ public void setLines(ArrayList lines) { public ArrayList getLines() { return lines; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ @Override public String toString() { - return "Core: "+index+" of type: "+type; + return "Core: " + index + " of type: " + type; } } diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/Hexml.java b/src/main/java/com/neuronrobotics/sdk/bootloader/Hexml.java index cd62f8a8..8007305e 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/Hexml.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/Hexml.java @@ -13,104 +13,111 @@ import org.w3c.dom.Node; import org.w3c.dom.NodeList; import org.xml.sax.SAXException; - // Auto-generated Javadoc /** * The Class Hexml. */ public class Hexml { - + /** The cores. */ ArrayList cores = new ArrayList(); - + /** The revision. */ - private String revision=""; - + private String revision = ""; + /** * Instantiates a new hexml. * - * @param hexml the hexml - * @throws ParserConfigurationException the parser configuration exception - * @throws SAXException the SAX exception - * @throws IOException Signals that an I/O exception has occurred. + * @param hexml + * the hexml + * @throws ParserConfigurationException + * the parser configuration exception + * @throws SAXException + * the SAX exception + * @throws IOException + * Signals that an I/O exception has occurred. */ - public Hexml(File hexml) throws ParserConfigurationException, SAXException, IOException{ + public Hexml(File hexml) throws ParserConfigurationException, SAXException, IOException { /** * sample code from * http://www.mkyong.com/java/how-to-read-xml-file-in-java-dom-parser/ */ DocumentBuilderFactory dbFactory = DocumentBuilderFactory.newInstance(); - DocumentBuilder dBuilder; - Document doc = null; - + DocumentBuilder dBuilder; + Document doc = null; + dBuilder = dbFactory.newDocumentBuilder(); doc = dBuilder.parse(hexml); doc.getDocumentElement().normalize(); - ////com.neuronrobotics.sdk.common.Log.error("Root element :" + doc.getDocumentElement().getNodeName()); + //// com.neuronrobotics.sdk.common.Log.error("Root element :" + + //// doc.getDocumentElement().getNodeName()); loadRevision(doc); - //NodeList nList = doc.getElementsByTagName("revision"); - //revision = getTagValue("revision",(Element)nList.item(0)); - ////com.neuronrobotics.sdk.common.Log.error("Revision is:"+revision); + // NodeList nList = doc.getElementsByTagName("revision"); + // revision = getTagValue("revision",(Element)nList.item(0)); + //// com.neuronrobotics.sdk.common.Log.error("Revision is:"+revision); NodeList nList = doc.getElementsByTagName("core"); for (int temp = 0; temp < nList.getLength(); temp++) { - Node nNode = nList.item(temp); - if (nNode.getNodeType() == Node.ELEMENT_NODE) { - Element eElement = (Element) nNode; - int index = Integer.parseInt(getTagValue("index",eElement)); - //int word = Integer.parseInt(getTagValue("wordSize",eElement)); - NRBootCoreType type = NRBootCoreType.find(getTagValue("type",eElement)); - if (type == null) { - com.neuronrobotics.sdk.common.Log.error("Failed to get a core type for: "+getTagValue("type",eElement)); - continue; - } - String hexFile = getTagValue("hex",eElement); - ArrayList lines=new ArrayList(); - String[] tokens = hexFile.split("\n"); - for (int i=0;i lines = new ArrayList(); + String[] tokens = hexFile.split("\n"); + for (int i = 0; i < tokens.length; i++) { + try { lines.add(new hexLine(tokens[i])); } catch (Exception e) { // Auto-generated catch block e.printStackTrace(); } - } - Core tmp = new Core(index, lines, type); - ////com.neuronrobotics.sdk.common.Log.error("Adding new core: "+tmp); - cores.add(tmp); - } - } - + } + Core tmp = new Core(index, lines, type); + //// com.neuronrobotics.sdk.common.Log.error("Adding new core: "+tmp); + cores.add(tmp); + } + } } - + /** * Load revision. * - * @param doc the doc + * @param doc + * the doc */ private void loadRevision(Document doc) { - try{ - NodeList nlList= doc.getElementsByTagName("revision").item(0).getChildNodes(); - Node nValue = (Node) nlList.item(0); - revision = nValue.getNodeValue(); - }catch(NullPointerException e){ + try { + NodeList nlList = doc.getElementsByTagName("revision").item(0).getChildNodes(); + Node nValue = (Node) nlList.item(0); + revision = nValue.getNodeValue(); + } catch (NullPointerException e) { revision = "0.0.0"; } } - + /** * Gets the tag value. * - * @param sTag the s tag - * @param eElement the e element + * @param sTag + * the s tag + * @param eElement + * the e element * @return the tag value */ - private static String getTagValue(String sTag, Element eElement){ - NodeList nlList= eElement.getElementsByTagName(sTag).item(0).getChildNodes(); - Node nValue = (Node) nlList.item(0); - return nValue.getNodeValue(); + private static String getTagValue(String sTag, Element eElement) { + NodeList nlList = eElement.getElementsByTagName(sTag).item(0).getChildNodes(); + Node nValue = (Node) nlList.item(0); + return nValue.getNodeValue(); } /** @@ -118,10 +125,10 @@ private static String getTagValue(String sTag, Element eElement){ * * @return the cores */ - public ArrayList getCores(){ + public ArrayList getCores() { return cores; } - + /** * Gets the revision. * diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java b/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java index 540b8f35..5eff426f 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/IntelHexParser.java @@ -1,5 +1,5 @@ /** - * + * */ package com.neuronrobotics.sdk.bootloader; @@ -16,132 +16,138 @@ * @author hephaestus */ public class IntelHexParser { - + /** The high address. */ - private long highAddress=0; - + private long highAddress = 0; + /** The packet list. */ ArrayList packetList = new ArrayList(); - + /** The data index. */ - private long dataIndex=0; - + private long dataIndex = 0; + /** The base. */ private long base = 0x1D00A000L; - + /** The head. */ - private long head = 0x1D01FFFFL; - + private long head = 0x1D01FFFFL; + /** * Hex. * - * @param n the n + * @param n + * the n * @return the string */ public static String hex(long n) { - // call toUpperCase() if that's required - return String.format(Locale.US,"0x%8s", Long.toHexString(n)).replace(' ', '0'); + // call toUpperCase() if that's required + return String.format(Locale.US, "0x%8s", Long.toHexString(n)).replace(' ', '0'); } - + /** * Check address validity. * - * @param currentAddress the current address - * @param type the type + * @param currentAddress + * the current address + * @param type + * the type */ - private void checkAddressValidity(long currentAddress, NRBootCoreType type){ - if(type==NRBootCoreType.PIC32){ - if(currentAddress>head ){ - throw new RuntimeException("Address "+hex(currentAddress)+" is larger than "+hex(head)); + private void checkAddressValidity(long currentAddress, NRBootCoreType type) { + if (type == NRBootCoreType.PIC32) { + if (currentAddress > head) { + throw new RuntimeException("Address " + hex(currentAddress) + " is larger than " + hex(head)); + } + if (currentAddress < base) { + throw new RuntimeException("Address " + hex(currentAddress) + " is less than " + hex(base)); } - if(currentAddress lines, NRBootCoreType type) throws IOException{ - ByteData tmp=null; - hexLine previousLine=null; - for (hexLine l : lines){ - long currentAddress; - long endOfLastAddress = 0; - - if (l.getRecordType()==4){ - byte[] haddr=l.getDataBytes(); - highAddress = ByteList.convertToInt(haddr, false)*65536; - ////com.neuronrobotics.sdk.common.Log.error("High Address :" + highAddress); - } if (l.getRecordType()==0){ - - l.setHighAddress(highAddress); - ////com.neuronrobotics.sdk.common.Log.error(l); - - currentAddress=l.getStartAddress(); - checkAddressValidity(currentAddress,type); - if (previousLine != null){ - endOfLastAddress = previousLine.getEndAddress(); - } - boolean isSequential = (currentAddress==(endOfLastAddress)); - if(tmp==null){ - tmp = new ByteData(currentAddress); - } - if(type==NRBootCoreType.PIC32){ - if(!isSequential||(tmp.getData().length > 50)){ - packetList.add(tmp); - tmp = new ByteData(currentAddress); - } - } - for (byte b : l.getDataBytes()){ - if(type == NRBootCoreType.AVRxx4p){ - if(!isSequential||(tmp.getData().length == 128)){ - packetList.add(tmp); - tmp = new ByteData(currentAddress); - } - } - tmp.setData(b); - - currentAddress++; - - checkAddressValidity(currentAddress,type); - } - previousLine=l; - } - - - } - if (tmp.getData().length!=0){ - packetList.add(tmp); - } - + public IntelHexParser(ArrayList lines, NRBootCoreType type) throws IOException { + ByteData tmp = null; + hexLine previousLine = null; + for (hexLine l : lines) { + long currentAddress; + long endOfLastAddress = 0; + + if (l.getRecordType() == 4) { + byte[] haddr = l.getDataBytes(); + highAddress = ByteList.convertToInt(haddr, false) * 65536; + //// com.neuronrobotics.sdk.common.Log.error("High Address :" + highAddress); + } + if (l.getRecordType() == 0) { + + l.setHighAddress(highAddress); + //// com.neuronrobotics.sdk.common.Log.error(l); + + currentAddress = l.getStartAddress(); + checkAddressValidity(currentAddress, type); + if (previousLine != null) { + endOfLastAddress = previousLine.getEndAddress(); + } + boolean isSequential = (currentAddress == (endOfLastAddress)); + if (tmp == null) { + tmp = new ByteData(currentAddress); + } + if (type == NRBootCoreType.PIC32) { + if (!isSequential || (tmp.getData().length > 50)) { + packetList.add(tmp); + tmp = new ByteData(currentAddress); + } + } + for (byte b : l.getDataBytes()) { + if (type == NRBootCoreType.AVRxx4p) { + if (!isSequential || (tmp.getData().length == 128)) { + packetList.add(tmp); + tmp = new ByteData(currentAddress); + } + } + tmp.setData(b); + + currentAddress++; + + checkAddressValidity(currentAddress, type); + } + previousLine = l; + } + + } + if (tmp.getData().length != 0) { + packetList.add(tmp); + } + } - + /** * Size. * * @return the int */ - public int size(){ + public int size() { return packetList.size(); } - + /** * Gets the next. * * @return the next */ - public ByteData getNext(){ - if (dataIndex < packetList.size()){ + public ByteData getNext() { + if (dataIndex < packetList.size()) { return packetList.get((int) dataIndex++); } return null; } - + } diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBoot.java b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBoot.java index 6bbe8fec..5eaf9b7b 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBoot.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBoot.java @@ -1,12 +1,10 @@ package com.neuronrobotics.sdk.bootloader; - import java.io.IOException; import java.util.ArrayList; import javax.swing.JOptionPane; -import com.neuronrobotics.sdk.common.BowlerAbstractConnection; import com.neuronrobotics.sdk.common.BowlerAbstractDevice; import com.neuronrobotics.sdk.serial.SerialConnection; @@ -15,130 +13,140 @@ * The Class NRBoot. */ public class NRBoot { - + /** The boot. */ private NRBootLoader boot; - + /** The loader. */ private CoreLoader loader; - + /** The progress max. */ - private int progressMax=0; - + private int progressMax = 0; + /** The progress value. */ - private int progressValue=0; - + private int progressValue = 0; + /** * Instantiates a new NR boot. * - * @param pm the pm + * @param pm + * the pm */ - public NRBoot(BowlerAbstractDevice pm){ + public NRBoot(BowlerAbstractDevice pm) { try { - boot=(NRBootLoader)pm; - }catch(RuntimeException e) { - //e.printStackTrace(); + boot = (NRBootLoader) pm; + } catch (RuntimeException e) { + // e.printStackTrace(); String message = "Not a bootloader device"; - //JOptionPane.showMessageDialog(null, message, message, JOptionPane.ERROR_MESSAGE); - throw e; + // JOptionPane.showMessageDialog(null, message, message, + // JOptionPane.ERROR_MESSAGE); + throw e; } - //com.neuronrobotics.sdk.common.Log.error("Connection to bowler device ready"); + // com.neuronrobotics.sdk.common.Log.error("Connection to bowler device ready"); } - + /** * Instantiates a new NR boot. * - * @param serialPort the serial port + * @param serialPort + * the serial port */ - public NRBoot(String serialPort){ - this.boot=new NRBootLoader(new SerialConnection(serialPort)); + public NRBoot(String serialPort) { + this.boot = new NRBootLoader(new SerialConnection(serialPort)); boot.connect(); - if (boot.ping()){ - //com.neuronrobotics.sdk.common.Log.error("Connection to bowler device ready"); + if (boot.ping()) { + // com.neuronrobotics.sdk.common.Log.error("Connection to bowler device ready"); return; } - //com.neuronrobotics.sdk.common.Log.error("Not a Bowler Device"); + // com.neuronrobotics.sdk.common.Log.error("Not a Bowler Device"); boot.disconnect(); - boot=null; + boot = null; } - + /** * Load. * - * @param core the core + * @param core + * the core * @return true, if successful */ public boolean load(Core core) { - + String id = getDevice().getBootloaderID(); - if (id==null){ + if (id == null) { com.neuronrobotics.sdk.common.Log.error("Device is not a bootloader"); return false; - }else if (id.contains(core.getType().getReadableName())) { - //com.neuronrobotics.sdk.common.Log.error("Bootloader ID:"+core.getType().getReadableName()); - }else{ - com.neuronrobotics.sdk.common.Log.error("##core is Invalid##\nExpected:"+core.getType().getReadableName()+" got: "+id); + } else if (id.contains(core.getType().getReadableName())) { + // com.neuronrobotics.sdk.common.Log.error("Bootloader + // ID:"+core.getType().getReadableName()); + } else { + com.neuronrobotics.sdk.common.Log + .error("##core is Invalid##\nExpected:" + core.getType().getReadableName() + " got: " + id); return false; } - + IntelHexParser parse = getParser(core); - if(parse==null) + if (parse == null) return false; - send(parse,core.getIndex()); + send(parse, core.getIndex()); return true; } - + /** * Gets the parser. * - * @param core the core + * @param core + * the core * @return the parser */ private IntelHexParser getParser(Core core) { try { - return new IntelHexParser(core.getLines(),core.getType()); + return new IntelHexParser(core.getLines(), core.getType()); } catch (IOException e) { return null; } } - + /** * Send. * - * @param parse the parse - * @param core the core + * @param parse + * the parse + * @param core + * the core */ - private void send(IntelHexParser parse,int core){ + private void send(IntelHexParser parse, int core) { boot.erase(core); - //com.neuronrobotics.sdk.common.Log.error("Writing to flash"); - int printLine=0; + // com.neuronrobotics.sdk.common.Log.error("Writing to flash"); + int printLine = 0; ByteData line = parse.getNext(); - while (line != null){ - - if(!boot.write(core, line)){ - //com.neuronrobotics.sdk.common.Log.error("Failed to write, is the device in bootloader mode?"); + while (line != null) { + + if (!boot.write(core, line)) { + // com.neuronrobotics.sdk.common.Log.error("Failed to write, is the device in + // bootloader mode?"); return; } line = parse.getNext(); - //System.out.print("."); + // System.out.print("."); progressValue++; printLine++; - if (printLine>100){ - printLine=0; - //System.out.print("\n"); + if (printLine > 100) { + printLine = 0; + // System.out.print("\n"); } } - //System.out.print("\n"); + // System.out.print("\n"); } - + /** * Reset. */ - public void reset(){ - try{ + public void reset() { + try { boot.reset(); - }catch(Exception e){ + } catch (Exception e) { boot.disconnect(); } } @@ -151,17 +159,18 @@ public void reset(){ public NRBootLoader getDevice() { return boot; } - + /** * Load cores. * - * @param cores the cores + * @param cores + * the cores */ public void loadCores(ArrayList cores) { loader = new CoreLoader(cores); loader.start(); } - + /** * Checks if is load done. * @@ -170,52 +179,55 @@ public void loadCores(ArrayList cores) { public boolean isLoadDone() { return loader.isDone; } - + /** * The Class CoreLoader. */ - private class CoreLoader extends Thread{ - + private class CoreLoader extends Thread { + /** The cores. */ ArrayList cores; - + /** The is done. */ - public boolean isDone=false; - + public boolean isDone = false; + /** The val. */ - public int val=0; - + public int val = 0; + /** * Instantiates a new core loader. * - * @param cores the cores + * @param cores + * the cores */ - public CoreLoader(ArrayList cores){ - this.cores=cores; - progressMax=0; - for (Core b:cores){ + public CoreLoader(ArrayList cores) { + this.cores = cores; + progressMax = 0; + for (Core b : cores) { progressMax += getParser(b).size(); } - progressValue=0; + progressValue = 0; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Thread#run() */ public void run() { try { - for (Core b:cores){ + for (Core b : cores) { val++; load(b); } reset(); - }catch(Exception e) { + } catch (Exception e) { e.printStackTrace(); String message = "This device is not a bootloader"; - JOptionPane.showMessageDialog(null, message, message, JOptionPane.ERROR_MESSAGE); + JOptionPane.showMessageDialog(null, message, message, JOptionPane.ERROR_MESSAGE); } - progressValue=0; - isDone=true; + progressValue = 0; + isDone = true; } } @@ -228,7 +240,7 @@ public int getProgressMax() { // Auto-generated method stub return progressMax; } - + /** * Gets the progress value. * diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootCoreType.java b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootCoreType.java index 5a83839b..34b47e4c 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootCoreType.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootCoreType.java @@ -5,24 +5,26 @@ * The Enum NRBootCoreType. */ public enum NRBootCoreType { - + /** The AV rxx4p. */ - AVRxx4p (2, "avr_atmegaXX4p"), - + AVRxx4p(2, "avr_atmegaXX4p"), + /** The PI c32. */ - PIC32 (4, "pic32mx440f128h"); - + PIC32(4, "pic32mx440f128h"); + /** The bytes per word. */ private int bytesPerWord; - + /** The readable name. */ private String readableName; - + /** * Instantiates a new NR boot core type. * - * @param bytesPerWord the bytes per word - * @param name the name + * @param bytesPerWord + * the bytes per word + * @param name + * the name */ private NRBootCoreType(int bytesPerWord, String name) { this.setBytesPerWord(bytesPerWord); @@ -32,7 +34,8 @@ private NRBootCoreType(int bytesPerWord, String name) { /** * Sets the bytes per word. * - * @param bytesPerWord the new bytes per word + * @param bytesPerWord + * the new bytes per word */ public void setBytesPerWord(int bytesPerWord) { this.bytesPerWord = bytesPerWord; @@ -50,7 +53,8 @@ public int getBytesPerWord() { /** * Sets the readable name. * - * @param readableName the new readable name + * @param readableName + * the new readable name */ public void setReadableName(String readableName) { this.readableName = readableName; @@ -68,20 +72,23 @@ public String getReadableName() { /** * Find. * - * @param tagValue the tag value + * @param tagValue + * the tag value * @return the NR boot core type */ public static NRBootCoreType find(String tagValue) { - if (NRBootCoreType.AVRxx4p.getReadableName().toLowerCase().contentEquals(tagValue.toLowerCase())){ + if (NRBootCoreType.AVRxx4p.getReadableName().toLowerCase().contentEquals(tagValue.toLowerCase())) { return NRBootCoreType.AVRxx4p; } - if (NRBootCoreType.PIC32.getReadableName().toLowerCase().contentEquals(tagValue.toLowerCase())){ + if (NRBootCoreType.PIC32.getReadableName().toLowerCase().contentEquals(tagValue.toLowerCase())) { return NRBootCoreType.PIC32; } return null; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Enum#toString() */ @Override diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootLoader.java b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootLoader.java index 15912f3a..dff154b8 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootLoader.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/NRBootLoader.java @@ -1,5 +1,5 @@ /** - * + * */ package com.neuronrobotics.sdk.bootloader; @@ -22,101 +22,108 @@ * @author hephaestus */ public class NRBootLoader extends BowlerAbstractDevice { - + /** * Instantiates a new NR boot loader. * - * @param serialConnection the serial connection + * @param serialConnection + * the serial connection */ public NRBootLoader(BowlerAbstractConnection serialConnection) { setConnection(serialConnection); - - if(!connect()) { + + if (!connect()) { throw new RuntimeException("Failed to connect bootloader"); } - //Log.enableDebugPrint(true); - //Log.enableSystemPrint(true); + // Log.enableDebugPrint(true); + // Log.enableSystemPrint(true); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#connect() */ @Override public boolean connect() { - if(super.connect()) { - //com.neuronrobotics.sdk.common.Log.error("Connect OK"); + if (super.connect()) { + // com.neuronrobotics.sdk.common.Log.error("Connect OK"); try { getBootloaderID(); - }catch (Exception e) { - //com.neuronrobotics.sdk.common.Log.error("Failed bootloader test"); + } catch (Exception e) { + // com.neuronrobotics.sdk.common.Log.error("Failed bootloader test"); disconnect(); } } getConnection().setSynchronusPacketTimeoutTime(3000); return isAvailable(); - //Log.enableDebugPrint(true); - //Log.enableSystemPrint(true); + // Log.enableDebugPrint(true); + // Log.enableSystemPrint(true); } - + /** * Gets the bootloader id. * * @return the bootloader id */ - public String getBootloaderID(){ + public String getBootloaderID() { BowlerDatagram back = send(new BootloaderIDCommand()); - if (back==null) + if (back == null) return null; String s = new String(); - for (Byte b : back.getData()){ - s+=(char)b.byteValue(); - } + for (Byte b : back.getData()) { + s += (char) b.byteValue(); + } return s; } - + /** * Write. * - * @param core the core - * @param flashData the flash data + * @param core + * the core + * @param flashData + * the flash data * @return true, if successful */ - public boolean write(int core, ByteData flashData){ - BowlerDatagram b=null; - for (int i=0;i<10;i++){ - try{ - b = send(new ProgramSectionCommand(core,(int) flashData.getStartAddress(),new ByteList(flashData.getData()))); - }catch (Exception e){ + public boolean write(int core, ByteData flashData) { + BowlerDatagram b = null; + for (int i = 0; i < 10; i++) { + try { + b = send(new ProgramSectionCommand(core, (int) flashData.getStartAddress(), + new ByteList(flashData.getData()))); + } catch (Exception e) { e.printStackTrace(); - b=null; + b = null; } - if (b!=null){ - if(!b.getRPC().contains("_err")) + if (b != null) { + if (!b.getRPC().contains("_err")) return true; } } com.neuronrobotics.sdk.common.Log.error("\nFailed to send 10 times!\n"); return false; } - + /** * Erase. * - * @param core the core + * @param core + * the core * @return true, if successful */ - public boolean erase(int core){ + public boolean erase(int core) { return send(new EraseFlashCommand(core)) != null; } - + /** * Reset. */ - public void reset(){ - //We expect this to fail the connection. - //No response is expected - //Disconnect afterwards - BowlerDatagram bd =BowlerDatagramFactory.build(getAddress(), new ResetChipCommand()); + public void reset() { + // We expect this to fail the connection. + // No response is expected + // Disconnect afterwards + BowlerDatagram bd = BowlerDatagramFactory.build(getAddress(), new ResetChipCommand()); try { getConnection().sendAsync(bd); getConnection().getDataOuts().flush(); @@ -127,16 +134,23 @@ public void reset(){ disconnect(); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAllResponse(com.neuronrobotics.sdk.common.BowlerDatagram) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAllResponse(com. + * neuronrobotics.sdk.common.BowlerDatagram) */ public void onAllResponse(BowlerDatagram data) { // Auto-generated method stub - ////com.neuronrobotics.sdk.common.Log.error(data); + //// com.neuronrobotics.sdk.common.Log.error(data); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com.neuronrobotics.sdk.common.BowlerDatagram) + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com. + * neuronrobotics.sdk.common.BowlerDatagram) */ public void onAsyncResponse(BowlerDatagram data) { // Auto-generated method stub diff --git a/src/main/java/com/neuronrobotics/sdk/bootloader/hexLine.java b/src/main/java/com/neuronrobotics/sdk/bootloader/hexLine.java index 80ca8289..dc408866 100644 --- a/src/main/java/com/neuronrobotics/sdk/bootloader/hexLine.java +++ b/src/main/java/com/neuronrobotics/sdk/bootloader/hexLine.java @@ -8,25 +8,25 @@ * The Class hexLine. */ public class hexLine { - + /** The data bytes. */ private ArrayList dataBytes = new ArrayList(); - + /** The address. */ private int address; - + /** The byte count. */ private int byteCount; - + /** The record type. */ private int recordType; - + /** The check sum. */ private int checkSum; - + /** The has set high address. */ - private boolean hasSetHighAddress=false; - + private boolean hasSetHighAddress = false; + /** * Gets the check sum. * @@ -39,32 +39,34 @@ public int getCheckSum() { /** * Instantiates a new hex line. * - * @param s the s - * @throws Exception the exception + * @param s + * the s + * @throws Exception + * the exception */ - public hexLine(String s) throws Exception{ + public hexLine(String s) throws Exception { char data[] = s.toCharArray(); - if ((data.length<11)||data[0]!=':') + if ((data.length < 11) || data[0] != ':') throw new Exception("This line is not a hex line"); - - char[] bc={data[1],data[2]}; - byteCount = Integer.parseInt(new String(bc), 16); - - char[] ad={data[3],data[4],data[5],data[6]}; - address = Integer.parseInt(new String(ad), 16); - - char[] rt={data[7],data[8]}; - recordType = Integer.parseInt(new String(rt), 16); - - char[] cs={data[data.length-2],data[data.length-1]}; - checkSum = Integer.parseInt(new String(cs), 16); - - for (int i=0;i bl){ - byte [] b = new byte[bl.size()]; - int i=0; - for (Byte bld:bl){ - b[i++]=bld.byteValue(); + private byte[] dataToArray(ArrayList bl) { + byte[] b = new byte[bl.size()]; + int i = 0; + for (Byte bld : bl) { + b[i++] = bld.byteValue(); } return b; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ - public String toString(){ - String s=""; - if (getRecordType()==0){ - s+="Address = "+getStartAddress(); - s+=" Data: ["; - for (byte b: getDataBytes()){ - s+=b+","; + public String toString() { + String s = ""; + if (getRecordType() == 0) { + s += "Address = " + getStartAddress(); + s += " Data: ["; + for (byte b : getDataBytes()) { + s += b + ","; } - s+="]"; - }else if (getRecordType()==4){ - s="High Address Set: "; + s += "]"; + } else if (getRecordType() == 4) { + s = "High Address Set: "; } return s; } - + } diff --git a/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java b/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java index f80338ed..cb37f2f7 100644 --- a/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/bowlercam/device/BowlerCamDevice.java @@ -1,6 +1,5 @@ package com.neuronrobotics.sdk.bowlercam.device; - import java.awt.Color; import java.awt.Graphics2D; import java.awt.image.BufferedImage; @@ -19,137 +18,148 @@ import com.neuronrobotics.sdk.common.BowlerDatagram; import com.neuronrobotics.sdk.common.ByteList; import com.neuronrobotics.sdk.common.Log; -import com.neuronrobotics.sdk.util.ThreadUtil; // Auto-generated Javadoc /** * The Class BowlerCamDevice. */ public class BowlerCamDevice extends BowlerAbstractDevice { - + /** The tmp. */ private ByteList tmp = new ByteList(); - + /** The image listeners. */ - //private String srvUrl = null; - private ArrayList imageListeners = new ArrayList(); - + // private String srvUrl = null; + private ArrayList imageListeners = new ArrayList(); + /** The captures. */ - private ArrayList captures= new ArrayList (); - + private ArrayList captures = new ArrayList(); + /** The images. */ - private ArrayList images = new ArrayList(); - + private ArrayList images = new ArrayList(); + /** The urls. */ - private ArrayList urls = new ArrayList (); - + private ArrayList urls = new ArrayList(); + /** The mark. */ - private ArrayList mark = new ArrayList (); - + private ArrayList mark = new ArrayList(); + /** The got last mark. */ private boolean gotLastMark = false; - + /** * Adds the webcam image listener. * - * @param l the l + * @param l + * the l */ - //private highSpeedAutoCapture hsac = null; - public void addWebcamImageListener(IWebcamImageListener l){ - if(!imageListeners.contains(l)) + // private highSpeedAutoCapture hsac = null; + public void addWebcamImageListener(IWebcamImageListener l) { + if (!imageListeners.contains(l)) imageListeners.add(l); } - + /** * Fire i webcam image listener event. * - * @param camera the camera - * @param im the im + * @param camera + * the camera + * @param im + * the im */ - private void fireIWebcamImageListenerEvent(int camera,BufferedImage im){ - for(IWebcamImageListener l:imageListeners){ - l.onNewImage(camera,im); + private void fireIWebcamImageListenerEvent(int camera, BufferedImage im) { + for (IWebcamImageListener l : imageListeners) { + l.onNewImage(camera, im); } } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#onAllResponse(com.neuronrobotics.sdk.common.BowlerDatagram) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#onAllResponse(com. + * neuronrobotics.sdk.common.BowlerDatagram) */ public void onAllResponse(BowlerDatagram data) { // Auto-generated method stub } - + /** * Gets the high speed image. * - * @param cam the cam + * @param cam + * the cam * @return the high speed image - * @throws MalformedURLException the malformed url exception - * @throws IOException Signals that an I/O exception has occurred. + * @throws MalformedURLException + * the malformed url exception + * @throws IOException + * Signals that an I/O exception has occurred. */ public BufferedImage getHighSpeedImage(int cam) throws MalformedURLException, IOException { - //com.neuronrobotics.sdk.common.Log.error("Getting HighSpeedImage"); - while(urls.size()<(cam+1) && isAvailable()){ - Log.info("Adding dummy url: "+urls.size()); + // com.neuronrobotics.sdk.common.Log.error("Getting HighSpeedImage"); + while (urls.size() < (cam + 1) && isAvailable()) { + Log.info("Adding dummy url: " + urls.size()); urls.add(null); } - while(images.size() <(cam+1) && isAvailable()){ - Log.info("Adding dummy image: "+images); + while (images.size() < (cam + 1) && isAvailable()) { + Log.info("Adding dummy image: " + images); images.add(null); } - if(urls.get(cam) == null){ - //com.neuronrobotics.sdk.common.Log.error("URL List element is empty: "+urls); - urls.set(cam,getImageServerURL(cam)); + if (urls.get(cam) == null) { + // com.neuronrobotics.sdk.common.Log.error("URL List element is empty: "+urls); + urls.set(cam, getImageServerURL(cam)); } try { - //com.neuronrobotics.sdk.common.Log.error("Reading: "+urls.get(cam) ); + // com.neuronrobotics.sdk.common.Log.error("Reading: "+urls.get(cam) ); ImageReader ir = new ImageReader(cam); ir.start(); long start = currentTimeMillis(); - while(((currentTimeMillis()-start)<200) && ir.isDone()==false){ + while (((currentTimeMillis() - start) < 200) && ir.isDone() == false) { wait(5); } - if(!ir.isDone()) + if (!ir.isDone()) Log.error("Image read timed out"); - }catch(Exception ex) { - //Log.error("Image capture failed"); + } catch (Exception ex) { + // Log.error("Image capture failed"); } return images.get(cam); } - + /** * The Class ImageReader. */ - private class ImageReader extends Thread{ - + private class ImageReader extends Thread { + /** The cam. */ int cam; - + /** The done. */ - private boolean done=false; - + private boolean done = false; + /** * Instantiates a new image reader. * - * @param cam the cam + * @param cam + * the cam */ - public ImageReader(int cam){ - this.cam=cam; + public ImageReader(int cam) { + this.cam = cam; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Thread#run() */ - public void run(){ - try { - images.set(cam,ImageIO.read(new URL(urls.get(cam)))); - } catch (Exception e) { - Log.error("Image Read threw an exception: "+e.getMessage()); - } - done=(true); + public void run() { + try { + images.set(cam, ImageIO.read(new URL(urls.get(cam)))); + } catch (Exception e) { + Log.error("Image Read threw an exception: " + e.getMessage()); + } + done = (true); } - + /** * Checks if is done. * @@ -159,150 +169,169 @@ public boolean isDone() { return done; } } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com.neuronrobotics.sdk.common.BowlerDatagram) + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com. + * neuronrobotics.sdk.common.BowlerDatagram) */ public void onAsyncResponse(BowlerDatagram data) { - if(data.getRPC().contains("_img")){ + if (data.getRPC().contains("_img")) { ByteList d = data.getData(); int camera = ByteList.convertToInt(d.popList(2)); int index = ByteList.convertToInt(d.popList(2)); int total = ByteList.convertToInt(d.popList(2)); - byte [] imgData = d.popList(d.size()); - Log.info("Got image chunk\n"+data+"\nindex: "+index+", total: "+total+", len: "+imgData.length); - synchronized(tmp) { + byte[] imgData = d.popList(d.size()); + Log.info("Got image chunk\n" + data + "\nindex: " + index + ", total: " + total + ", len: " + + imgData.length); + synchronized (tmp) { tmp.add(imgData); } - if(index == (total)){ - ////com.neuronrobotics.sdk.common.Log.error("Making image"); - BufferedImage image=null; + if (index == (total)) { + //// com.neuronrobotics.sdk.common.Log.error("Making image"); + BufferedImage image = null; try { - synchronized(tmp) { + synchronized (tmp) { image = ByteArrayToImage(tmp.getBytes()); } } catch (IOException e1) { // Auto-generated catch block e1.printStackTrace(); - image=null; + image = null; } - synchronized(tmp) { + synchronized (tmp) { tmp.clear(); } images.set(camera, image); - fireIWebcamImageListenerEvent(camera,images.get(camera)); - //com.neuronrobotics.sdk.common.Log.error("Image OK"); + fireIWebcamImageListenerEvent(camera, images.get(camera)); + // com.neuronrobotics.sdk.common.Log.error("Image OK"); } - + } - if(data.getRPC().contains("blob")){ + if (data.getRPC().contains("blob")) { int x = ByteList.convertToInt(data.getData().getBytes(0, 4)); int y = ByteList.convertToInt(data.getData().getBytes(4, 4)); int r = ByteList.convertToInt(data.getData().getBytes(8, 4)); - if(x==0 && y == 0 && r == 0){ + if (x == 0 && y == 0 && r == 0) { gotLastMark = true; - return; + return; } - mark.add(new ItemMarker(x,y,r)); + mark.add(new ItemMarker(x, y, r)); } } - + /** * Update image. * - * @param chan the chan - * @param scale the scale + * @param chan + * the chan + * @param scale + * the scale * @return true, if successful */ - public boolean updateImage(int chan, double scale){ - return send(new ImageCommand(chan, scale))==null; + public boolean updateImage(int chan, double scale) { + return send(new ImageCommand(chan, scale)) == null; } - + /** * Gets the image server url. * - * @param chan the chan + * @param chan + * the chan * @return the image server url */ - public String getImageServerURL(int chan){ - //Log.info("Requesting image server URL"); - while(urls.size() < (chan+1) && isAvailable()){ + public String getImageServerURL(int chan) { + // Log.info("Requesting image server URL"); + while (urls.size() < (chan + 1) && isAvailable()) { urls.add(null); } - if(urls.get(chan) != null) + if (urls.get(chan) != null) return urls.get(chan); - BowlerDatagram b=send(new ImageURLCommand(chan)); - urls.set(chan,b.getData().asString()); + BowlerDatagram b = send(new ImageURLCommand(chan)); + urls.set(chan, b.getData().asString()); return urls.get(chan); } - + /** * Gets the image. * - * @param chan the chan + * @param chan + * the chan * @return the image */ public BufferedImage getImage(int chan) { return images.get(chan); } - + /** * Start high speed auto capture. * - * @param cam the cam - * @param scale the scale - * @param fps the fps + * @param cam + * the cam + * @param scale + * the scale + * @param fps + * the fps */ - public void startHighSpeedAutoCapture(int cam,double scale,int fps) { + public void startHighSpeedAutoCapture(int cam, double scale, int fps) { stopAutoCapture(cam); - while((captures.size() <= cam)&& isAvailable()) + while ((captures.size() <= cam) && isAvailable()) captures.add(null); - captures.set(cam,new highSpeedAutoCapture(cam,scale,fps)); + captures.set(cam, new highSpeedAutoCapture(cam, scale, fps)); captures.get(cam).start(); } - + /** * Stop auto capture. * - * @param cam the cam + * @param cam + * the cam */ public void stopAutoCapture(int cam) { - try{ + try { captures.get(cam).kill(); - captures.set(cam,null); - }catch (Exception e){} + captures.set(cam, null); + } catch (Exception e) { + } } - + /** * Update filter. * - * @param c the c - * @param threshhold the threshhold - * @param within the within - * @param minBlobSize the min blob size - * @param maxBlobSize the max blob size + * @param c + * the c + * @param threshhold + * the threshhold + * @param within + * the within + * @param minBlobSize + * the min blob size + * @param maxBlobSize + * the max blob size * @return true, if successful */ - public boolean updateFilter(Color c, int threshhold,boolean within,int minBlobSize,int maxBlobSize){ + public boolean updateFilter(Color c, int threshhold, boolean within, int minBlobSize, int maxBlobSize) { boolean back = false; - try{ - back = send(new BlobCommand(c, threshhold, within, minBlobSize, maxBlobSize))==null; - }catch (Exception e){ + try { + back = send(new BlobCommand(c, threshhold, within, minBlobSize, maxBlobSize)) == null; + } catch (Exception e) { e.printStackTrace(); } return back; } - + /** * Gets the blobs. * * @return the blobs */ - public ArrayList getBlobs(){ + public ArrayList getBlobs() { mark.clear(); send(new BlobCommand()); - while(gotLastMark == false && isAvailable()){ + while (gotLastMark == false && isAvailable()) { try { sleep(10); } catch (InterruptedException e) { @@ -312,116 +341,127 @@ public ArrayList getBlobs(){ } return mark; } - + /** * The Class highSpeedAutoCapture. */ - private class highSpeedAutoCapture extends Thread{ - + private class highSpeedAutoCapture extends Thread { + /** The cam. */ int cam; - + /** The scale. */ double scale; - + /** The mspf. */ int mspf; - + /** The running. */ boolean running = true; - + /** * Instantiates a new high speed auto capture. * - * @param cam the cam - * @param scale the scale - * @param fps the fps + * @param cam + * the cam + * @param scale + * the scale + * @param fps + * the fps */ - public highSpeedAutoCapture(int cam,double scale,int fps){ - this.cam=cam; - this.scale=scale; - if(fps == 0) { + public highSpeedAutoCapture(int cam, double scale, int fps) { + this.cam = cam; + this.scale = scale; + if (fps == 0) { mspf = 0; return; } - mspf = (int)(1000.0/((double)fps)); - //com.neuronrobotics.sdk.common.Log.error("MS/frame: "+mspf); + mspf = (int) (1000.0 / ((double) fps)); + // com.neuronrobotics.sdk.common.Log.error("MS/frame: "+mspf); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Thread#run() */ public void run() { - //com.neuronrobotics.sdk.common.Log.error("Starting auto capture on: "+getImageServerURL(cam)); + // com.neuronrobotics.sdk.common.Log.error("Starting auto capture on: + // "+getImageServerURL(cam)); long st = currentTimeMillis(); - while(running && isAvailable()) { - //com.neuronrobotics.sdk.common.Log.error("Getting image from: "+getImageServerURL(cam)); + while (running && isAvailable()) { + // com.neuronrobotics.sdk.common.Log.error("Getting image from: + // "+getImageServerURL(cam)); try { - //com.neuronrobotics.sdk.common.Log.error("Capturing"); - BufferedImage im =getHighSpeedImage(cam); - if(scale>1.01||scale<.99) + // com.neuronrobotics.sdk.common.Log.error("Capturing"); + BufferedImage im = getHighSpeedImage(cam); + if (scale > 1.01 || scale < .99) im = resize(im, scale); - if(im!=null){ - //com.neuronrobotics.sdk.common.Log.error("Fireing"); - fireIWebcamImageListenerEvent(cam,im); + if (im != null) { + // com.neuronrobotics.sdk.common.Log.error("Fireing"); + fireIWebcamImageListenerEvent(cam, im); } - //com.neuronrobotics.sdk.common.Log.error("ok"); + // com.neuronrobotics.sdk.common.Log.error("ok"); } catch (Exception e) { e.printStackTrace(); } - if(mspf != 0) { + if (mspf != 0) { long diff = currentTimeMillis() - st; - ////System.out.print("\nMS diff: "+diff); - if(diff lookup = new HashMap(); - + private static final Map lookup = new HashMap(); + static { - for(AsyncMode cm : EnumSet.allOf(AsyncMode.class)) { + for (AsyncMode cm : EnumSet.allOf(AsyncMode.class)) { lookup.put(cm.getValue(), cm); } } - + /** The value. */ private byte value; - + /** * Instantiates a new bowler method. * - * @param val the val + * @param val + * the val */ private AsyncMode(int val) { value = (byte) val; } - + /** * Gets the value. * * @return the value */ public byte getValue() { - return value; + return value; } - /** - * Gets the. - * - * @param code the code - * @return the bowler method - */ - public static AsyncMode get(byte code) { - return lookup.get(code); - } + /** + * Gets the. + * + * @param code + * the code + * @return the bowler method + */ + public static AsyncMode get(byte code) { + return lookup.get(code); + } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.ISendable#getBytes() */ public byte[] getBytes() { - byte [] b = {getValue()}; + byte[] b = {getValue()}; return b; } - } diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncThreshholdEdgeType.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncThreshholdEdgeType.java index 1250a084..4c584af9 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncThreshholdEdgeType.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/AsyncThreshholdEdgeType.java @@ -10,81 +10,86 @@ /** * The Enum AsyncThreshholdEdgeType. */ -public enum AsyncThreshholdEdgeType implements ISendable{ - - /** #define ASYN_BOTH 0 #define ASYN_RISING 1 #define ASYN_FALLING 2. */ +public enum AsyncThreshholdEdgeType implements ISendable { + + /** #define ASYN_BOTH 0 #define ASYN_RISING 1 #define ASYN_FALLING 2. */ /** The STATUS. */ BOTH(0x00), - + /** The GET. */ RISING(0x01), - + /** The POST. */ FALLING(0x02); - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.lang.Enum#toString() */ - public String toString(){ - String s="NOT VALID"; - switch (value){ - case 0x00: - return "ASYN_BOTH"; - case 0x01: - return "ASYN_RISING "; - case 0x02: - return "ASYN_FALLING"; + public String toString() { + String s = "NOT VALID"; + switch (value) { + case 0x00 : + return "ASYN_BOTH"; + case 0x01 : + return "ASYN_RISING "; + case 0x02 : + return "ASYN_FALLING"; } return s; } - + /** The Constant lookup. */ - private static final Map lookup = new HashMap(); - + private static final Map lookup = new HashMap(); + static { - for(AsyncThreshholdEdgeType cm : EnumSet.allOf(AsyncThreshholdEdgeType.class)) { + for (AsyncThreshholdEdgeType cm : EnumSet.allOf(AsyncThreshholdEdgeType.class)) { lookup.put(cm.getValue(), cm); } } - + /** The value. */ private byte value; - + /** * Instantiates a new bowler method. * - * @param val the val + * @param val + * the val */ private AsyncThreshholdEdgeType(int val) { value = (byte) val; } - + /** * Gets the value. * * @return the value */ public byte getValue() { - return value; + return value; } - /** - * Gets the. - * - * @param code the code - * @return the bowler method - */ - public static AsyncThreshholdEdgeType get(byte code) { - return lookup.get(code); - } + /** + * Gets the. + * + * @param code + * the code + * @return the bowler method + */ + public static AsyncThreshholdEdgeType get(byte code) { + return lookup.get(code); + } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.ISendable#getBytes() */ public byte[] getBytes() { - byte [] b = {getValue()}; + byte[] b = {getValue()}; return b; } - } diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/ConfigAsyncCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/ConfigAsyncCommand.java index 2d15e384..9024a42c 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/ConfigAsyncCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/ConfigAsyncCommand.java @@ -8,32 +8,38 @@ * The Class ConfigAsyncCommand. */ public class ConfigAsyncCommand extends BowlerAbstractCommand { - + /** * Instantiates a new config async command. * - * @param channel the channel - * @param msTime the ms time - * @param mode the mode + * @param channel + * the channel + * @param msTime + * the ms time + * @param mode + * the mode */ - public ConfigAsyncCommand(int channel,int msTime, AsyncMode mode) { - if(mode != AsyncMode.AUTOSAMP && mode != AsyncMode.NOTEQUAL) - throw new RuntimeException("Missing configuration data for async configuration"); + public ConfigAsyncCommand(int channel, int msTime, AsyncMode mode) { + if (mode != AsyncMode.AUTOSAMP && mode != AsyncMode.NOTEQUAL) + throw new RuntimeException("Missing configuration data for async configuration"); setOpCode("asyn"); setMethod(BowlerMethod.CRITICAL); getCallingDataStorage().add(channel); getCallingDataStorage().add(mode.getValue()); getCallingDataStorage().addAs32(msTime); } - + /** * Instantiates a new config async command. * - * @param channel the channel - * @param msTime the ms time - * @param deadbandValue the deadband value + * @param channel + * the channel + * @param msTime + * the ms time + * @param deadbandValue + * the deadband value */ - public ConfigAsyncCommand(int channel,int msTime, int deadbandValue) { + public ConfigAsyncCommand(int channel, int msTime, int deadbandValue) { setOpCode("asyn"); setMethod(BowlerMethod.CRITICAL); getCallingDataStorage().add(channel); @@ -41,16 +47,20 @@ public ConfigAsyncCommand(int channel,int msTime, int deadbandValue) { getCallingDataStorage().addAs32(msTime); getCallingDataStorage().addAs32(deadbandValue); } - + /** * Instantiates a new config async command. * - * @param channel the channel - * @param msTime the ms time - * @param threshholdValue the threshhold value - * @param edge the edge + * @param channel + * the channel + * @param msTime + * the ms time + * @param threshholdValue + * the threshhold value + * @param edge + * the edge */ - public ConfigAsyncCommand(int channel,int msTime, int threshholdValue,AsyncThreshholdEdgeType edge) { + public ConfigAsyncCommand(int channel, int msTime, int threshholdValue, AsyncThreshholdEdgeType edge) { setOpCode("asyn"); setMethod(BowlerMethod.CRITICAL); getCallingDataStorage().add(channel); diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeCommand.java index c77ccffb..39fd3337 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeCommand.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -25,7 +25,7 @@ * The Class GetChannelModeCommand. */ public class GetChannelModeCommand extends BowlerAbstractCommand { - + /** * Instantiates a new gets the channel mode command. */ @@ -33,38 +33,43 @@ public GetChannelModeCommand() { setOpCode("gacm"); setMethod(BowlerMethod.GET); } - + /** * Instantiates a new gets the channel mode command. * - * @param channel the channel + * @param channel + * the channel */ public GetChannelModeCommand(int channel) { setOpCode("gchm"); setMethod(BowlerMethod.GET); getCallingDataStorage().add(channel); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.BowlerAbstractCommand#parseResponse(com.neuronrobotics.sdk.common.BowlerDatagram) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.common.BowlerAbstractCommand#parseResponse(com. + * neuronrobotics.sdk.common.BowlerDatagram) */ @Override public BowlerDatagram validate(BowlerDatagram data) throws InvalidResponseException { super.validate(data); - - if(!data.getRPC().equals(getOpCode())) { + + if (!data.getRPC().equals(getOpCode())) { throw new InvalidResponseException("Get Channel Mode did not return with '" + getOpCode() + "'."); } - - if(!getOpCode().equals("gacm") ) { - Log.error("Failed gacm: \r\n"+data); - throw new InvalidResponseException("Get All Channel Mode did not return with 24 values."+data); + + if (!getOpCode().equals("gacm")) { + Log.error("Failed gacm: \r\n" + data); + throw new InvalidResponseException("Get All Channel Mode did not return with 24 values." + data); } - - if(getOpCode().equals("gchm") && data.getData().size() != 1) { - //throw new InvalidResponseException("Get Channel Mode did not return with 1 values."); + + if (getOpCode().equals("gchm") && data.getData().size() != 1) { + // throw new InvalidResponseException("Get Channel Mode did not return with 1 + // values."); } - + return data; } } diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeListCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeListCommand.java index 2db333cb..afed97f3 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeListCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetChannelModeListCommand.java @@ -8,13 +8,14 @@ * The Class GetChannelModeListCommand. */ public class GetChannelModeListCommand extends BowlerAbstractCommand { - + /** * Instantiates a new gets the channel mode list command. * - * @param channel the channel + * @param channel + * the channel */ - public GetChannelModeListCommand(int channel){ + public GetChannelModeListCommand(int channel) { setOpCode("gcml"); setMethod(BowlerMethod.GET); getCallingDataStorage().add(channel); diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetDyIOChannelCountCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetDyIOChannelCountCommand.java index 4d31e10c..7f727078 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetDyIOChannelCountCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetDyIOChannelCountCommand.java @@ -8,11 +8,11 @@ * The Class GetDyIOChannelCountCommand. */ public class GetDyIOChannelCountCommand extends BowlerAbstractCommand { - + /** * Instantiates a new gets the dy io channel count command. */ - public GetDyIOChannelCountCommand(){ + public GetDyIOChannelCountCommand() { setOpCode("gchc"); setMethod(BowlerMethod.GET); } diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetValueCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetValueCommand.java index 2b804006..42efeff3 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetValueCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/GetValueCommand.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -25,14 +25,15 @@ * The Class GetValueCommand. */ public class GetValueCommand extends BowlerAbstractCommand { - + /** The channel. */ private int channel; - + /** * Instantiates a new gets the value command. * - * @param channel the channel + * @param channel + * the channel */ public GetValueCommand(int channel) { this.channel = channel; @@ -40,29 +41,36 @@ public GetValueCommand(int channel) { setMethod(BowlerMethod.GET); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractCommand#getCallingData() */ @Override public byte[] getCallingData() { return ByteList.wrap(channel); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.BowlerAbstractCommand#parseResponse(com.neuronrobotics.sdk.common.BowlerDatagram) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.common.BowlerAbstractCommand#parseResponse(com. + * neuronrobotics.sdk.common.BowlerDatagram) */ @Override public BowlerDatagram validate(BowlerDatagram data) throws InvalidResponseException { super.validate(data); - if (data == null){ - //com.neuronrobotics.sdk.common.Log.error("No response to Get Value Command\n"+data); + if (data == null) { + // com.neuronrobotics.sdk.common.Log.error("No response to Get Value + // Command\n"+data); throw new InvalidResponseException("Get Channel Value did not respond."); } - if(!data.getRPC().equals(getOpCode())) { - //com.neuronrobotics.sdk.common.Log.error("Wrong response to Get Value Command, expected:"+getOpCode()+", got:\n"+data); - throw new InvalidResponseException("Get Channel Value did not return with 'gchv'.\n"+data); + if (!data.getRPC().equals(getOpCode())) { + // com.neuronrobotics.sdk.common.Log.error("Wrong response to Get Value Command, + // expected:"+getOpCode()+", got:\n"+data); + throw new InvalidResponseException("Get Channel Value did not return with 'gchv'.\n" + data); } - + return data; } } diff --git a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetAllChannelValuesCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetAllChannelValuesCommand.java index 22a5aae7..130e283d 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetAllChannelValuesCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/bcs/io/SetAllChannelValuesCommand.java @@ -3,40 +3,43 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; - // Auto-generated Javadoc /** * The Class SetAllChannelValuesCommand. */ public class SetAllChannelValuesCommand extends BowlerAbstractCommand { -/** - * Instantiates a new sets the all channel values command. - * - * @param time in seconds - * @param values the values - */ - public SetAllChannelValuesCommand(double time, int [] values){ + /** + * Instantiates a new sets the all channel values command. + * + * @param time + * in seconds + * @param values + * the values + */ + public SetAllChannelValuesCommand(double time, int[] values) { setMethod(BowlerMethod.POST); setOpCode("sacv"); - getCallingDataStorage().addAs32((int)(time*1000)); - for(int i=0;i255) + // Log.info("Sending data of size: "+imgData.length+", + // "+getCallingDataStorage().size()); + if (getCallingDataStorage().size() > 255) throw new RuntimeException("Image data too big!"); } } diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/ImageURLCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/ImageURLCommand.java index ef0c4868..23b4b454 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/ImageURLCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/bowlercam/ImageURLCommand.java @@ -8,24 +8,26 @@ * The Class ImageURLCommand. */ public class ImageURLCommand extends BowlerAbstractCommand { - + /** * Instantiates a new image url command. * - * @param camera the camera + * @param camera + * the camera */ - public ImageURLCommand(int camera){ + public ImageURLCommand(int camera) { setMethod(BowlerMethod.GET); setOpCode("imsv"); getCallingDataStorage().add(camera); } - + /** * Instantiates a new image url command. * - * @param url the url + * @param url + * the url */ - public ImageURLCommand(String url){ + public ImageURLCommand(String url) { setMethod(BowlerMethod.POST); setOpCode("imsv"); getCallingDataStorage().add(url); diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/GetAllChannelValuesCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/GetAllChannelValuesCommand.java index 536fcc41..bac9229b 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/GetAllChannelValuesCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/GetAllChannelValuesCommand.java @@ -8,7 +8,7 @@ * The Class GetAllChannelValuesCommand. */ public class GetAllChannelValuesCommand extends BowlerAbstractCommand { - + /** * Instantiates a new gets the all channel values command. */ diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/InfoFirmwareRevisionCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/InfoFirmwareRevisionCommand.java index 1bc9071e..b2dba3bc 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/InfoFirmwareRevisionCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/InfoFirmwareRevisionCommand.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -22,11 +22,11 @@ * The Class InfoFirmwareRevisionCommand. */ public class InfoFirmwareRevisionCommand extends BowlerAbstractCommand { - + /** * Instantiates a new info firmware revision command. */ - public InfoFirmwareRevisionCommand(){ + public InfoFirmwareRevisionCommand() { setOpCode("_rev"); setMethod(BowlerMethod.GET); } diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/PowerCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/PowerCommand.java index 3f80e289..acc0e0f9 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/PowerCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/PowerCommand.java @@ -8,7 +8,7 @@ * The Class PowerCommand. */ public class PowerCommand extends BowlerAbstractCommand { - + /** * Instantiates a new power command. */ @@ -16,15 +16,16 @@ public PowerCommand() { setOpCode("_pwr"); setMethod(BowlerMethod.GET); } - + /** * This method will disable the brownout detect for the DyIO. * - * @param disableBrownOutDetect the disable brown out detect + * @param disableBrownOutDetect + * the disable brown out detect */ public PowerCommand(boolean disableBrownOutDetect) { setOpCode("_pwr"); setMethod(BowlerMethod.CRITICAL); - getCallingDataStorage().add(disableBrownOutDetect?1:0); + getCallingDataStorage().add(disableBrownOutDetect ? 1 : 0); } } diff --git a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/ProvisionCommand.java b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/ProvisionCommand.java index 3a380c55..03680872 100644 --- a/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/ProvisionCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/commands/neuronrobotics/dyio/ProvisionCommand.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -23,16 +23,17 @@ * The Class ProvisionCommand. */ public class ProvisionCommand extends BowlerAbstractCommand { - + /** * Instantiates a new provision command. * - * @param mac the mac + * @param mac + * the mac */ public ProvisionCommand(MACAddress mac) { setMethod(BowlerMethod.CRITICAL); setOpCode("_mac"); getCallingDataStorage().add(mac.getBytes()); } - + } diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractCommand.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractCommand.java index 9b18ae1b..f642ee9a 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractCommand.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -15,70 +15,73 @@ /** * * Copyright 2009 Neuron Robotics, LLC - * + * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. - * + * */ package com.neuronrobotics.sdk.common; // Auto-generated Javadoc /** - * This class encapsulates the generation of a Bowler RPC. - * Each command should represent a unique RPC. - * + * This class encapsulates the generation of a Bowler RPC. Each command should + * represent a unique RPC. + * * @author rbreznak * */ public abstract class BowlerAbstractCommand implements ISendable { - + /** The op code. */ private String opCode; - + /** The method. */ private BowlerMethod method; - + /** The data. */ private ByteList data = new ByteList(); /** The namespace index. */ - private int namespaceIndex=0;//default used when no conflicts are expected - + private int namespaceIndex = 0;// default used when no conflicts are expected + /** * Get the data that will be used to call the RPC (i.e. parameters for the RPC). - * Each instance of a BAC should determine the correct method for generating this data. - * + * Each instance of a BAC should determine the correct method for generating + * this data. + * * @return the parameters for the RPC */ public byte[] getCallingData() { return data.getBytes(); } - + /** - * Set the operation code string. To conform to the Bowler standard, the string should be 4 characters. - * - * @param opCode the RPC operation code to be implemented. + * Set the operation code string. To conform to the Bowler standard, the string + * should be 4 characters. + * + * @param opCode + * the RPC operation code to be implemented. */ public void setOpCode(String opCode) { - if(opCode.length() != 4) { + if (opCode.length() != 4) { throw new InvalidDataLengthException(); } - + this.opCode = opCode; } - + /** * Returns the operation code. - * + * * @return the RPC operation code */ public String getOpCode() { @@ -88,7 +91,8 @@ public String getOpCode() { /** * Set the method that the command will use for execution. * - * @param method the new method + * @param method + * the new method */ public void setMethod(BowlerMethod method) { this.method = method; @@ -102,107 +106,122 @@ public void setMethod(BowlerMethod method) { public BowlerMethod getMethod() { return method; } - + /** - * Get the total size of the command including opcode and calling data. - * + * Get the total size of the command including opcode and calling data. + * * @return the full size of the command */ public byte getLength() { return (byte) (opCode.length() + getCallingData().length); } - + /** - * Determine if the return response was successful; throw an InvalidResponseExpection otherwise. Commands - * with more complicated validation should override this method and provide more specific checking. + * Determine if the return response was successful; throw an + * InvalidResponseExpection otherwise. Commands with more complicated validation + * should override this method and provide more specific checking. * - * @param data the data + * @param data + * the data * @return the incoming response - * @throws InvalidResponseException the invalid response exception + * @throws InvalidResponseException + * the invalid response exception */ public BowlerDatagram validate(BowlerDatagram data) throws InvalidResponseException { - if (data==null){ + if (data == null) { // TODO: Correct this with JSDK-8 - throw new InvalidResponseException("No response from device"); + throw new InvalidResponseException("No response from device"); } - // throws - if( data.getRPC().equals("_err")) { - Integer zone=Integer.valueOf(data.getData().getByte(0)); - Integer section=Integer.valueOf(data.getData().getByte(1)); - //com.neuronrobotics.sdk.common.Log.error("Failed!!\n"+data); - switch(zone) { - default: - throw new InvalidResponseException("Unknown error. (" + zone + " " + section + ")"); - case 0: - switch(section) { - default: - throw new InvalidResponseException("Unknow error in the communications stack. (" + zone + " " + section + ")"+data); - case 0x7f: - throw new InvalidResponseException("The method provided is invalid."); - case 0: - throw new InvalidResponseException("RPC undefined on device"); - case 1: - throw new InvalidResponseException("The RPC sent in undefined with GET method."); - case 2: - throw new InvalidResponseException("The RPC sent in undefined with POST method."); - case 3: - throw new InvalidResponseException("The RPC sent in undefined with CRITICAL method."); - } - case 85: - switch(section) { - default: - throw new InvalidResponseException("Unknown co-processor error. (" + zone + " " + section + ")"); - case 1: - case 2: - throw new InvalidResponseException("The co-processor did not respond."); - } - case 1: - switch(section) { - default: - throw new InvalidResponseException("Unknow error in the GET parser. (" + zone + " " + section + ")"); - case 0: - throw new InvalidResponseException("Error with GET parsing, mostlikely the channel mode does not have a GET functionality."); - } - case 2: - switch(section) { - default: - throw new InvalidResponseException("Unknow error in the POST parser. (" + zone + " " + section + ")"); - case 0: - throw new InvalidResponseException("Failed to properly set the value to the channel."); - case 1: - throw new InvalidResponseException("Failed to properly set the mode / the given mode type is unknown."); - case 2: - throw new InvalidResponseException("Failed to set the input channel value."); - } - case 3: - case 6: - switch(section) { - default: - throw new InvalidResponseException("Unknow error in the CRITICAL parser. (" + zone + " " + section + ")"); - case 0: - throw new InvalidResponseException("Failed to configure channel."); - case 1: - throw new InvalidResponseException("Failed to configure PID channel."); - case 3: - throw new InvalidResponseException("Invalid name string, either too short or too long "+data); - } + // throws + if (data.getRPC().equals("_err")) { + Integer zone = Integer.valueOf(data.getData().getByte(0)); + Integer section = Integer.valueOf(data.getData().getByte(1)); + // com.neuronrobotics.sdk.common.Log.error("Failed!!\n"+data); + switch (zone) { + default : + throw new InvalidResponseException("Unknown error. (" + zone + " " + section + ")"); + case 0 : + switch (section) { + default : + throw new InvalidResponseException( + "Unknow error in the communications stack. (" + zone + " " + section + ")" + data); + case 0x7f : + throw new InvalidResponseException("The method provided is invalid."); + case 0 : + throw new InvalidResponseException("RPC undefined on device"); + case 1 : + throw new InvalidResponseException("The RPC sent in undefined with GET method."); + case 2 : + throw new InvalidResponseException("The RPC sent in undefined with POST method."); + case 3 : + throw new InvalidResponseException("The RPC sent in undefined with CRITICAL method."); + } + case 85 : + switch (section) { + default : + throw new InvalidResponseException( + "Unknown co-processor error. (" + zone + " " + section + ")"); + case 1 : + case 2 : + throw new InvalidResponseException("The co-processor did not respond."); + } + case 1 : + switch (section) { + default : + throw new InvalidResponseException( + "Unknow error in the GET parser. (" + zone + " " + section + ")"); + case 0 : + throw new InvalidResponseException( + "Error with GET parsing, mostlikely the channel mode does not have a GET functionality."); + } + case 2 : + switch (section) { + default : + throw new InvalidResponseException( + "Unknow error in the POST parser. (" + zone + " " + section + ")"); + case 0 : + throw new InvalidResponseException("Failed to properly set the value to the channel."); + case 1 : + throw new InvalidResponseException( + "Failed to properly set the mode / the given mode type is unknown."); + case 2 : + throw new InvalidResponseException("Failed to set the input channel value."); + } + case 3 : + case 6 : + switch (section) { + default : + throw new InvalidResponseException( + "Unknow error in the CRITICAL parser. (" + zone + " " + section + ")"); + case 0 : + throw new InvalidResponseException("Failed to configure channel."); + case 1 : + throw new InvalidResponseException("Failed to configure PID channel."); + case 3 : + throw new InvalidResponseException( + "Invalid name string, either too short or too long " + data); + } } } - + return data; } - + /** * Parses the. * - * @param data the data + * @param data + * the data * @return the bowler abstract command */ public static BowlerAbstractCommand parse(BowlerDatagram data) { - return new BowlerAbstractCommand() {}; + return new BowlerAbstractCommand() { + }; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.ISendable#getBytes() */ public byte[] getBytes() { @@ -211,26 +230,29 @@ public byte[] getBytes() { buffer.add(getCallingData()); return buffer.getBytes(); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ public String toString() { - if(getBytes().length == 0) { + if (getBytes().length == 0) { return ""; } String rtn = ""; - for(byte x : getBytes()){ + for (byte x : getBytes()) { rtn += String.format("%02x ", x); } - rtn = rtn.substring(0, rtn.length()-1); + rtn = rtn.substring(0, rtn.length() - 1); return rtn.toUpperCase(); } /** * Sets the data. * - * @param data the new data + * @param data + * the new data */ public void setData(ByteList data) { this.data = data; @@ -248,19 +270,20 @@ public ByteList getCallingDataStorage() { /** * Sets the namespace index. * - * @param namespaceIndex the new namespace index + * @param namespaceIndex + * the new namespace index */ - public void setNamespaceIndex(int namespaceIndex){ - this.namespaceIndex = namespaceIndex; + public void setNamespaceIndex(int namespaceIndex) { + this.namespaceIndex = namespaceIndex; } - + /** * Gets the namespace index. * * @return the namespace index */ - public int getNamespaceIndex(){ - return this.namespaceIndex; + public int getNamespaceIndex() { + return this.namespaceIndex; } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractConnection.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractConnection.java index a5366656..55a13272 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractConnection.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractConnection.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -15,19 +15,19 @@ /** * * Copyright 2009 Neuron Robotics, LLC - * + * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. - * + * */ package com.neuronrobotics.sdk.common; @@ -35,9 +35,6 @@ import java.io.DataOutputStream; import java.io.IOException; import java.util.ArrayList; -import java.util.concurrent.locks.ReentrantLock; - -import javax.management.RuntimeErrorException; import com.neuronrobotics.sdk.commands.bcs.core.NamespaceCommand; import com.neuronrobotics.sdk.commands.bcs.core.PingCommand; @@ -45,175 +42,177 @@ import com.neuronrobotics.sdk.commands.bcs.core.RpcCommand; import com.neuronrobotics.sdk.util.ThreadUtil; - - - // Auto-generated Javadoc /** - * Connections create a bridge between a device and the SDK. Each connection is encapsulated to allow maximum - * reuse and system changes without the need to restart / reconfigure. + * Connections create a bridge between a device and the SDK. Each connection is + * encapsulated to allow maximum reuse and system changes without the need to + * restart / reconfigure. * */ public abstract class BowlerAbstractConnection { - + /** The use threaded stack. */ - //private boolean threadedUpstreamPackets=false; - private boolean useThreadedStack=true; - + // private boolean threadedUpstreamPackets=false; + private boolean useThreadedStack = true; + /** The sleep time. */ private int sleepTime = 1000; - + /** The last write. */ private long lastWrite = -1; - + /** The heart beat time. */ - private long heartBeatTime=1000; - + private long heartBeatTime = 1000; + /** The chunk size. */ private int chunkSize = 64; - - + /** The response. */ private BowlerDatagram response = null; - + /** The listeners. */ private ArrayList listeners = new ArrayList(); - + /** The disconnect listeners. */ - ArrayList disconnectListeners = new ArrayList (); - + ArrayList disconnectListeners = new ArrayList(); + /** The sync listen. */ private ISynchronousDatagramListener syncListen = null; - + /** The queue. */ private QueueManager syncQueue = null; - + /** The async queue. */ - private QueueManager asyncQueue=null; - + private QueueManager asyncQueue = null; + /** The connected. */ private boolean connected = false; - + /** The data ins. */ private DataInputStream dataIns; - + /** The data outs. */ private DataOutputStream dataOuts; - - //private Updater updater = null; - + // private Updater updater = null; + /** The namespace list. */ - private ArrayList namespaceList=null; - + private ArrayList namespaceList = null; + /** The name space strings. */ private ArrayList nameSpaceStrings = null; - + /** The beater. */ private boolean beater = false; - //private ReentrantLock executingLock = new ReentrantLock(); - - + // private ReentrantLock executingLock = new ReentrantLock(); + /** * Attempt to establish a connection. Return if the attempt was successful. * * @return true, if successful */ abstract public boolean connect(); - + /** * Attempt to re-establish a connection. Return if the attempt was successful. * * @return true, if successful */ - //abstract public boolean reconnect() throws IOException; - + // abstract public boolean reconnect() throws IOException; + /** * Attempt to re-establish a connection. Return if the attempt was successful. * * @return true, if successful */ abstract public boolean waitingForConnection(); - + /** - * Tells the connection to use asynchronous packets as threads or not. + * Tells the connection to use asynchronous packets as threads or not. * - * @param up the new threaded upstream packets + * @param up + * the new threaded upstream packets */ - public void setThreadedUpstreamPackets(boolean up){ - //threadedUpstreamPackets=up; + public void setThreadedUpstreamPackets(boolean up) { + // threadedUpstreamPackets=up; } - - + /** - * Sends any "universal" data to the connection and returns either the syncronous response or null in the - * event that the connection has determined a timeout. Before sending, use clearLastSyncronousResponse() - * and use getLastSyncronousResponse() to get the last response since clearing. + * Sends any "universal" data to the connection and returns either the + * syncronous response or null in the event that the connection has determined a + * timeout. Before sending, use clearLastSyncronousResponse() and use + * getLastSyncronousResponse() to get the last response since clearing. * - * @param sendable the sendable + * @param sendable + * the sendable * @return the bowler datagram */ - public BowlerDatagram sendSynchronusly(BowlerDatagram sendable){ - return sendSynchronusly(sendable,false); + public BowlerDatagram sendSynchronusly(BowlerDatagram sendable) { + return sendSynchronusly(sendable, false); } - + /** - * Sends any "universal" data to the connection and returns either the syncronous response or null in the - * event that the connection has determined a timeout. Before sending, use clearLastSyncronousResponse() - * and use getLastSyncronousResponse() to get the last response since clearing. + * Sends any "universal" data to the connection and returns either the + * syncronous response or null in the event that the connection has determined a + * timeout. Before sending, use clearLastSyncronousResponse() and use + * getLastSyncronousResponse() to get the last response since clearing. * - * @param sendable the sendable - * @param switchParser the switch parser + * @param sendable + * the sendable + * @param switchParser + * the switch parser * @return the bowler datagram */ - public synchronized BowlerDatagram sendSynchronusly(BowlerDatagram sendable, boolean switchParser){ - - if(!isConnected()) { + public synchronized BowlerDatagram sendSynchronusly(BowlerDatagram sendable, boolean switchParser) { + + if (!isConnected()) { Log.error("Can not send message because the engine is not connected."); return null; } - //executingLock.lock(); + // executingLock.lock(); clearLastSyncronousResponse(); try { long send = System.currentTimeMillis(); sendable.setUpstream(false); - Log.info("\nT>>"+sendable); + Log.info("\nT>>" + sendable); write(sendable.getBytes()); - Log.info("Transmit took: "+(System.currentTimeMillis()-send)+" ms"); + Log.info("Transmit took: " + (System.currentTimeMillis() - send) + " ms"); } catch (IOException e1) { - //executingLock.unlock(); + // executingLock.unlock(); throw new RuntimeException(e1); } long startOfReciveTime = System.currentTimeMillis(); - - do{ - if(isUseThreadedStack()) - ThreadUtil.wait(0,10); - else{ + do { + if (isUseThreadedStack()) + ThreadUtil.wait(0, 10); + else { syncQueue.runPacketUpdate(); } - }while (((System.currentTimeMillis()-startOfReciveTime)(getSleepTime()*getPercentagePrint() /100) ){ - Log.warning("Receive took: "+rcvTime +" ms. This is greater then "+getPercentagePrint() +"% of the sleep timeout"); - }else{ - Log.info("Receive took: "+rcvTime +" ms"); + if (rcvTime > (getSleepTime() * getPercentagePrint() / 100)) { + Log.warning("Receive took: " + rcvTime + " ms. This is greater then " + getPercentagePrint() + + "% of the sleep timeout"); + } else { + Log.info("Receive took: " + rcvTime + " ms"); } - - if (getLastSyncronousResponse() == null){ - Log.error("No response from device, no response in "+(System.currentTimeMillis()-startOfReciveTime)+" ms"); - //new RuntimeException().printStackTrace(); - if(switchParser){ - if( BowlerDatagram.isUseBowlerV4()){ - //If the ping fails to get a response, try the older bowler format + + if (getLastSyncronousResponse() == null) { + Log.error("No response from device, no response in " + (System.currentTimeMillis() - startOfReciveTime) + + " ms"); + // new RuntimeException().printStackTrace(); + if (switchParser) { + if (BowlerDatagram.isUseBowlerV4()) { + // If the ping fails to get a response, try the older bowler format Log.error("Switching to legacy parser"); BowlerDatagram.setUseBowlerV4(false); - }else{ -// //If the ping fails to get a response, try the older bowler format -// Log.error("Switching to legacy parser"); -// BowlerDatagram.setUseBowlerV4(true); + } else { + // //If the ping fails to get a response, try the older bowler format + // Log.error("Switching to legacy parser"); + // BowlerDatagram.setUseBowlerV4(true); } } } @@ -222,18 +221,21 @@ public synchronized BowlerDatagram sendSynchronusly(BowlerDatagram sendable, boo return b; } - + /** - * Sends any "universal" data to the connection and returns either the syncronous response or null in the - * event that the connection has determined a timeout. Before sending, use clearLastSyncronousResponse() - * and use getLastSyncronousResponse() to get the last response since clearing. + * Sends any "universal" data to the connection and returns either the + * syncronous response or null in the event that the connection has determined a + * timeout. Before sending, use clearLastSyncronousResponse() and use + * getLastSyncronousResponse() to get the last response since clearing. * - * @param sendable the sendable - * @throws IOException Signals that an I/O exception has occurred. - */ - public void sendAsync(BowlerDatagram sendable) throws IOException{ - if(!isConnected()) { - //Log.error("Can not send message because the engine is not connected."); + * @param sendable + * the sendable + * @throws IOException + * Signals that an I/O exception has occurred. + */ + public void sendAsync(BowlerDatagram sendable) throws IOException { + if (!isConnected()) { + // Log.error("Can not send message because the engine is not connected."); return; } sendable.setUpstream(true); @@ -241,51 +243,51 @@ public void sendAsync(BowlerDatagram sendable) throws IOException{ write(sendable.getBytes()); } catch (IOException e1) { Log.error("No response from device..."); - //reconnect(); - throw e1; + // reconnect(); + throw e1; } } - + /** * Disconnect and deactive the current connection. */ - public void disconnect(){ - if(!isConnected()) { + public void disconnect() { + if (!isConnected()) { return; } Log.info("Disconnecting Bowler Connection"); ThreadedTimeout t = new ThreadedTimeout(); t.setStartTime(100); - while(!t.isTimedOut()){ - try { - if(dataIns!=null) - getDataIns().read(); + while (!t.isTimedOut()) { + try { + if (dataIns != null) + getDataIns().read(); } catch (NullPointerException e) { // Auto-generated catch block - //e.printStackTrace(); + // e.printStackTrace(); } catch (IOException e) { // Auto-generated catch block - //e.printStackTrace(); + // e.printStackTrace(); } } Log.info("Shutting down streams"); setConnected(false); - + } /** * Sets the sleep time. * - * @param sleepTime the new sleep time + * @param sleepTime + * the new sleep time */ public void setSynchronusPacketTimeoutTime(int sleepTime) { this.sleepTime = sleepTime; - if(sleepTime*2>BowlerDatagramFactory.getPacketTimeout()) - BowlerDatagramFactory.setPacketTimeout(sleepTime*2); - Log.warning("Setting the synchronus packet timeout to "+sleepTime); + if (sleepTime * 2 > BowlerDatagramFactory.getPacketTimeout()) + BowlerDatagramFactory.setPacketTimeout(sleepTime * 2); + Log.warning("Setting the synchronus packet timeout to " + sleepTime); } - - + /** * Gets the sleep time. * @@ -294,7 +296,6 @@ public void setSynchronusPacketTimeoutTime(int sleepTime) { public int getSleepTime() { return sleepTime; } - /** * Ms since last send. @@ -302,82 +303,76 @@ public int getSleepTime() { * @return the long */ public long msSinceLastSend() { - if(getLastWrite()<0){ + if (getLastWrite() < 0) { return 0; } - return System.currentTimeMillis() - getLastWrite() ; + return System.currentTimeMillis() - getLastWrite(); } - /** * Sets the connected. * - * @param c the new connected + * @param c + * the new connected */ - public synchronized void setConnected(boolean c) { - if(connected == c) + public synchronized void setConnected(boolean c) { + if (connected == c) return; connected = c; - Log.info("Setting connection to "+c); - if(connected){ + Log.info("Setting connection to " + c); + if (connected) { setSyncQueue(new QueueManager(true)); setAsyncQueue(new QueueManager(false)); - -// if(!ping(new MACAddress())){ -/* if( BowlerDatagram.isUseBowlerV4()){ - //If the ping fails to get a response, try the older bowler format - Log.warning("Switching to legacy parser"); - BowlerDatagram.setUseBowlerV4(false); - }else{ - Log.warning("Switching to v4 parser"); - BowlerDatagram.setUseBowlerV4(true); - } - if(!ping(new MACAddress())){ - //neither packet format is working, bail out - setConnected(false); - } - } - */ + + // if(!ping(new MACAddress())){ + /* + * if( BowlerDatagram.isUseBowlerV4()){ //If the ping fails to get a response, + * try the older bowler format Log.warning("Switching to legacy parser"); + * BowlerDatagram.setUseBowlerV4(false); }else{ + * Log.warning("Switching to v4 parser"); BowlerDatagram.setUseBowlerV4(true); } + * if(!ping(new MACAddress())){ //neither packet format is working, bail out + * setConnected(false); } } + */ fireConnectEvent(); Runtime.getRuntime().addShutdownHook(new Thread() { @Override public void run() { - if(isConnected()){ - //com.neuronrobotics.sdk.common.Log.error("WARNING: Bowler devices should be shut down before exit"); + if (isConnected()) { + // com.neuronrobotics.sdk.common.Log.error("WARNING: Bowler devices should be + // shut down before exit"); disconnect(); } } }); - - - }else{ + + } else { try { - if(dataIns !=null) + if (dataIns != null) getDataIns().close(); } catch (Exception e) { - //return; + // return; } try { - if(dataOuts !=null) + if (dataOuts != null) getDataOuts().close(); } catch (Exception e) { - //return; + // return; } setDataIns(null); setDataOuts(null); - if(getSyncQueue() != null) { + if (getSyncQueue() != null) { getSyncQueue().kill(); setSyncQueue(null); } - if(getAsyncQueue() != null) { + if (getAsyncQueue() != null) { getAsyncQueue().kill(); - + setAsyncQueue(null); } fireDisconnectEvent(); } } - + /** * Checks if is connected. * @@ -386,14 +381,14 @@ public void run() { public boolean isConnected() { return connected; } - + /** - * This should be done before sending. + * This should be done before sending. */ public void clearLastSyncronousResponse() { response = null; } - + /** * Return the synchronous response buffer. * @@ -402,114 +397,118 @@ public void clearLastSyncronousResponse() { public BowlerDatagram getLastSyncronousResponse() { return response; } - + /** - * Whenever a connection has received a full datagram from its "physical" connection, it should then call - * onDataReceived with the datagram. This will set it to the last received data if it is - * synchronous and will add it to the appropriate queues to be picked up and send to the listeners. + * Whenever a connection has received a full datagram from its "physical" + * connection, it should then call onDataReceived with the datagram. This will + * set it to the last received data if it is synchronous and will add it to the + * appropriate queues to be picked up and send to the listeners. * - * @param data the data + * @param data + * the data */ public void onDataReceived(BowlerDatagram data) { - if(data.isSyncronous()) { - - if(syncListen!=null){ + if (data.isSyncronous()) { + + if (syncListen != null) { // this is a server and the packet needs to processed getSyncQueue().addDatagram(data); Log.info("Added packet to the response queue"); - }else{ + } else { response = data; } - }else { + } else { getAsyncQueue().addDatagram(data); } - + } - + /** * Fire On Response. * - * @param datagram the datagram + * @param datagram + * the datagram * @return the bowler datagram */ - protected BowlerDatagram fireSyncOnReceive(BowlerDatagram datagram) { - if(datagram.isSyncronous()){ - if (syncListen!=null){ + protected BowlerDatagram fireSyncOnReceive(BowlerDatagram datagram) { + if (datagram.isSyncronous()) { + if (syncListen != null) { return syncListen.onSyncReceive(datagram); } } return null; } - /** * Fire async on response. * - * @param datagram the datagram + * @param datagram + * the datagram */ protected void fireAsyncOnResponse(BowlerDatagram datagram) { - if(!datagram.isSyncronous()){ - if(isInitializedNamespaces()){ - Log.info("\nASYNC to "+listeners.size()+" listeners<<\n"+datagram); - for(int i=0;i (start + 20000)){ + long start = System.currentTimeMillis(); + while (true) { + if (System.currentTimeMillis() > (start + 20000)) { break; } - - if(!waitingForConnection()) { + + if (!waitingForConnection()) { break; } - + ThreadUtil.wait(10); } Log.info("Connection ready"); } - + /** * Sets the chunk size. * - * @param chunkSize the new chunk size + * @param chunkSize + * the new chunk size */ public void setChunkSize(int chunkSize) { this.chunkSize = chunkSize; @@ -590,43 +593,45 @@ public void setChunkSize(int chunkSize) { public int getChunkSize() { return chunkSize; } - + /** * Sets the async queue. * - * @param asyncQueue the new async queue + * @param asyncQueue + * the new async queue */ public void setAsyncQueue(QueueManager asyncQueue) { this.asyncQueue = asyncQueue; - if(this.asyncQueue != null && isUseThreadedStack()){ + if (this.asyncQueue != null && isUseThreadedStack()) { this.asyncQueue.start(); asyncQueue.setName("Bowler Platform Asynchronus Queue"); } } - + /** * Sets the sync queue. * - * @param syncQueue the new sync queue + * @param syncQueue + * the new sync queue */ public void setSyncQueue(QueueManager syncQueue) { this.syncQueue = syncQueue; - if(this.syncQueue != null && isUseThreadedStack()){ + if (this.syncQueue != null && isUseThreadedStack()) { this.syncQueue.start(); syncQueue.setName("Bowler Platform Synchronus Queue"); } - + } - + /** * Gets the async queue. * * @return the async queue */ - public QueueManager getAsyncQueue() { + public QueueManager getAsyncQueue() { return asyncQueue; } - + /** * Gets the sync queue. * @@ -635,118 +640,122 @@ public QueueManager getAsyncQueue() { public QueueManager getSyncQueue() { return syncQueue; } - - - /** * Push up. * - * @param b the b - * @throws IOException Signals that an I/O exception has occurred. + * @param b + * the b + * @throws IOException + * Signals that an I/O exception has occurred. */ - private void pushUp(BowlerDatagram b) throws IOException{ - if(b==null) + private void pushUp(BowlerDatagram b) throws IOException { + if (b == null) return; b.setFree(false); - if(b.isSyncronous()){ + if (b.isSyncronous()) { BowlerDatagram ret = fireSyncOnReceive(b); - if(ret !=null){ + if (ret != null) { // Sending response to server sendAsync(ret); } - }else + } else fireAsyncOnResponse(b); } - - - + /** * Adds the connection event listener. * - * @param l the l + * @param l + * the l */ - public void addConnectionEventListener(IConnectionEventListener l ) { - if(!disconnectListeners.contains(l)) { + public void addConnectionEventListener(IConnectionEventListener l) { + if (!disconnectListeners.contains(l)) { disconnectListeners.add(l); } } - + /** * Removes the connection event listener. * - * @param l the l + * @param l + * the l */ - public void removeConnectionEventListener(IConnectionEventListener l ) { - if(disconnectListeners.contains(l)) { + public void removeConnectionEventListener(IConnectionEventListener l) { + if (disconnectListeners.contains(l)) { disconnectListeners.remove(l); } - } - + } + /** * Fire disconnect event. */ private void fireDisconnectEvent() { - for(IConnectionEventListener l:disconnectListeners) { + for (IConnectionEventListener l : disconnectListeners) { l.onDisconnect(this); } } - + /** * Fire connect event. */ private void fireConnectEvent() { - for(IConnectionEventListener l:disconnectListeners) { + for (IConnectionEventListener l : disconnectListeners) { l.onConnect(this); } } - + /** * Sets the synchronous datagram listener. * - * @param l the new synchronous datagram listener + * @param l + * the new synchronous datagram listener */ - public void setSynchronousDatagramListener(ISynchronousDatagramListener l ) { - if (syncListen == null){ + public void setSynchronousDatagramListener(ISynchronousDatagramListener l) { + if (syncListen == null) { syncListen = l; - }else{ - if(syncListen == l) + } else { + if (syncListen == l) return; - throw new RuntimeException("There is already a listener "+syncListen); + throw new RuntimeException("There is already a listener " + syncListen); } } - + /** * Removes the synchronous datagram listener. * - * @param l the l + * @param l + * the l */ - public void removeSynchronousDatagramListener(ISynchronousDatagramListener l ) { - if(syncListen!= null){ - if(syncListen!= l){ - throw new RuntimeException("There is a different listener "+syncListen); + public void removeSynchronousDatagramListener(ISynchronousDatagramListener l) { + if (syncListen != null) { + if (syncListen != l) { + throw new RuntimeException("There is a different listener " + syncListen); } } - syncListen=null; - } - + syncListen = null; + } + /** * Locate rpc. * - * @param namespace the namespace - * @param method the method - * @param rpcString the rpc string + * @param namespace + * the namespace + * @param method + * the method + * @param rpcString + * the rpc string * @return the rpc encapsulation */ - public RpcEncapsulation locateRpc(String namespace,BowlerMethod method, String rpcString){ - for (NamespaceEncapsulation ns:namespaceList){ - if(ns.getNamespace().toLowerCase().contains(namespace.toLowerCase())){ - //found the namespace - for(RpcEncapsulation rpc:ns.getRpcList()){ - if( rpc.getRpc().toLowerCase().contains(rpcString.toLowerCase()) && - rpc.getDownstreamMethod() == method){ - //Found the command in the namespace + public RpcEncapsulation locateRpc(String namespace, BowlerMethod method, String rpcString) { + for (NamespaceEncapsulation ns : namespaceList) { + if (ns.getNamespace().toLowerCase().contains(namespace.toLowerCase())) { + // found the namespace + for (RpcEncapsulation rpc : ns.getRpcList()) { + if (rpc.getRpc().toLowerCase().contains(rpcString.toLowerCase()) + && rpc.getDownstreamMethod() == method) { + // Found the command in the namespace return rpc; } } @@ -754,421 +763,472 @@ public RpcEncapsulation locateRpc(String namespace,BowlerMethod method, String r } return null; } - + /** * Gets the command. * - * @param namespace the namespace - * @param method the method - * @param rpcString the rpc string - * @param arguments the arguments - * @param rpc the rpc + * @param namespace + * the namespace + * @param method + * the method + * @param rpcString + * the rpc string + * @param arguments + * the arguments + * @param rpc + * the rpc * @return the command */ - public static BowlerAbstractCommand getCommand(String namespace,BowlerMethod method, String rpcString, Object[] arguments,RpcEncapsulation rpc){ - - if(rpc != null) + public static BowlerAbstractCommand getCommand(String namespace, BowlerMethod method, String rpcString, + Object[] arguments, RpcEncapsulation rpc) { + + if (rpc != null) return rpc.getCommand(arguments); - + return null; - + } - + /** * Parses the response. * - * @param namespace the namespace - * @param method the method - * @param rpcString the rpc string - * @param dg the dg + * @param namespace + * the namespace + * @param method + * the method + * @param rpcString + * the rpc string + * @param dg + * the dg * @return the object[] */ - public Object [] parseResponse(String namespace,BowlerMethod method, String rpcString,BowlerDatagram dg){ - RpcEncapsulation rpc = locateRpc(namespace, method, rpcString); - if(rpc != null) - return rpc.parseResponse(dg);//parse and return + public Object[] parseResponse(String namespace, BowlerMethod method, String rpcString, BowlerDatagram dg) { + RpcEncapsulation rpc = locateRpc(namespace, method, rpcString); + if (rpc != null) + return rpc.parseResponse(dg);// parse and return - return new Object [0]; + return new Object[0]; } - + /** - * This is the scripting interface to Bowler devices. THis allows a user to describe a namespace, rpc, and array or - * arguments to be paced into the packet based on the data types of the argument. The response in likewise unpacked + * This is the scripting interface to Bowler devices. THis allows a user to + * describe a namespace, rpc, and array or arguments to be paced into the packet + * based on the data types of the argument. The response in likewise unpacked * into an array of objects. * - * @param addr the addr - * @param namespace The string of the desired namespace - * @param method the method - * @param rpcString The string of the desired RPC - * @param arguments An array of objects corresponding to the data to be stuffed into the packet. - * @param retry the retry + * @param addr + * the addr + * @param namespace + * The string of the desired namespace + * @param method + * the method + * @param rpcString + * The string of the desired RPC + * @param arguments + * An array of objects corresponding to the data to be stuffed into + * the packet. + * @param retry + * the retry * @return The return arguments parsed and packet into an array of arguments - * @throws DeviceConnectionException If the desired RPC's are not available then this will be thrown + * @throws DeviceConnectionException + * If the desired RPC's are not available then this will be thrown */ - public Object [] send(MACAddress addr,String namespace,BowlerMethod method, String rpcString, Object[] arguments, int retry) throws DeviceConnectionException{ - if(namespaceList == null){ + public Object[] send(MACAddress addr, String namespace, BowlerMethod method, String rpcString, Object[] arguments, + int retry) throws DeviceConnectionException { + if (namespaceList == null) { getNamespaces(addr); } - RpcEncapsulation rpc = locateRpc(namespace, method, rpcString); - BowlerAbstractCommand command = getCommand(namespace, method, rpcString,arguments,rpc); - - if(command != null){ - BowlerDatagram dg = send(command,addr,retry); - if(dg!=null){ + RpcEncapsulation rpc = locateRpc(namespace, method, rpcString); + BowlerAbstractCommand command = getCommand(namespace, method, rpcString, arguments, rpc); + + if (command != null) { + BowlerDatagram dg = send(command, addr, retry); + if (dg != null) { addr.setValues(dg.getAddress()); - }else{ + } else { throw new BowlerRuntimeException("Device failed to respond"); } - Object [] en =parseResponse(namespace, method, rpcString,dg);//parse and return + Object[] en = parseResponse(namespace, method, rpcString, dg);// parse and return BowlerDatagramFactory.freePacket(dg); return en; } - - Log.error("No method found, attempted "+namespace+" RPC: "+rpcString); - for (NamespaceEncapsulation ns:namespaceList){ - Log.error("Namespace \n"+ns); + + Log.error("No method found, attempted " + namespace + " RPC: " + rpcString); + for (NamespaceEncapsulation ns : namespaceList) { + Log.error("Namespace \n" + ns); } - throw new DeviceConnectionException("Device does not contain command NS="+namespace+" Method="+method+" RPC="+rpcString+"'"); + throw new DeviceConnectionException( + "Device does not contain command NS=" + namespace + " Method=" + method + " RPC=" + rpcString + "'"); } - + /** The namespaces finished initializing. */ private boolean namespacesFinishedInitializing = false; /** The percentage print. */ - private double percentagePrint =75.0; - + private double percentagePrint = 75.0; + /** * Checks if is initialized namespaces. * * @return true, if is initialized namespaces */ - public boolean isInitializedNamespaces(){ - return namespaceList!=null && namespacesFinishedInitializing ; + public boolean isInitializedNamespaces() { + return namespaceList != null && namespacesFinishedInitializing; } /** * Get all the namespaces. * - * @param addr the addr + * @param addr + * the addr * @return the namespaces */ - public ArrayList getNamespaces(MACAddress addr){ - if(namespaceList == null){ + public ArrayList getNamespaces(MACAddress addr) { + if (namespaceList == null) { namespaceList = new ArrayList(); nameSpaceStrings = new ArrayList(); - int numTry=0; - boolean done=false; - while(!done){ + int numTry = 0; + boolean done = false; + while (!done) { numTry++; try { - BowlerDatagram namespacePacket = send(new NamespaceCommand(0),addr,5); + BowlerDatagram namespacePacket = send(new NamespaceCommand(0), addr, 5); int num; - String tmpNs =namespacePacket.getData().asString(); - if(tmpNs.length() == namespacePacket.getData().size()){ - //Done with the packet + String tmpNs = namespacePacket.getData().asString(); + if (tmpNs.length() == namespacePacket.getData().size()) { + // Done with the packet BowlerDatagramFactory.freePacket(namespacePacket); - //com.neuronrobotics.sdk.common.Log.error("Ns = "+tmpNs+" len = "+tmpNs.length()+" data = "+b.getData().size()); - namespacePacket = send(new NamespaceCommand(),addr,5); - - num= namespacePacket.getData().getByte(0); - if(num <=0){ - Log.error("Not enougn namespaces!"+namespacePacket); + // com.neuronrobotics.sdk.common.Log.error("Ns = "+tmpNs+" len = + // "+tmpNs.length()+" data = "+b.getData().size()); + namespacePacket = send(new NamespaceCommand(), addr, 5); + + num = namespacePacket.getData().getByte(0); + if (num <= 0) { + Log.error("Not enougn namespaces!" + namespacePacket); } - //Done with the packet + // Done with the packet BowlerDatagramFactory.freePacket(namespacePacket); Log.warning("This is an older implementation of core, depricated"); - }else{ - num= namespacePacket.getData().getByte(namespacePacket.getData().size()-1); - if(num <=0){ - Log.error("Not enougn namespaces!"+namespacePacket); + } else { + num = namespacePacket.getData().getByte(namespacePacket.getData().size() - 1); + if (num <= 0) { + Log.error("Not enougn namespaces!" + namespacePacket); } - //Done with the packet + // Done with the packet BowlerDatagramFactory.freePacket(namespacePacket); Log.info("This is the new core"); } - - // if(num<1){ - // Log.error("Namespace request failed:\n"+namespacePacket); - // }else{ - // Log.info("Number of Namespaces="+num); - // } - - - for (int i=0;i3) + if (numTry > 3) throw e; - + } catch (NoConnectionAvailableException e) { Log.error("No connection is available."); - if(numTry>3) + if (numTry > 3) throw e; - }catch (Exception e) { + } catch (Exception e) { Log.error("Other exception"); e.printStackTrace(); - if(numTry>3) + if (numTry > 3) throw new RuntimeException(e); } - if(!done){ - //failed coms, reset list + if (!done) { + // failed coms, reset list namespaceList = new ArrayList(); } } - + } - - if(nameSpaceStrings.size() != namespaceList.size()){ - for(NamespaceEncapsulation ns:namespaceList){ + + if (nameSpaceStrings.size() != namespaceList.size()) { + for (NamespaceEncapsulation ns : namespaceList) { nameSpaceStrings.add(ns.getNamespace()); getRpcList(ns.getNamespace(), addr); } } namespacesFinishedInitializing = true; return nameSpaceStrings; - + } - + /** * Check the device to see if it has the requested namespace. * - * @param string the string - * @param addr the addr + * @param string + * the string + * @param addr + * the addr * @return true, if successful */ - public boolean hasNamespace(String string,MACAddress addr) { - if(namespaceList == null) + public boolean hasNamespace(String string, MACAddress addr) { + if (namespaceList == null) getNamespaces(addr); - for(NamespaceEncapsulation ns:namespaceList){ - if(ns.getNamespace().contains(string)) + for (NamespaceEncapsulation ns : namespaceList) { + if (ns.getNamespace().contains(string)) return true; } return false; } - + /** * Requests all of the RPC's from a namespace. * - * @param namespace the namespace - * @param addr the addr + * @param namespace + * the namespace + * @param addr + * the addr * @return the rpc list */ - public ArrayList getRpcList(String namespace,MACAddress addr) { + public ArrayList getRpcList(String namespace, MACAddress addr) { int namespaceIndex = 0; boolean hasCoreRpcNS = false; - - for (int i=0;i(); } - if(namespaceList.get(namespaceIndex).getRpcList()!=null){ - //fast return if list is already populated + if (namespaceList.get(namespaceIndex).getRpcList() != null) { + // fast return if list is already populated return namespaceList.get(namespaceIndex).getRpcList(); } - - try{ - //populate RPC set - BowlerDatagram b = send(new RpcCommand(namespaceIndex),addr,5); - - if(!b.getRPC().contains("_rpc")){ + + try { + // populate RPC set + BowlerDatagram b = send(new RpcCommand(namespaceIndex), addr, 5); + + if (!b.getRPC().contains("_rpc")) { com.neuronrobotics.sdk.common.Log.error(b); throw new RuntimeException("This RPC index request has failed"); } - //int ns = b.getData().getByte(0);// gets the index of the namespace - //int rpcIndex = b.getData().getByte(1);// gets the index of the selected RPC + // int ns = b.getData().getByte(0);// gets the index of the namespace + // int rpcIndex = b.getData().getByte(1);// gets the index of the selected RPC int numRpcs; - try{ + try { numRpcs = b.getData().getByte(2);// gets the number of RPC's - }catch(IndexOutOfBoundsException e){ + } catch (IndexOutOfBoundsException e) { e.printStackTrace(); - throw new RuntimeException(e.getMessage()+"\r\n"+b); + throw new RuntimeException(e.getMessage() + "\r\n" + b); } - if(numRpcs<1){ - Log.error("RPC request failed:\n"+b); - }else{ - Log.info("Number of RPC's = "+numRpcs); + if (numRpcs < 1) { + Log.error("RPC request failed:\n" + b); + } else { + Log.info("Number of RPC's = " + numRpcs); } - Log.debug("There are "+numRpcs+" RPC's in "+namespace); + Log.debug("There are " + numRpcs + " RPC's in " + namespace); namespaceList.get(namespaceIndex).setRpcList(new ArrayList()); - for (int i=0;iheartBeatTime){ - //com.neuronrobotics.sdk.common.Log.error("Heartbeat"); - try{ - if(!ping(new MACAddress())){ + private void runHeartBeat() { + if ((msSinceLastSend()) > heartBeatTime) { + // com.neuronrobotics.sdk.common.Log.error("Heartbeat"); + try { + if (!ping(new MACAddress())) { Log.debug("Ping failed, disconnecting"); - //disconnect(); + // disconnect(); } - }catch(Exception e){ + } catch (Exception e) { Log.debug("Ping failed, disconnecting"); disconnect(); } } } - + /** * Gets the percentage print. * @@ -1274,7 +1338,8 @@ public double getPercentagePrint() { /** * Sets the percentage print. * - * @param percentagePrint the new percentage print + * @param percentagePrint + * the new percentage print */ public void setPercentagePrint(double percentagePrint) { this.percentagePrint = percentagePrint; @@ -1292,7 +1357,8 @@ public long getLastWrite() { /** * Sets the last write. * - * @param lastWrite the new last write + * @param lastWrite + * the new last write */ public void setLastWrite(long lastWrite) { this.lastWrite = lastWrite; @@ -1300,6 +1366,7 @@ public void setLastWrite(long lastWrite) { /** * Thread safe queue manager. + * * @author rbreznak * */ @@ -1307,139 +1374,141 @@ private class QueueManager extends Thread { // stack extends vector and gives thread safety /** The queue buffer. */ private ArrayList queueBuffer = new ArrayList(); - + /** The bytes to packet buffer. */ private ByteList bytesToPacketBuffer = new ByteList(); - + /** The is system queue. */ - private boolean isSystemQueue=false; - + private boolean isSystemQueue = false; + /** The kill switch. */ - private boolean killSwitch=false; - + private boolean killSwitch = false; + /** * Instantiates a new queue manager. * - * @param b the b + * @param b + * the b */ public QueueManager(boolean b) { isSystemQueue = b; } - - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.lang.Thread#run() */ public void run() { - Log.info("Starting the Queue Manager as "+isSystemQueue); + Log.info("Starting the Queue Manager as " + isSystemQueue); ThreadUtil.wait(100); - while(isConnected() && !killSwitch && isUseThreadedStack()) { + while (isConnected() && !killSwitch && isUseThreadedStack()) { long start = System.currentTimeMillis(); - if(isSystemQueue) + if (isSystemQueue) runPacketUpdate(); - else{ - if(isBeater()) + else { + if (isBeater()) runHeartBeat(); - + } long packetUpdate = System.currentTimeMillis(); - if(queueBuffer.isEmpty()){ + if (queueBuffer.isEmpty()) { // prevents thread lock ThreadUtil.wait(1); - }else{ - try{ - //send(queueBuffer.remove(queueBuffer.size()-1) ); - + } else { + try { + // send(queueBuffer.remove(queueBuffer.size()-1) ); + BowlerDatagram b = queueBuffer.remove(0); long pulledPacket = System.currentTimeMillis(); pushUp(b); - if(b!=null){ + if (b != null) { long pushedPacket = System.currentTimeMillis(); - - if((System.currentTimeMillis()-getLastWrite())>(getSleepTime()*(getPercentagePrint() /100.0))&& b.isSyncronous()){ - Log.error("Packet recive took more then "+getPercentagePrint()+"%. " + - "\nPacket Update\t"+(packetUpdate- start)+"" + - "\nPulled Packet\t"+(pulledPacket-packetUpdate)+"" + - "\nPushed Packet\t"+(pushedPacket-pulledPacket)); + + if ((System.currentTimeMillis() - getLastWrite()) > (getSleepTime() + * (getPercentagePrint() / 100.0)) && b.isSyncronous()) { + Log.error("Packet recive took more then " + getPercentagePrint() + "%. " + + "\nPacket Update\t" + (packetUpdate - start) + "" + "\nPulled Packet\t" + + (pulledPacket - packetUpdate) + "" + "\nPushed Packet\t" + + (pushedPacket - pulledPacket)); } } - }catch(Exception e){ + } catch (Exception e) { e.printStackTrace(); } } - - int index = queueBuffer.size()-1; + + int index = queueBuffer.size() - 1; int max = 500; - while(queueBuffer.size()>max){ - if(queueBuffer.get(index).isFree()){ - Log.error("Removing packet because freed "+queueBuffer.remove(index)); - }else{ - if(!queueBuffer.get(index).isSyncronous()){ + while (queueBuffer.size() > max) { + if (queueBuffer.get(index).isFree()) { + Log.error("Removing packet because freed " + queueBuffer.remove(index)); + } else { + if (!queueBuffer.get(index).isSyncronous()) { int state = Log.getMinimumPrintLevel(); Log.enableErrorPrint(); - Log.error("Removing packet from overflow: "+queueBuffer.remove(index)); + Log.error("Removing packet from overflow: " + queueBuffer.remove(index)); Log.setMinimumPrintLevel(state); - }else{ + } else { index--; } } - if(index >= max){ + if (index >= max) { break; } } - - + } - - Log.error("Queue Manager thread exited! Connected="+isConnected()+" kill switch="+killSwitch); - //throw new RuntimeException(); + + Log.error("Queue Manager thread exited! Connected=" + isConnected() + " kill switch=" + killSwitch); + // throw new RuntimeException(); } - + /** * Run packet update. * * @return true, if successful */ - private boolean runPacketUpdate() { + private boolean runPacketUpdate() { try { BowlerDatagram bd = loadPacketFromPhy(bytesToPacketBuffer); - if(bd!=null){ - Log.info("\nR<<"+bd); + if (bd != null) { + Log.info("\nR<<" + bd); onDataReceived(bd); - bytesToPacketBuffer=new ByteList(); + bytesToPacketBuffer = new ByteList(); } } catch (Exception e) { - //e.printStackTrace(); - if(isConnected()){ - Log.error("Data read failed "+e.getMessage()); + // e.printStackTrace(); + if (isConnected()) { + Log.error("Data read failed " + e.getMessage()); e.printStackTrace(); disconnect(); - //connect(); + // connect(); } } return false; } - /** * Adds the datagram. * - * @param dg the dg + * @param dg + * the dg */ private void addDatagram(BowlerDatagram dg) { queueBuffer.add(dg); } - + /** * Kill. */ public void kill() { - killSwitch=true; - //new RuntimeException("Killing the Queue").printStackTrace(); + killSwitch = true; + // new RuntimeException("Killing the Queue").printStackTrace(); } } - + /** * Checks if is use threaded stack. * @@ -1452,9 +1521,10 @@ public boolean isUseThreadedStack() { /** * Sets the use threaded stack. * - * @param useThreadedStack the new use threaded stack + * @param useThreadedStack + * the new use threaded stack */ - public void setUseThreadedStack(boolean useThreadedStack) { + public void setUseThreadedStack(boolean useThreadedStack) { this.useThreadedStack = useThreadedStack; } @@ -1470,100 +1540,104 @@ public boolean isBeater() { /** * Sets the beater. * - * @param beater the new beater + * @param beater + * the new beater */ public void setBeater(boolean beater) { this.beater = beater; } - + /** * Load packet from phy. * - * @param bytesToPacketBuffer the bytes to packet buffer + * @param bytesToPacketBuffer + * the bytes to packet buffer * @return the bowler datagram - * @throws NullPointerException the null pointer exception - * @throws IOException Signals that an I/O exception has occurred. - */ - public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) throws NullPointerException, IOException{ - BowlerDatagram bd=BowlerDatagramFactory.build(bytesToPacketBuffer); - if(dataIns!=null){ - int have,b,ret =0; - try{ + * @throws NullPointerException + * the null pointer exception + * @throws IOException + * Signals that an I/O exception has occurred. + */ + public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) throws NullPointerException, IOException { + BowlerDatagram bd = BowlerDatagramFactory.build(bytesToPacketBuffer); + if (dataIns != null) { + int have, b, ret = 0; + try { synchronized (dataIns) { have = getDataIns().available(); } - if(have==0) + if (have == 0) return null; - }catch (IOException e){ - //Log.enableErrorPrint(); - Log.error("IO Error "+e.getMessage()); + } catch (IOException e) { + // Log.enableErrorPrint(); + Log.error("IO Error " + e.getMessage()); throw e; } - - for(b=0;b0){ - byte[] b =outgoing.popList(getChunkSize()); - //com.neuronrobotics.sdk.common.Log.error("Writing "+new ByteList(data)); - getDataOuts().write( b ); + + while (outgoing.size() > 0) { + byte[] b = outgoing.popList(getChunkSize()); + // com.neuronrobotics.sdk.common.Log.error("Writing "+new ByteList(data)); + getDataOuts().write(b); getDataOuts().flush(); } - }catch (Exception e){ - //e.printStackTrace(); - Log.error("Write failed. "+e.getMessage()); - //reconnect(); + } catch (Exception e) { + // e.printStackTrace(); + Log.error("Write failed. " + e.getMessage()); + // reconnect(); } - }else{ + } else { Log.error("No data sent, stream closed"); } - - } - + } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java index b3a0af35..4712900d 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerAbstractDevice.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -15,70 +15,69 @@ /** * * Copyright 2009 Neuron Robotics, LLC - * + * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. - * + * */ package com.neuronrobotics.sdk.common; import java.util.ArrayList; import com.neuronrobotics.sdk.addons.kinematics.time.TimeKeeper; -import com.neuronrobotics.sdk.commands.bcs.core.PingCommand; import com.neuronrobotics.sdk.commands.neuronrobotics.dyio.InfoFirmwareRevisionCommand; // Auto-generated Javadoc /** - * AbstractDevices are used to model devices that are connected to the Bowler network. AbstractDevice - * implementations should encapsulate command generation and provide higher-level actions to users. - * + * AbstractDevices are used to model devices that are connected to the Bowler + * network. AbstractDevice implementations should encapsulate command generation + * and provide higher-level actions to users. + * * @author rbreznak * */ public abstract class BowlerAbstractDevice extends TimeKeeper implements IBowlerDatagramListener { - + /** The keep alive. */ private boolean keepAlive = true; - + /** The disconnecting. */ private boolean disconnecting = false; - + /** The last packet time. */ - private long lastPacketTime=0; - + private long lastPacketTime = 0; + /** The connection. */ - private BowlerAbstractConnection connection=null; + private BowlerAbstractConnection connection = null; /** The address. */ private MACAddress address = new MACAddress(MACAddress.BROADCAST); - + /** The disconnect listeners. */ - private ArrayList disconnectListeners = new ArrayList (); - + private ArrayList disconnectListeners = new ArrayList(); + /** The scripting name. */ private String scriptingName = "device"; - - + /** * Determines if the device is available. * * @return true if the device is avaiable, false if it is not - * @throws InvalidConnectionException the invalid connection exception + * @throws InvalidConnectionException + * the invalid connection exception */ - public boolean isAvailable() throws InvalidConnectionException{ - return getConnection().isConnected()&&disconnecting==false; + public boolean isAvailable() throws InvalidConnectionException { + return getConnection().isConnected() && disconnecting == false; } - /** * Set the connection to use when communicating commands with a device. */ @@ -89,7 +88,7 @@ protected void fireDisconnectEvent() { l.onDisconnect(this); } } - + /** * Fire connect event. */ @@ -100,71 +99,73 @@ protected void fireConnectEvent() { l.onConnect(this); } } - + /** * Adds the connection event listener. * - * @param l the l + * @param l + * the l */ - public void addConnectionEventListener(final IDeviceConnectionEventListener l ) { - if(!getDisconnectListeners().contains(l)) { + public void addConnectionEventListener(final IDeviceConnectionEventListener l) { + if (!getDisconnectListeners().contains(l)) { getDisconnectListeners().add(l); } -// com.neuronrobotics.sdk.common.Log.error(getScriptingName()+" Adding listener "+l.getClass()); -// l.trace.printStackTrace(); -// new Exception().printStackTrace(); + // com.neuronrobotics.sdk.common.Log.error(getScriptingName()+" Adding listener + // "+l.getClass()); + // l.trace.printStackTrace(); + // new Exception().printStackTrace(); BowlerAbstractDevice bad = this; - if(connection !=null) - connection.addConnectionEventListener(new IConnectionEventListener() { - - @Override - public void onDisconnect(BowlerAbstractConnection source) { - - l.onDisconnect(bad); - } - - @Override - public void onConnect(BowlerAbstractConnection source) { - // Auto-generated method stub - l.onConnect(bad); - } - }); + if (connection != null) + connection.addConnectionEventListener(new IConnectionEventListener() { + + @Override + public void onDisconnect(BowlerAbstractConnection source) { + + l.onDisconnect(bad); + } + + @Override + public void onConnect(BowlerAbstractConnection source) { + // Auto-generated method stub + l.onConnect(bad); + } + }); } - + /** * Removes the connection event listener. * - * @param l the l + * @param l + * the l */ - public void removeConnectionEventListener(IDeviceConnectionEventListener l ) { - if(getDisconnectListeners().contains(l)) { + public void removeConnectionEventListener(IDeviceConnectionEventListener l) { + if (getDisconnectListeners().contains(l)) { getDisconnectListeners().remove(l); } } - - /** * Sets the connection. * - * @param connection the new connection + * @param connection + * the new connection */ public void setConnection(BowlerAbstractConnection connection) { setThreadedUpstreamPackets(false); - if(connection == null) { + if (connection == null) { throw new NullPointerException("Can not use a NULL connection."); } BowlerAbstractDevice bad = this; - for(int i=0;i getRevisions(){ + public ArrayList getRevisions() { ArrayList list = new ArrayList(); try { - BowlerDatagram b = send(new InfoFirmwareRevisionCommand(),5); - Log.debug("FW info:\n"+b); - for(int i=0;i<(b.getData().size()/3);i++){ - list.add(new ByteList(b.getData().getBytes((i*3),3))); + BowlerDatagram b = send(new InfoFirmwareRevisionCommand(), 5); + Log.debug("FW info:\n" + b); + for (int i = 0; i < (b.getData().size() / 3); i++) { + list.add(new ByteList(b.getData().getBytes((i * 3), 3))); } } catch (InvalidResponseException e) { Log.error("Invalid response from Firmware rev request"); - + } catch (NoConnectionAvailableException e) { Log.error("No connection is available."); } return list; } - + /** * Get all the namespaces. * * @return the namespaces */ - public ArrayList getNamespaces(){ - return connection.getNamespaces(getAddress()); + public ArrayList getNamespaces() { + return connection.getNamespaces(getAddress()); } - + /** * Check the device to see if it has the requested namespace. * - * @param string the string + * @param string + * the string * @return true, if successful */ public boolean hasNamespace(String string) { - return connection.hasNamespace(string,getAddress()); + return connection.hasNamespace(string, getAddress()); } - + /** * Start heart beat. */ - public void startHeartBeat(){ + public void startHeartBeat() { getConnection().startHeartBeat(); } - + /** * Start heart beat. * - * @param msHeartBeatTime the ms heart beat time + * @param msHeartBeatTime + * the ms heart beat time */ - public void startHeartBeat(long msHeartBeatTime){ + public void startHeartBeat(long msHeartBeatTime) { getConnection().startHeartBeat(msHeartBeatTime); } - + /** * Stop heart beat. */ - public void stopHeartBeat(){ + public void stopHeartBeat() { getConnection().stopHeartBeat(); } - /** - * Tells the connection to use asynchronous packets as threads or not. + * Tells the connection to use asynchronous packets as threads or not. * - * @param up the new threaded upstream packets + * @param up + * the new threaded upstream packets */ - public void setThreadedUpstreamPackets(boolean up){ - if(connection != null){ + public void setThreadedUpstreamPackets(boolean up) { + if (connection != null) { connection.setThreadedUpstreamPackets(up); } } - + /** * Requests all of the RPC's from a namespace. * - * @param namespace the namespace + * @param namespace + * the namespace * @return the rpc list */ public ArrayList getRpcList(String namespace) { - return connection.getRpcList(namespace,getAddress()); + return connection.getRpcList(namespace, getAddress()); } - + /** * Loads all the Requests for the RPC's from all namespaces. */ public void loadRpcList() { - ArrayList names = getNamespaces(); - - for (String s:names){ - com.neuronrobotics.sdk.common.Log.error(getRpcList(s)); - } - + ArrayList names = getNamespaces(); + + for (String s : names) { + com.neuronrobotics.sdk.common.Log.error(getRpcList(s)); + } + } /** * On all response. * - * @param data the data + * @param data + * the data */ @Deprecated - public void onAllResponse(BowlerDatagram data){ - // this is here to prevent the breaking of an interface, + public void onAllResponse(BowlerDatagram data) { + // this is here to prevent the breaking of an interface, } - + /** * Checks if is keep alive. * @@ -449,17 +485,17 @@ public void onAllResponse(BowlerDatagram data){ public boolean isKeepAlive() { return keepAlive; } - + /** * Sets the keep alive. * - * @param keepAlive the new keep alive + * @param keepAlive + * the new keep alive */ public void setKeepAlive(boolean keepAlive) { this.keepAlive = keepAlive; } - /** * Gets the last packet time. * @@ -469,17 +505,16 @@ public long getLastPacketTime() { return lastPacketTime; } - /** * Sets the last packet time. * - * @param lastPacketTime the new last packet time + * @param lastPacketTime + * the new last packet time */ public void setLastPacketTime(long lastPacketTime) { this.lastPacketTime = lastPacketTime; } - /** * Gets the scripting name. * @@ -489,17 +524,16 @@ public String getScriptingName() { return scriptingName; } - /** * Sets the scripting name. * - * @param scriptingName the new scripting name + * @param scriptingName + * the new scripting name */ public void setScriptingName(String scriptingName) { this.scriptingName = scriptingName; } - /** * Gets the disconnect listeners. * @@ -509,5 +543,4 @@ public ArrayList getDisconnectListeners() { return disconnectListeners; } - } diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerDataType.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerDataType.java index 97e1f065..e792febf 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerDataType.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerDataType.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -23,124 +23,137 @@ * The Enum BowlerMethod. */ public enum BowlerDataType implements ISendable { - - /** 8 bit unsigned int. */ + + /** 8 bit unsigned int. */ I08(8), - - /** 16 bit signed int. */ + + /** 16 bit signed int. */ I16(16), - - /** 32 bit signed int. */ + + /** 32 bit signed int. */ I32(32), - - /** stream of 8 bit unsigned ints, first byte is unsigned char to indicate number of data values in the stream. */ + + /** + * stream of 8 bit unsigned ints, first byte is unsigned char to indicate number + * of data values in the stream. + */ STR(37), - - /** stream of 32 bit signed ints, first byte is unsigned char to indicate number of data values in the stream. */ + + /** + * stream of 32 bit signed ints, first byte is unsigned char to indicate number + * of data values in the stream. + */ I32STR(38), - - /** ASCII String null terminated. */ + + /** ASCII String null terminated. */ ASCII(39), - - /** Signed Fixed point times 100. */ + + /** Signed Fixed point times 100. */ FIXED100(41), - - /** Signed Fixed point times 1000. */ + + /** Signed Fixed point times 1000. */ FIXED1k(42), - - /** Boolean value, 0 is false, not 0 is true. */ + + /** Boolean value, 0 is false, not 0 is true. */ BOOL(43), - - /** stream of floats, first byte is unsigned char to indicate number of data values in the stream. */ + + /** + * stream of floats, first byte is unsigned char to indicate number of data + * values in the stream. + */ FIXED1k_STR(44), - - /** Unknown*. */ + + /** Unknown*. */ INVALID(0); - - + /** The Constant lookup. */ - private static final Map lookup = new HashMap(); + private static final Map lookup = new HashMap(); /** The value. */ - private byte value=0; - + private byte value = 0; + static { - for(BowlerDataType cm : EnumSet.allOf(BowlerDataType.class)) { + for (BowlerDataType cm : EnumSet.allOf(BowlerDataType.class)) { lookup.put(cm.getValue(), cm); } } - /** * Instantiates a new bowler method. * - * @param val the val + * @param val + * the val */ private BowlerDataType(int val) { value = (byte) val; } - + /** * Gets the value. * * @return the value */ public byte getValue() { - return value; + return value; } - /** - * Gets the. - * - * @param code the code - * @return the bowler method - */ - public static BowlerDataType get(byte code) { - try{ - BowlerDataType tmp =lookup.get(code); - if(tmp == null){ - throw new RuntimeException("Unrecognized Bowler data type "+code); - } - return tmp; - }catch(Exception ex){ - ex.printStackTrace(); - } - - return BowlerDataType.INVALID; - - } - - /* (non-Javadoc) + /** + * Gets the. + * + * @param code + * the code + * @return the bowler method + */ + public static BowlerDataType get(byte code) { + try { + BowlerDataType tmp = lookup.get(code); + if (tmp == null) { + throw new RuntimeException("Unrecognized Bowler data type " + code); + } + return tmp; + } catch (Exception ex) { + ex.printStackTrace(); + } + + return BowlerDataType.INVALID; + + } + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.ISendable#getBytes() */ public byte[] getBytes() { - byte [] b = {getValue()}; + byte[] b = {getValue()}; return b; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Enum#toString() */ - public String toString(){ - String s="(NOT VALID)"; - switch (value){ - case 8: - return "(char)"; - case 16: - return "(short)"; - case 32: - return "(int)"; - case 37: - return "(char [])"; - case 38: - return "(int [])"; - case 39: - return "(String)"; - case 41: - return "(Fixed 100)"; - case 42: - return "(Fixed 1k)"; - case 43: - return "(Boolean)"; + public String toString() { + String s = "(NOT VALID)"; + switch (value) { + case 8 : + return "(char)"; + case 16 : + return "(short)"; + case 32 : + return "(int)"; + case 37 : + return "(char [])"; + case 38 : + return "(int [])"; + case 39 : + return "(String)"; + case 41 : + return "(Fixed 100)"; + case 42 : + return "(Fixed 1k)"; + case 43 : + return "(Boolean)"; } return s; } diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java index 78e261b5..f3cc38b4 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagram.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -15,127 +15,133 @@ /** * * Copyright 2009 Neuron Robotics, LLC - * + * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. - * + * */ package com.neuronrobotics.sdk.common; // Auto-generated Javadoc /** - * Formats data into a Bowler packet. - * + * Formats data into a Bowler packet. + * * @author rbreznak, Kevin Harrington * */ -public class BowlerDatagram implements ISendable,IthreadedTimoutListener { - +public class BowlerDatagram implements ISendable, IthreadedTimoutListener { + /** The Constant REVISION. */ public static final byte REVISION = 3; - + /** The Constant HEADER_SIZE. */ public static final int HEADER_SIZE = 11; - + /** The Constant CRC_INDEX. */ public static final int CRC_INDEX = 10; /** The Constant MAX_PACKET_SIZE. */ - public static final int MAX_PACKET_SIZE = HEADER_SIZE+255; - + public static final int MAX_PACKET_SIZE = HEADER_SIZE + 255; + /** The address. */ private MACAddress address = new MACAddress(); - + /** The method. */ private BowlerMethod method; - + /** The transaction id. */ private byte namespaceResolutionID; - + /** The upstream. */ private boolean upstream; - + /** The crc. */ private byte crc; - + /** The Data crc. */ private byte dataCrc; - + /** The data. */ private ByteList data = new ByteList(); - - /** time of instantiation *. */ - - //private long timestamp; - + + /** time of instantiation *. */ + + // private long timestamp; + private boolean isPackedAvailableForLoading = true; - + /** The timeout. */ - private ThreadedTimeout timeout=new ThreadedTimeout(); - + private ThreadedTimeout timeout = new ThreadedTimeout(); + /** The use bowler v4. */ - private static boolean useBowlerV4 =true; - - + private static boolean useBowlerV4 = true; + /** * Default constructor. * - * @param factory the factory + * @param factory + * the factory */ public BowlerDatagram(BowlerDatagramFactory factory) { validate(factory); - setFree(true,factory); + setFree(true, factory); } - + /** * Generate a CRC of a section of bytes,. * - * @param index Start o the section - * @param len LEngth of the section - * @param data the data + * @param index + * Start o the section + * @param len + * LEngth of the section + * @param data + * the data * @return The Calculated CRC */ - private static byte genCRC(int index, int len, ByteList data) { + private static byte genCRC(int index, int len, ByteList data) { int check = 0; - try{ - for(int i = index; i < len+index; i++) { + try { + for (int i = index; i < len + index; i++) { check += data.getByte(i); } - }catch(IndexOutOfBoundsException e){ - throw new IndexOutOfBoundsException("Attempting from: "+index+ " to: "+len+" in: "+data.size()+" data: "+data); + } catch (IndexOutOfBoundsException e) { + throw new IndexOutOfBoundsException( + "Attempting from: " + index + " to: " + len + " in: " + data.size() + " data: " + data); } - return (byte)(check&0x000000ff); + return (byte) (check & 0x000000ff); } - + /** * Assumes that the packet starts at byte 0. * - * @param data the data + * @param data + * the data * @return the byte */ - private static byte genCrc(ByteList data){ - return genCRC(0, (BowlerDatagram.HEADER_SIZE-1), data); + private static byte genCrc(ByteList data) { + return genCRC(0, (BowlerDatagram.HEADER_SIZE - 1), data); } - + /** * Assumes the packet starts at byte 0. * - * @param data the data + * @param data + * the data * @return the byte holding the header crc */ - private static byte getCRC(ByteList data){ + private static byte getCRC(ByteList data) { return data.getByte(BowlerDatagram.CRC_INDEX); } - + /** * Gets the crc. * @@ -146,38 +152,39 @@ private byte getCrc() { return crc; } - /** * Sets the crc. * - * @param crc the new crc + * @param crc + * the new crc */ private void setCrc(byte crc) { checkValidPacket(); this.crc = crc; } - /** * Assumes that the packet starts at byte 0. * - * @param data the data + * @param data + * the data * @return the byte */ - public static byte genDataCrc(ByteList data){ + public static byte genDataCrc(ByteList data) { return genCRC(BowlerDatagram.HEADER_SIZE, data.getUnsigned(9), data); } - + /** * Assumes the packet starts at byte 0. * - * @param data the data + * @param data + * the data * @return the byte holding the header crc */ - private static byte getDataCrc(ByteList data){ - return data.getByte((BowlerDatagram.HEADER_SIZE)+data.getUnsigned(9)); + private static byte getDataCrc(ByteList data) { + return data.getByte((BowlerDatagram.HEADER_SIZE) + data.getUnsigned(9)); } - + /** * Gets the data crc. * @@ -188,11 +195,11 @@ private byte getDataCrc() { return dataCrc; } - /** * Sets the data crc. * - * @param crc the new data crc + * @param crc + * the new data crc */ private void setDataCrc(byte crc) { checkValidPacket(); @@ -201,95 +208,103 @@ private void setDataCrc(byte crc) { /** * Constructs a BowlerDatagram that will parse the given data into a packet. - * Data must be at least the size of a standard Bowler packet header (11 bytes long) + * Data must be at least the size of a standard Bowler packet header (11 bytes + * long) * - * @param data the data - * @param factory the factory + * @param data + * the data + * @param factory + * the factory */ - public BowlerDatagram(ByteList data,BowlerDatagramFactory factory) { + public BowlerDatagram(ByteList data, BowlerDatagramFactory factory) { validate(factory); parse(data); } - + /** * Validate. * - * @param factory the factory + * @param factory + * the factory */ - private void validate(BowlerDatagramFactory factory){ - if(!isFree()){ + private void validate(BowlerDatagramFactory factory) { + if (!isFree()) { throw new RuntimeException("Packet is in use, be sure to use the factory"); } timeout.initialize(BowlerDatagramFactory.getPacketTimeout(), this); } - + /** - * Breaks a chunk of data into the proper Bowler datagram fields. - * - * @param raw the chunk of data + * Breaks a chunk of data into the proper Bowler datagram fields. + * + * @param raw + * the chunk of data */ - public void parse(ByteList raw) { + public void parse(ByteList raw) { checkValidPacket(); // Every valid Bowler packet has 11 characters from the header. - if(raw.size() < HEADER_SIZE) { + if (raw.size() < HEADER_SIZE) { throw new MalformattedDatagram("Datagram does not have a valid Bowler header size."); } - + // Make sure that the revisions match - if(raw.getByte(0) != REVISION) { - throw new MalformattedDatagram("Datagram is revision " + raw.getByte(0) + ". Must be of revision " + REVISION); + if (raw.getByte(0) != REVISION) { + throw new MalformattedDatagram( + "Datagram is revision " + raw.getByte(0) + ". Must be of revision " + REVISION); } - setAddress(new MACAddress(raw.getBytes(1,6))); + setAddress(new MACAddress(raw.getBytes(1, 6))); setMethod(BowlerMethod.get(raw.getByte(7))); - if(getMethod() == null){ + if (getMethod() == null) { setMethod(BowlerMethod.STATUS); - com.neuronrobotics.sdk.common.Log.error("Method was invalid!! Value="+raw.getUnsigned(7)); - Log.error("Method was invalid!! Value="+raw.getUnsigned(7)); + com.neuronrobotics.sdk.common.Log.error("Method was invalid!! Value=" + raw.getUnsigned(7)); + Log.error("Method was invalid!! Value=" + raw.getUnsigned(7)); } - - setNamespaceResolutionID((byte) (raw.getUnsigned(8)&0x7f)); - setUpstream((raw.getByte(8)<0)); + + setNamespaceResolutionID((byte) (raw.getUnsigned(8) & 0x7f)); + setUpstream((raw.getByte(8) < 0)); // Make sure that the size of the data payload is the stated length int dataLength = raw.getUnsigned(9); - //Either legacy parser or the v4 parser - if((dataLength != raw.getBytes(11).length-1) && (dataLength != raw.getBytes(11).length) ) { - throw new MalformattedDatagram("Datagram payload length is mismatched expected "+dataLength+" got "+raw.getBytes(11).length); - } - // Put the remaining data into the data payload - setData(raw.getBytes(HEADER_SIZE,dataLength)); + // Either legacy parser or the v4 parser + if ((dataLength != raw.getBytes(11).length - 1) && (dataLength != raw.getBytes(11).length)) { + throw new MalformattedDatagram( + "Datagram payload length is mismatched expected " + dataLength + " got " + raw.getBytes(11).length); + } + // Put the remaining data into the data payload + setData(raw.getBytes(HEADER_SIZE, dataLength)); // Validate the CRC - if(!CheckCRC(raw,true) ) { - throw new MalformattedDatagram("CRC does not match: "+raw); - }else{ + if (!CheckCRC(raw, true)) { + throw new MalformattedDatagram("CRC does not match: " + raw); + } else { setCrc(getCRC(raw)); - setDataCrc(raw.getByte(raw.size()-1)); + setDataCrc(raw.getByte(raw.size() - 1)); } setFree(false); } - + /** * Sets the data. * - * @param bs the new data + * @param bs + * the new data */ - public void setData(byte[] bs){ + public void setData(byte[] bs) { checkValidPacket(); data.clear(); data.add(bs); } - + /** * Get the payload including the RPC. * * @return byte list of the paload */ - public ByteList getPayload(){ + public ByteList getPayload() { checkValidPacket(); return new ByteList(data.getBytes()); } - + /** * Get the datagram's current address. * @@ -319,7 +334,7 @@ public BowlerMethod getMethod() { checkValidPacket(); return method; } - + /** * Get the datagram's current transaction id. * @@ -337,30 +352,31 @@ public byte getNamespaceResolutionID() { */ public boolean isSyncronous() { checkValidPacket(); -// if(namespaceResolutionID != 0 && method == BowlerMethod.ASYNCHRONOUS){ -// Log.error("Device firmware out of date, should be using BowlerMethod.ASYNCHRONOUS rather than transactionID != 0" + this); -// } + // if(namespaceResolutionID != 0 && method == BowlerMethod.ASYNCHRONOUS){ + // Log.error("Device firmware out of date, should be using + // BowlerMethod.ASYNCHRONOUS rather than transactionID != 0" + this); + // } return getMethod() != BowlerMethod.ASYNCHRONOUS; } - + /** * Checks if is upstream. * * @return true, if is upstream */ - public boolean isUpstream(){ + public boolean isUpstream() { checkValidPacket(); return upstream; } - + /** * Gets the transaction upstream. * * @return the transaction upstream */ - public byte getTransactionUpstream(){ + public byte getTransactionUpstream() { checkValidPacket(); - byte back=(byte) (getNamespaceResolutionID()|(isUpstream()?0x80:0)); + byte back = (byte) (getNamespaceResolutionID() | (isUpstream() ? 0x80 : 0)); return back; } @@ -375,18 +391,19 @@ public byte getCRC() { } /** * Gets the String representation of the datagram's RPC. + * * @return A string representation of the datagram's RPC */ public String getRPC() { checkValidPacket(); - try{ + try { return new String(data.getBytes(0, 4)); - }catch(Exception e){ - //e.printStackTrace(); + } catch (Exception e) { + // e.printStackTrace(); return "****"; } } - + /** * Gets the Datagram's Session ID. * @@ -394,9 +411,11 @@ public String getRPC() { */ private int getSessionID() { checkValidPacket(); - return getNamespaceResolutionID() >= 0 ? (int) getNamespaceResolutionID():(int) getNamespaceResolutionID()+256; + return getNamespaceResolutionID() >= 0 + ? (int) getNamespaceResolutionID() + : (int) getNamespaceResolutionID() + 256; } - + /** * Get the datagram's current data payload after the RPC. * @@ -406,7 +425,9 @@ public ByteList getData() { checkValidPacket(); return new ByteList(data.getBytes(4)); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.ISendable#getBytes() */ public byte[] getBytes() { @@ -417,36 +438,37 @@ public byte[] getBytes() { bl.add(getMethod().getValue()); bl.add(getTransactionUpstream()); bl.add(data.size()); - //calculate the CRC + // calculate the CRC setCrc(genCrc(bl)); - - + bl.add(getCRC()); bl.add(data); - if(isUseBowlerV4()){ - //Log.warning("parsing v4 "); + if (isUseBowlerV4()) { + // Log.warning("parsing v4 "); setDataCrc(genDataCrc(bl)); bl.add(getDataCrc()); } return bl.getBytes(); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ @Override - public String toString(){ - if(isFree()) + public String toString() { + if (isFree()) return "Empty Packet"; - String str=""; - if(!Log.isPrinting()){ + String str = ""; + if (!Log.isPrinting()) { return str; } str += "\tRaw Packet:\t"; - for (byte x : getBytes()){ + for (byte x : getBytes()) { // This writes out the hex values of all the data Bytes str += String.format("%02x ", x); - } + } str += "\n"; str += "\tRevision: \t" + (int) REVISION + '\n'; str += "\tMAC address: \t" + getAddress() + '\n'; @@ -456,16 +478,16 @@ public String toString(){ str += "\tRPC Namespace Index: \t" + getSessionID(); str += "\n\tData Size: \t" + (int) data.size() + '\n'; str += "\tCRC: \t\t"; - str += String.format("%02x ", getCrc()); - if(isUseBowlerV4()){ + str += String.format("%02x ", getCrc()); + if (isUseBowlerV4()) { str += "\n\tD-CRC: \t\t"; str += String.format("%02x ", getDataCrc()); } - + str += "\n\tRPC: \t\t"; str += getRPC();// This extracts the opcode as ascii str += "\n\tData: \t\t"; - for (byte x : getData().getBytes()){ + for (byte x : getData().getBytes()) { // This writes out the hex values of all the data Bytes str += String.format("%02x ", x); } @@ -476,30 +498,33 @@ public String toString(){ /** * Check crc. * - * @param buffer the buffer - * @param checkData the check data + * @param buffer + * the buffer + * @param checkData + * the check data * @return true, if successful */ static boolean CheckCRC(ByteList buffer, boolean checkData) { - try{ - byte generated,inPacket; + try { + byte generated, inPacket; generated = genCrc(buffer); - inPacket = getCRC(buffer); - if(generated != inPacket){ - Log.error("CRC of packet is: "+generated+" Expected: "+inPacket); + inPacket = getCRC(buffer); + if (generated != inPacket) { + Log.error("CRC of packet is: " + generated + " Expected: " + inPacket); return false; } - - if(checkData && isUseBowlerV4()){ + + if (checkData && isUseBowlerV4()) { generated = genDataCrc(buffer); - inPacket = getDataCrc(buffer); - if(generated != inPacket){ - Log.error("Data CRC of packet is: "+generated+" Expected: "+inPacket); + inPacket = getDataCrc(buffer); + if (generated != inPacket) { + Log.error("Data CRC of packet is: " + generated + " Expected: " + inPacket); return false; } } - }catch(Exception ex){ - if(InterruptedException.class.isInstance(ex))throw new RuntimeException(ex); + } catch (Exception ex) { + if (InterruptedException.class.isInstance(ex)) + throw new RuntimeException(ex); ex.printStackTrace(); return false; } @@ -519,7 +544,8 @@ public long getTimestamp() { /** * Sets the as async. * - * @param id the new as async + * @param id + * the new as async */ public void setAsAsync(int id) { setNamespaceResolutionID((byte) id); @@ -527,7 +553,6 @@ public void setAsAsync(int id) { checkValidPacket(); } - /** * Clear. */ @@ -535,44 +560,44 @@ public void clear() { data.clear(); } - /** * Sets the address. * - * @param address the new address + * @param address + * the new address */ public void setAddress(MACAddress address) { checkValidPacket(); this.address = address; } - /** * Sets the method. * - * @param method the new method + * @param method + * the new method */ public void setMethod(BowlerMethod method) { checkValidPacket(); this.method = method; } - /** * Sets the namespace resolution id. * - * @param namespaceResolutionID the new namespace resolution id + * @param namespaceResolutionID + * the new namespace resolution id */ public void setNamespaceResolutionID(byte namespaceResolutionID) { checkValidPacket(); this.namespaceResolutionID = namespaceResolutionID; } - /** * Sets the upstream. * - * @param upstream the new upstream + * @param upstream + * the new upstream */ public void setUpstream(boolean upstream) { checkValidPacket(); @@ -580,21 +605,17 @@ public void setUpstream(boolean upstream) { calcCRC(); } - - - /** * Check valid packet. */ - private void checkValidPacket(){ - if(isFree() && timeout.isTimedOut()){ - throw new RuntimeException("This packet has timed out and the data has been cleared marked="+isFree()); - }else{ + private void checkValidPacket() { + if (isFree() && timeout.isTimedOut()) { + throw new RuntimeException("This packet has timed out and the data has been cleared marked=" + isFree()); + } else { setFree(false); } } - /** * Checks if is free. * @@ -604,12 +625,13 @@ public boolean isFree() { return isPackedAvailableForLoading; } - /** * Sets the free. * - * @param isFree the is free - * @param factory the factory + * @param isFree + * the is free + * @param factory + * the factory */ public void setFree(boolean isFree, BowlerDatagramFactory factory) { BowlerDatagramFactory.validateFactory(factory); @@ -619,49 +641,54 @@ public void setFree(boolean isFree, BowlerDatagramFactory factory) { /** * Sets the not free. */ - private void setNotFree(){ + private void setNotFree() { clear(); timeout.stop(); } - + /** * Sets the to free. */ - private void setToFree(){ + private void setToFree() { timeout.initialize(BowlerDatagramFactory.getPacketTimeout(), this); } - + /** * Sets the free. * - * @param isFree the new free + * @param isFree + * the new free */ void setFree(boolean isFree) { - if(isFree== true){ + if (isFree == true) { setNotFree(); - }else{ + } else { setToFree(); } this.isPackedAvailableForLoading = isFree; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.IthreadedTimoutListener#onTimeout(java.lang.String) + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.IthreadedTimoutListener#onTimeout(java.lang. + * String) */ @Override public void onTimeout(String message) { - if(!isFree() ){ - long timeoutTime= System.currentTimeMillis()-timeout.getStartTime(); - if(timeout.getAmountOfTimeForTimerToRun() < timeoutTime){ + if (!isFree()) { + long timeoutTime = System.currentTimeMillis() - timeout.getStartTime(); + if (timeout.getAmountOfTimeForTimerToRun() < timeoutTime) { setFree(true); - }else{ - Log.error("Packet fucked up. Expected "+timeout.getAmountOfTimeForTimerToRun()+" ms, took "+timeoutTime+" ms"); + } else { + Log.error("Packet fucked up. Expected " + timeout.getAmountOfTimeForTimerToRun() + " ms, took " + + timeoutTime + " ms"); timeout.initialize(BowlerDatagramFactory.getPacketTimeout(), this); } } } - /** * Calc crc. */ @@ -670,15 +697,15 @@ public void calcCRC() { getBytes(); } - /** * Sets the rpc. * - * @param opCode the new rpc + * @param opCode + * the new rpc */ public void setRpc(String opCode) { // Auto-generated method stub - + } /** @@ -693,11 +720,12 @@ public static boolean isUseBowlerV4() { /** * Sets the use bowler v4. * - * @param useBowlerV4 the new use bowler v4 + * @param useBowlerV4 + * the new use bowler v4 */ public static void setUseBowlerV4(boolean useBowlerV4) { - Log.warning("Setting V4 mode = "+useBowlerV4); - //new Exception().printStackTrace(); + Log.warning("Setting V4 mode = " + useBowlerV4); + // new Exception().printStackTrace(); BowlerDatagram.useBowlerV4 = useBowlerV4; } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagramFactory.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagramFactory.java index 197c27af..39b403a2 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagramFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerDatagramFactory.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,264 +16,274 @@ // Auto-generated Javadoc /** - * This DatagramFactory Builds a datagram. - * + * This DatagramFactory Builds a datagram. + * * @author robert * */ public class BowlerDatagramFactory { - + /** The instance. */ private static BowlerDatagramFactory instance; - + /** The pool. */ - private static BowlerDatagram pool []; - + private static BowlerDatagram pool[]; + /** The failed. */ - private static int failed=0; - + private static int failed = 0; + /** The last index. */ private static int lastIndex = 0; - + /** The pool default size. */ private static int poolDefaultSize = 1000; - + /** The packet timeout. */ private static long packetTimeout = 5000; - - static{ - if(instance == null){ + + static { + if (instance == null) { instance = new BowlerDatagramFactory(); - pool = new BowlerDatagram[getDefaultPoolSize()]; - for (int i=0;i(start+BowlerDatagramFactory.getPacketTimeout())) - Log.error("Timeout detected, duration = "+(System.currentTimeMillis()-start)+", expected = "+BowlerDatagramFactory.getPacketTimeout()); + // if(System.currentTimeMillis()>(start+BowlerDatagramFactory.getPacketTimeout())) + Log.error("Timeout detected, duration = " + (System.currentTimeMillis() - start) + ", expected = " + + BowlerDatagramFactory.getPacketTimeout()); } - bd.setFree(false,instance); + bd.setFree(false, instance); return bd; } - + /** * Builds the. * - * @param buffer the buffer + * @param buffer + * the buffer * @return the bowler datagram */ - public static BowlerDatagram build(ByteList buffer ){ - BowlerDatagram buff= getNextPacket(); - buff.setFree(false,instance); - BowlerDatagram ret = build(buffer, buff ); - if(ret == null) + public static BowlerDatagram build(ByteList buffer) { + BowlerDatagram buff = getNextPacket(); + buff.setFree(false, instance); + BowlerDatagram ret = build(buffer, buff); + if (ret == null) freePacket(buff); return ret; } - + /** * Builds the. * - * @param buffer the buffer - * @param staticMemory the static memory + * @param buffer + * the buffer + * @param staticMemory + * the static memory * @return the bowler datagram */ - private static BowlerDatagram build(ByteList buffer, BowlerDatagram staticMemory){ - if((buffer.size()==0)) + private static BowlerDatagram build(ByteList buffer, BowlerDatagram staticMemory) { + if ((buffer.size() == 0)) return null; byte fb; - try{ + try { fb = buffer.get(0); - }catch (Exception e){ - Log.warning("Datagram builder first byte warning: "+e.getMessage()); + } catch (Exception e) { + Log.warning("Datagram builder first byte warning: " + e.getMessage()); return null; } - - while(fb!=BowlerDatagram.REVISION) { - //Log.error("First Byte Fail, Junk byte: "+String.format("%02x ", buffer.pop())); + + while (fb != BowlerDatagram.REVISION) { + // Log.error("First Byte Fail, Junk byte: "+String.format("%02x ", + // buffer.pop())); failed++; - try{ - if(buffer.size()==0){ - if(failed>0){ - //Log.error("Failed out "+failed+" bytes"); + try { + if (buffer.size() == 0) { + if (failed > 0) { + // Log.error("Failed out "+failed+" bytes"); } return null; } fb = buffer.get(0); - }catch (Exception e){ - Log.warning("Datagram builder warning: "+e.getMessage()); - if(failed>0){ - //Log.error("Failed out "+failed+" bytes"); + } catch (Exception e) { + Log.warning("Datagram builder warning: " + e.getMessage()); + if (failed > 0) { + // Log.error("Failed out "+failed+" bytes"); } return null; } } - - - if(buffer.size()0){ - //Log.error("Failed out "+failed+" bytes"); + } catch (Exception e) { + // Log.error("Datagram builder error: "+e.getMessage()); + if (failed > 0) { + // Log.error("Failed out "+failed+" bytes"); } e.printStackTrace(); return null; } - if (buffer.size()0){ - //Log.error("Failed out "+failed+" bytes"); + if (buffer.size() < BowlerDatagram.HEADER_SIZE) { + if (failed > 0) { + // Log.error("Failed out "+failed+" bytes"); } - return null;//Not enough bytes to even be a header, try back later + return null;// Not enough bytes to even be a header, try back later } } - int len =buffer.getUnsigned(9); - - if(len<4){ - Log.error("#*#*Warning, packet has no RPC, size: "+len); + int len = buffer.getUnsigned(9); + + if (len < 4) { + Log.error("#*#*Warning, packet has no RPC, size: " + len); } - int totalLen = len+BowlerDatagram.HEADER_SIZE; - - if(BowlerDatagram.isUseBowlerV4()) - totalLen+=1; - staticMemory.setFree(false,instance); + int totalLen = len + BowlerDatagram.HEADER_SIZE; + + if (BowlerDatagram.isUseBowlerV4()) + totalLen += 1; + staticMemory.setFree(false, instance); // See if all the data has arrived for this packet - if (buffer.size()>=(totalLen)){ - failed=0; - ByteList rawContent = new ByteList(buffer.popList(totalLen)); - try{ + if (buffer.size() >= (totalLen)) { + failed = 0; + ByteList rawContent = new ByteList(buffer.popList(totalLen)); + try { staticMemory.parse(rawContent); return staticMemory; - }catch(MalformattedDatagram m){ - Log.error("Data CRC check Fail "+staticMemory); + } catch (MalformattedDatagram m) { + Log.error("Data CRC check Fail " + staticMemory); failed = rawContent.size(); throw m; - } + } } -// if(failed>0) -// Log.error("Failed out "+failed+" bytes"); + // if(failed>0) + // Log.error("Failed out "+failed+" bytes"); return null; } @@ -289,7 +299,8 @@ public static int getDefaultPoolSize() { /** * Sets the pool size. * - * @param poolSize the new pool size + * @param poolSize + * the new pool size */ public static void setPoolSize(int poolSize) { BowlerDatagramFactory.poolDefaultSize = poolSize; @@ -307,7 +318,8 @@ public static long getPacketTimeout() { /** * Sets the packet timeout. * - * @param packetTimeout the new packet timeout + * @param packetTimeout + * the new packet timeout */ public static void setPacketTimeout(int packetTimeout) { BowlerDatagramFactory.packetTimeout = packetTimeout; diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerDocumentationFactory.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerDocumentationFactory.java index 7972f0f4..7e5b7a7a 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerDocumentationFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerDocumentationFactory.java @@ -19,16 +19,17 @@ * documentation). Any documentation for an object type defined in the NRSDK * will be found here. (Hint: if the URI refers to an object type defined in the * NRSDK, it goes here). - * + * * See also: NRConsoleDocumentationFactory.java - * + * */ public class BowlerDocumentationFactory { /** * Gets the documentation url. * - * @param input the input + * @param input + * the input * @return the documentation url */ public static URI getDocumentationURL(Object input) { @@ -36,8 +37,7 @@ public static URI getDocumentationURL(Object input) { if (input instanceof DigitalInputChannel) { try { - return new URI( - basURL+"Digital-Input-Example-Simple/"); + return new URI(basURL + "Digital-Input-Example-Simple/"); } catch (URISyntaxException e) { Log.error(e.getMessage()); } @@ -45,70 +45,62 @@ public static URI getDocumentationURL(Object input) { } else if (input instanceof AnalogInputChannel) { try { - return new URI( - basURL+"Analog-Input-Example/"); + return new URI(basURL + "Analog-Input-Example/"); } catch (URISyntaxException e) { Log.error(e.getMessage()); } } else if (input instanceof CounterInputChannel) { try { - return new URI( - basURL+"Counter-Input-Quadrature-Encoder-Example/"); + return new URI(basURL + "Counter-Input-Quadrature-Encoder-Example/"); } catch (URISyntaxException e) { Log.error(e.getMessage()); } } else if (input instanceof CounterOutputChannel) { try { - return new URI( - basURL+"Counter-Output-Stepper-Example/"); + return new URI(basURL + "Counter-Output-Stepper-Example/"); } catch (URISyntaxException e) { Log.error(e.getMessage()); } } else if (input instanceof DigitalOutputChannel) { try { - return new URI( - basURL+"Digital-Output-Example/"); + return new URI(basURL + "Digital-Output-Example/"); } catch (URISyntaxException e) { Log.error(e.getMessage()); } } else if (input instanceof PPMReaderChannel) { try { - return new URI( - basURL+"PPM-RC-Signal-Reader-Channle-Example/"); + return new URI(basURL + "PPM-RC-Signal-Reader-Channle-Example/"); } catch (URISyntaxException e) { Log.error(e.getMessage()); } } else if (input instanceof ServoChannel) { try { - return new URI(basURL+"Servo-Output-Example/"); + return new URI(basURL + "Servo-Output-Example/"); } catch (URISyntaxException e) { Log.error(e.getMessage()); } } else if (input instanceof SPIChannel) { try { - return new URI( - basURL+"SPI-Channel-Example/"); + return new URI(basURL + "SPI-Channel-Example/"); } catch (URISyntaxException e) { Log.error(e.getMessage()); } } else if (input instanceof UARTChannel) { try { - return new URI( - basURL+"USART-Channel-Example/"); + return new URI(basURL + "USART-Channel-Example/"); } catch (URISyntaxException e) { Log.error(e.getMessage()); } } - throw new RuntimeException("No documentation for object of type " - + input.getClass()); + throw new RuntimeException("No documentation for object of type " + input.getClass()); } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerMethod.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerMethod.java index 05235ccf..1a824412 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerMethod.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerMethod.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -23,87 +23,92 @@ * The Enum BowlerMethod. */ public enum BowlerMethod implements ISendable { - + /** The STATUS. */ STATUS(0x00), - + /** The GET. */ GET(0x10), - + /** The POST. */ POST(0x20), - + /** The CRITICAL. */ CRITICAL(0x30), - + /** The ASYNCHRONOUS. */ ASYNCHRONOUS(0x40); - - + /** The Constant lookup. */ - private static final Map lookup = new HashMap(); - + private static final Map lookup = new HashMap(); + static { - for(BowlerMethod cm : EnumSet.allOf(BowlerMethod.class)) { + for (BowlerMethod cm : EnumSet.allOf(BowlerMethod.class)) { lookup.put(cm.getValue(), cm); } } - + /** The value. */ private byte value; - + /** * Instantiates a new bowler method. * - * @param val the val + * @param val + * the val */ private BowlerMethod(int val) { value = (byte) val; } - + /** * Gets the value. * * @return the value */ public byte getValue() { - return value; + return value; } - /** - * Gets the. - * - * @param code the code - * @return the bowler method - */ - public static BowlerMethod get(byte code) { - return lookup.get(code); - } + /** + * Gets the. + * + * @param code + * the code + * @return the bowler method + */ + public static BowlerMethod get(byte code) { + return lookup.get(code); + } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.ISendable#getBytes() */ public byte[] getBytes() { - byte [] b = {getValue()}; + byte[] b = {getValue()}; return b; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Enum#toString() */ - public String toString(){ - String s="NOT VALID"; - switch (value){ - case 0x00: - return "STATUS"; - case 0x10: - return "GET"; - case 0x20: - return "POST"; - case 0x30: - return "CRITICAL"; - case 0x40: - return "ASYNCHRONOUS"; + public String toString() { + String s = "NOT VALID"; + switch (value) { + case 0x00 : + return "STATUS"; + case 0x10 : + return "GET"; + case 0x20 : + return "POST"; + case 0x30 : + return "CRITICAL"; + case 0x40 : + return "ASYNCHRONOUS"; } return s; } diff --git a/src/main/java/com/neuronrobotics/sdk/common/BowlerRuntimeException.java b/src/main/java/com/neuronrobotics/sdk/common/BowlerRuntimeException.java index cd5233e5..7e42a727 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/BowlerRuntimeException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/BowlerRuntimeException.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -14,31 +14,33 @@ ******************************************************************************/ package com.neuronrobotics.sdk.common; - // Auto-generated Javadoc /** * The Class BowlerRuntimeException. */ public class BowlerRuntimeException extends RuntimeException { - + /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** The message. */ private String message; - + /** * Instantiates a new bowler runtime exception. * - * @param message the message + * @param message + * the message */ public BowlerRuntimeException(String message) { this.message = message; - + Log.error(toString()); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Throwable#toString() */ public String toString() { diff --git a/src/main/java/com/neuronrobotics/sdk/common/ByteList.java b/src/main/java/com/neuronrobotics/sdk/common/ByteList.java index 6c02e26e..8e2babc7 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/ByteList.java +++ b/src/main/java/com/neuronrobotics/sdk/common/ByteList.java @@ -3,16 +3,16 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. ******************************************************************************/ - package com.neuronrobotics.sdk.common; +package com.neuronrobotics.sdk.common; import java.nio.ByteBuffer; import java.nio.LongBuffer; @@ -21,81 +21,85 @@ import java.util.Iterator; import java.util.List; import java.util.ListIterator; -import java.util.Vector; - -import com.neuronrobotics.sdk.config.SDKBuildInfo; // Auto-generated Javadoc /** * The Class ByteList. */ -public class ByteList implements ISendable,Iterable { - +public class ByteList implements ISendable, Iterable { + /** The Constant useStaticBuffer. */ private static final boolean useStaticBuffer = true; - + /** The static buffer size. */ private int staticBufferSize = BowlerDatagram.MAX_PACKET_SIZE; - + /** The static buffer. */ - private byte [] staticBuffer = new byte[staticBufferSize]; - + private byte[] staticBuffer = new byte[staticBufferSize]; + /** The static buffer read pointer. */ private int staticBufferReadPointer = 0; - + /** The static buffer write pointer. */ private int staticBufferWritePointer = 0; - + /** The store. */ private List store = new ArrayList(); /** - * Default constructor. - * Constructs a ByteList that has no data. + * Default constructor. Constructs a ByteList that has no data. */ public ByteList() { -// if (SDKBuildInfo.isLinux() && SDKBuildInfo.isARM()) -// useStaticBuffer = true; - if(isUseStaticBuffer()){ - //Log.debug("Starting Static ByteList"); + // if (SDKBuildInfo.isLinux() && SDKBuildInfo.isARM()) + // useStaticBuffer = true; + if (isUseStaticBuffer()) { + // Log.debug("Starting Static ByteList"); setStaticBufferSize(staticBufferSize); - }else{ - staticBuffer=null; + } else { + staticBuffer = null; } } - + /** - * Initial value constructor. - * Constructs a ByteList and populates it with the byte - * @param data the initial data to load into the bytelist after construction + * Initial value constructor. Constructs a ByteList and populates it with the + * byte + * + * @param data + * the initial data to load into the bytelist after construction */ public ByteList(Byte data) { add(data); } - + /** - * Initial value constructor. - * Constructs a ByteList and populates it with the given byte array - * @param data the initial data to load into the bytelist after construction + * Initial value constructor. Constructs a ByteList and populates it with the + * given byte array + * + * @param data + * the initial data to load into the bytelist after construction */ public ByteList(byte[] data) { - + add(data); } /** - * Initial value constructor. - * Constructs a ByteList and populates it with the given string - * @param data the initial data to load into the bytelist after construction + * Initial value constructor. Constructs a ByteList and populates it with the + * given string + * + * @param data + * the initial data to load into the bytelist after construction */ public ByteList(String data) { add(data); } /** - * Initial value constructor. - * Constructs a ByteList and populates it with the given int - * @param data the initial data to load into the bytelist after construction + * Initial value constructor. Constructs a ByteList and populates it with the + * given int + * + * @param data + * the initial data to load into the bytelist after construction */ public ByteList(int data) { add(data); @@ -104,21 +108,23 @@ public ByteList(int data) { /** * Instantiates a new byte list. * - * @param data the data + * @param data + * the data */ public ByteList(int[] data) { - for(int i=0;ir){ - return w-r; - }else if(w==r){ - return 0; - }else{ - return (w+staticBuffer.length)-r; + if (w > r) { + return w - r; + } else if (w == r) { + return 0; + } else { + return (w + staticBuffer.length) - r; } } /** * Adds a single byte to the bytelist and return the status of the additon. * - * @param data the data + * @param data + * the data * @return if the addition was successful */ public synchronized boolean add(byte data) { - if(isUseStaticBuffer()){ - if(staticBuffer == null){ + if (isUseStaticBuffer()) { + if (staticBuffer == null) { setStaticBufferSize(staticBufferSize); } - if(getStaticBufferByteCount()>=(staticBuffer.length-1)){ - int newSize = staticBufferSize*2; - Log.info("Bytelist static buffer overflow, resizing to "+newSize); + if (getStaticBufferByteCount() >= (staticBuffer.length - 1)) { + int newSize = staticBufferSize * 2; + Log.info("Bytelist static buffer overflow, resizing to " + newSize); byte tmpBuff[] = getBytes(); // Double the buffer size setStaticBufferSize(newSize); - //load the old data into newly resized buffer - for(int i=0;i c) { @@ -348,169 +377,183 @@ public boolean addAll(Collection c) { return add(c.toArray(b)); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#addAll(int, java.util.Collection) */ - + /** * Adds the all. * - * @param index the index - * @param c the c + * @param index + * the index + * @param c + * the c * @return true, if successful */ public boolean addAll(int index, Collection c) { // Auto-generated method stub return false; } - + /** * Check if the bytelist is empty. * * @return true, if is empty */ public boolean isEmpty() { - if(isUseStaticBuffer()){ + if (isUseStaticBuffer()) { return getStaticBufferByteCount() == 0; } return store.isEmpty(); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.ISendable#getBytes() */ - + public byte[] getBytes() { - return getBytes(0, size()); + return getBytes(0, size()); } - + /** * Get a specific amount of bytes. * - * @param start Start byte - * @param len Desired Length - * @return The desired Bytes. - */ - public synchronized byte[] getBytes(int start, int len) { - int sizeLocal =size(); - int requestedLen=len; + * @param start + * Start byte + * @param len + * Desired Length + * @return The desired Bytes. + */ + public synchronized byte[] getBytes(int start, int len) { + int sizeLocal = size(); + int requestedLen = len; // starting offset that is less than 0 - if(start < 0) { + if (start < 0) { start = 0; } - + // length that is less than 0 - if(len < 0) { + if (len < 0) { len = 0; } // starting offset is further then the last element - if(start > sizeLocal) { - return new byte [0]; + if (start > sizeLocal) { + return new byte[0]; } - - // the ending position is - if(start+len > sizeLocal) { - len = sizeLocal- start - 1; + + // the ending position is + if (start + len > sizeLocal) { + len = sizeLocal - start - 1; } - if(len < 0) { - throw new RuntimeException("Requesting more bytes then in the list, size="+sizeLocal+" start="+start+" len="+len+" requested="+ requestedLen); + if (len < 0) { + throw new RuntimeException("Requesting more bytes then in the list, size=" + sizeLocal + " start=" + start + + " len=" + len + " requested=" + requestedLen); } byte out[] = new byte[len]; - - if(isUseStaticBuffer()){ + + if (isUseStaticBuffer()) { int tmpRead = staticBufferReadPointer; - //Allign the start pointer - if(start != 0){ - for(int i=0;i iter = store.subList(start, start+len); - for(int i=0;i iter = store.subList(start, start + len); + for (int i = 0; i < len; i++) { out[i] = iter.get(i); } } return out; } - + /** * Get Bytes after an index. * - * @param index The index + * @param index + * The index * @return the bytes */ public byte[] getBytes(int index) { - return getBytes(index, size()-index); + return getBytes(index, size() - index); } /** * Get a specific byte. * - * @param index The index of the byte + * @param index + * The index of the byte * @return the byte */ public byte getByte(int index) { int size = size(); - if(index < 0 || index > size-1) { - throw new IndexOutOfBoundsException("Requested : "+index+" have : "+size()); + if (index < 0 || index > size - 1) { + throw new IndexOutOfBoundsException("Requested : " + index + " have : " + size()); } - - return getBytes(index,1)[0]; - + + return getBytes(index, 1)[0]; + } - + /** * Get the size of the bytelist. * * @return the int */ public int size() { - if(isUseStaticBuffer()){ + if (isUseStaticBuffer()) { return getStaticBufferByteCount(); } return store.size(); } - + /** - * Removes bytes from the start of the buffer upto and including the given index. If the index is greater - * than the size of the buffer, null is returned otherwise the byte at the given index is returned. + * Removes bytes from the start of the buffer upto and including the given + * index. If the index is greater than the size of the buffer, null is returned + * otherwise the byte at the given index is returned. * - * @param index the index + * @param index + * the index * @return the byte */ public Byte pop(int index) { - if(index < 0) { - throw new RuntimeException("Can not pop a list of length "+index); + if (index < 0) { + throw new RuntimeException("Can not pop a list of length " + index); } - - if(index > size()) { + + if (index > size()) { clear(); return null; } - for(int i=0;i the generic type - * @param a the a + * @param + * the generic type + * @param a + * the a * @return the t[] */ public T[] toArray(T[] a) { - if(isUseStaticBuffer()){ + if (isUseStaticBuffer()) { throw new UnsupportedOperationException(); } return store.toArray(a); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.util.List#contains(java.lang.Object) */ - + /** * Contains. * - * @param o the o + * @param o + * the o * @return true, if successful */ public boolean contains(Object o) { - if(isUseStaticBuffer()){ + if (isUseStaticBuffer()) { throw new UnsupportedOperationException(); } return store.contains(o); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#containsAll(java.util.Collection) */ - + /** * Contains all. * - * @param c the c + * @param c + * the c * @return true, if successful */ public boolean containsAll(Collection c) { - if(isUseStaticBuffer()){ + if (isUseStaticBuffer()) { throw new UnsupportedOperationException(); } return store.containsAll(c); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#get(int) */ - + /** * Gets the. * - * @param index the index + * @param index + * the index * @return the byte */ public Byte get(int index) { - if(size()>0) + if (size() > 0) return getByte(index); Log.error("Requesting data out of an empty ByteList"); throw new RuntimeException("Requesting data out of an empty ByteList"); } - + /** * Gets the unsigned. * - * @param index the index + * @param index + * the index * @return the unsigned */ - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#get(int) */ public int getUnsigned(int index) { - if(size()>0){ - int val =get(index); - if(val<0) - val+=256; + if (size() > 0) { + int val = get(index); + if (val < 0) + val += 256; return val; } Log.error("Requesting data out of an empty ByteList"); throw new RuntimeException("Requesting data out of an empty ByteList"); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#indexOf(java.lang.Object) */ - + /** * Index of. * - * @param o the o + * @param o + * the o * @return the int */ public int indexOf(Object o) { - if(isUseStaticBuffer()){ + if (isUseStaticBuffer()) { throw new UnsupportedOperationException(); } return store.indexOf(o); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#iterator() */ - + public Iterator iterator() { - if(isUseStaticBuffer()){ + if (isUseStaticBuffer()) { return new Iterator() { int size = getStaticBufferByteCount(); - int readIndex=0; - byte [] data = getBytes(); + int readIndex = 0; + byte[] data = getBytes(); @Override public boolean hasNext() { return readIndex != size; @@ -709,111 +776,129 @@ public void remove() { return store.iterator(); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#lastIndexOf(java.lang.Object) */ - + /** * Last index of. * - * @param o the o + * @param o + * the o * @return the int */ public int lastIndexOf(Object o) { - if(isUseStaticBuffer()){ + if (isUseStaticBuffer()) { throw new UnsupportedOperationException(); } return store.lastIndexOf(o); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#listIterator() */ - + /** * List iterator. * * @return the list iterator */ public ListIterator listIterator() { - if(isUseStaticBuffer()){ + if (isUseStaticBuffer()) { throw new UnsupportedOperationException(); } return store.listIterator(); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#listIterator(int) */ - + /** * List iterator. * - * @param index the index + * @param index + * the index * @return the list iterator */ public ListIterator listIterator(int index) { - if(isUseStaticBuffer()){ + if (isUseStaticBuffer()) { throw new UnsupportedOperationException(); } return store.listIterator(index); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#remove(java.lang.Object) */ - + /** * Removes the. * - * @param o the o + * @param o + * the o * @return true, if successful */ public boolean remove(Object o) { - if(isUseStaticBuffer()){ + if (isUseStaticBuffer()) { throw new UnsupportedOperationException(); } return store.remove(o); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#remove(int) */ - + /** * Removes the. * - * @param index the index + * @param index + * the index * @return the byte */ public synchronized Byte remove(int index) { - if(isUseStaticBuffer()){ + if (isUseStaticBuffer()) { Byte b = staticBuffer[staticBufferReadPointer++]; - if(staticBufferReadPointer == staticBuffer.length){ - staticBufferReadPointer=0; + if (staticBufferReadPointer == staticBuffer.length) { + staticBufferReadPointer = 0; } return b; } - + return store.remove(index); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#subList(int, int) */ - + /** * Sub list. * - * @param fromIndex the from index - * @param toIndex the to index + * @param fromIndex + * the from index + * @param toIndex + * the to index * @return the list */ public List subList(int fromIndex, int toIndex) { - if(isUseStaticBuffer()){ - byte [] content = getBytes(fromIndex, toIndex-fromIndex); + if (isUseStaticBuffer()) { + byte[] content = getBytes(fromIndex, toIndex - fromIndex); ArrayList back = new ArrayList(); - for(int i=0;i subList(int fromIndex, int toIndex) { return store.subList(fromIndex, toIndex); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#toArray() */ - + /** * To array. * * @return the object[] */ public Object[] toArray() { - if(isUseStaticBuffer()){ + if (isUseStaticBuffer()) { throw new UnsupportedOperationException(); } return store.toArray(); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ public String toString() { - if(size() == 0) { + if (size() == 0) { return ""; } String rtn = ""; - for(byte x : getBytes()){ + for (byte x : getBytes()) { rtn += String.format("%02x ", x); } - rtn = rtn.substring(0, rtn.length()-1); + rtn = rtn.substring(0, rtn.length() - 1); return rtn.toUpperCase(); } - + /** * As string. * * @return the string */ public String asString() { - byte [] data = getBytes(); - if(data.length == 0) { + byte[] data = getBytes(); + if (data.length == 0) { return ""; } - String s=""; - - int i=0; - while(i 8) { + + if (split > 8) { split = 8; } - - byte[] bArray = new byte[8]; - byte[] rtn = new byte[split]; - ByteBuffer bBuffer = ByteBuffer.wrap(bArray); - LongBuffer lBuffer = bBuffer.asLongBuffer(); - lBuffer.put(0, data); - - System.arraycopy(bArray, 8-split, rtn, 0, split); - - return rtn; - } - + + byte[] bArray = new byte[8]; + byte[] rtn = new byte[split]; + ByteBuffer bBuffer = ByteBuffer.wrap(bArray); + LongBuffer lBuffer = bBuffer.asLongBuffer(); + lBuffer.put(0, data); + + System.arraycopy(bArray, 8 - split, rtn, 0, split); + + return rtn; + } + /** * Converts a 4 byte array of unsigned bytes to an long. * - * @param b an array of 4 unsigned bytes + * @param b + * an array of 4 unsigned bytes * @return a long representing the unsigned int */ - public static final int convertToInt(byte[] b) - { - int i=0; - i=(int) convertToInt(b,false); - return i; + public static final int convertToInt(byte[] b) { + int i = 0; + i = (int) convertToInt(b, false); + return i; } - + /** - * toInt - * Takes a ByteList and turns it into the int that the stream represents. - * Assumes the 0th element is the most significant byte - * Assumes the entire stream is one number - * @param b The byte array with the byte data in it - * @param Signed If the stream should be treated as a signed integer + * toInt Takes a ByteList and turns it into the int that the stream represents. + * Assumes the 0th element is the most significant byte Assumes the entire + * stream is one number + * + * @param b + * The byte array with the byte data in it + * @param Signed + * If the stream should be treated as a signed integer * @return a long representing the value in the stream */ - public static int convertToInt(byte[] b,boolean Signed){ - + public static int convertToInt(byte[] b, boolean Signed) { + long bytes = b.length; - if(bytes>4) + if (bytes > 4) throw new RuntimeException("Ints can only have 2 or 4 bytes"); long out = 0; long tmp = 0; - for (int i=0;imax_pos_val){ - abs_val=(sub_val-out); - out=(int) (-1*abs_val); - } + long power = bytes * 8; + long max_pos_val = (long) Math.pow(2, power - 1); + long sub_val = (long) Math.pow(2, power); + long abs_val = 0; + if (out > max_pos_val) { + abs_val = (sub_val - out); + out = (int) (-1 * abs_val); + } } int ret = (int) out; return ret; @@ -956,140 +1049,161 @@ public static int convertToInt(byte[] b,boolean Signed){ /** * Convert to16. * - * @param value the value + * @param value + * the value * @return the byte[] */ public static byte[] convertTo16(int value) { - byte b [] = new byte[2]; - - b[0] = (byte)(value >> 8); - b[1] = (byte)(value); - + byte b[] = new byte[2]; + + b[0] = (byte) (value >> 8); + b[1] = (byte) (value); + return b; } - + /** * Convert to32. * - * @param value the value + * @param value + * the value * @return the byte[] */ public static byte[] convertTo32(int value) { - byte b [] = new byte[4]; - - b[0] = (byte)(value >> 24); - b[1] = (byte)(value >> 16); - b[2] = (byte)(value >> 8); - b[3] = (byte)(value); - + byte b[] = new byte[4]; + + b[0] = (byte) (value >> 24); + b[1] = (byte) (value >> 16); + b[2] = (byte) (value >> 8); + b[3] = (byte) (value); + return b; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.util.List#add(int, java.lang.Object) */ - + /** * Adds the. * - * @param arg0 the arg0 - * @param arg1 the arg1 + * @param arg0 + * the arg0 + * @param arg1 + * the arg1 */ public void add(int arg0, Byte arg1) { throw new UnsupportedOperationException(); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.util.List#removeAll(java.util.Collection) */ - + /** * Removes the all. * - * @param c the c + * @param c + * the c * @return true, if successful */ public boolean removeAll(Collection c) { throw new UnsupportedOperationException(); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#retainAll(java.util.Collection) */ - + /** * Retain all. * - * @param c the c + * @param c + * the c * @return true, if successful */ public boolean retainAll(Collection c) { throw new UnsupportedOperationException(); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.util.List#set(int, java.lang.Object) */ - + /** * Sets the. * - * @param arg0 the arg0 - * @param arg1 the arg1 + * @param arg0 + * the arg0 + * @param arg1 + * the arg1 * @return the byte */ public Byte set(int arg0, Byte arg1) { throw new UnsupportedOperationException(); } - + /** * Insert. * - * @param index the index - * @param val the val - */ - public void insert(int index,byte val){ - if(isUseStaticBuffer()){ - byte [] current = getBytes(); + * @param index + * the index + * @param val + * the val + */ + public void insert(int index, byte val) { + if (isUseStaticBuffer()) { + byte[] current = getBytes(); clear(); - for(int i=0;i= off+len) { - byte [] ret = new byte[len]; - for(int i=0;i= off + len) { + byte[] ret = new byte[len]; + for (int i = 0; i < len; i++) { + ret[i] = remove(off); } return ret; } @@ -1108,10 +1222,11 @@ public static boolean isUseStaticBuffer() { /** * Sets the use static buffer. * - * @param useStaticBuffer the new use static buffer + * @param useStaticBuffer + * the new use static buffer */ public static void setUseStaticBuffer(boolean useStaticBuffer) { - //ByteList.useStaticBuffer =true; + // ByteList.useStaticBuffer =true; } /** @@ -1126,13 +1241,14 @@ public int getStaticBufferSize() { /** * Sets the static buffer size. * - * @param staticBufferSize the new static buffer size + * @param staticBufferSize + * the new static buffer size */ public void setStaticBufferSize(int staticBufferSize) { this.staticBufferSize = staticBufferSize; staticBuffer = new byte[getStaticBufferSize()]; staticBufferReadPointer = 0; - staticBufferWritePointer = 0; + staticBufferWritePointer = 0; store = null; } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/ConfigManager.java b/src/main/java/com/neuronrobotics/sdk/common/ConfigManager.java index 7d3a2fc5..0b0f07b9 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/ConfigManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/ConfigManager.java @@ -13,78 +13,81 @@ import com.neuronrobotics.sdk.network.BowlerTCPClient; import com.neuronrobotics.sdk.network.UDPBowlerConnection; - // Auto-generated Javadoc /** * The Class ConfigManager. */ public class ConfigManager { - + /** * Load default connection. * - * @param filename the filename + * @param filename + * the filename * @return the bowler abstract connection */ public static BowlerAbstractConnection loadDefaultConnection(String filename) { try { - + File file = new File(filename); DocumentBuilderFactory dbf = DocumentBuilderFactory.newInstance(); DocumentBuilder db = dbf.newDocumentBuilder(); Document doc = db.parse(file); doc.getDocumentElement().normalize(); NodeList nodeLst = doc.getElementsByTagName("connection"); - + for (int s = 0; s < nodeLst.getLength(); s++) { - + Node fstNode = nodeLst.item(s); - + if (fstNode.getNodeType() == Node.ELEMENT_NODE) { - + Element e = (Element) fstNode; - + String type = getElementValue(e, "type", ""); String port = getElementValue(e, "port", ""); String baud = getElementValue(e, "baud", "0"); String host = getElementValue(e, "host", "127.0.0.1"); - - if(type.equalsIgnoreCase("serial")) { - //return new SerialConnection(port, Integer.parseInt(baud)); + + if (type.equalsIgnoreCase("serial")) { + // return new SerialConnection(port, Integer.parseInt(baud)); } - - if(type.equalsIgnoreCase("udp")) { + + if (type.equalsIgnoreCase("udp")) { return new UDPBowlerConnection(Integer.parseInt(port)); } - - if(type.equalsIgnoreCase("tcp")) { + + if (type.equalsIgnoreCase("tcp")) { return new BowlerTCPClient(host, Integer.parseInt(port)); } } - + } - } catch (Exception e) { + } catch (Exception e) { e.printStackTrace(); } - + return null; } - + /** * Gets the element value. * - * @param e the e - * @param key the key - * @param dval the dval + * @param e + * the e + * @param key + * the key + * @param dval + * the dval * @return the element value */ private static String getElementValue(Element e, String key, String dval) { NodeList elmntLst = e.getElementsByTagName(key); - if(elmntLst.getLength() > 0) { + if (elmntLst.getLength() > 0) { Element elmnt = (Element) elmntLst.item(0); NodeList value = elmnt.getChildNodes(); - ((Node) value.item(0)).getNodeValue(); - return ((Node) value.item(0)).getNodeValue(); + ((Node) value.item(0)).getNodeValue(); + return ((Node) value.item(0)).getNodeValue(); } return dval; } diff --git a/src/main/java/com/neuronrobotics/sdk/common/ConnectionUnavailableException.java b/src/main/java/com/neuronrobotics/sdk/common/ConnectionUnavailableException.java index 239211e4..f3723158 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/ConnectionUnavailableException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/ConnectionUnavailableException.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,28 +16,32 @@ // Auto-generated Javadoc /** * An exception that gets thrown when a connection is unavaliable. + * * @author robert * */ public class ConnectionUnavailableException extends RuntimeException { - + /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** The message. */ private String message; - + /** * Instantiates a new connection unavailable exception. * - * @param message the message + * @param message + * the message */ public ConnectionUnavailableException(String message) { this.message = message; Log.warning(message); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Throwable#getMessage() */ public String getMessage() { diff --git a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java index 75cc68d1..f503b994 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DMDevice.java @@ -1,6 +1,5 @@ package com.neuronrobotics.sdk.common; -import java.lang.reflect.InvocationTargetException; import java.lang.reflect.Method; import java.util.ArrayList; @@ -11,10 +10,10 @@ public class DMDevice extends NonBowlerDevice { boolean hasGetName = false; boolean hasIsAvailable = false; Method methodGetName = null; - Method isAvaibleMeth=null; + Method isAvaibleMeth = null; public DMDevice(Object o) throws NoSuchMethodException, SecurityException { - if(!wrappable(o)) + if (!wrappable(o)) throw new RuntimeException("This object is not wrappable! "); setWrapped(o); methodConnect = getWrapped().getClass().getMethod("connect", null); @@ -31,7 +30,7 @@ public String getScriptingName() { if (methodGetName == null) try { methodGetName = getWrapped().getClass().getMethod("getName", null); - + } catch (Exception e) { return super.getScriptingName(); } @@ -41,7 +40,7 @@ public String getScriptingName() { if (methodGetName == null) return super.getScriptingName(); try { - super.setScriptingName( (String) methodGetName.invoke(getWrapped(), null)); + super.setScriptingName((String) methodGetName.invoke(getWrapped(), null)); } catch (Exception e) { return super.getScriptingName(); } @@ -67,22 +66,23 @@ public void disconnectDeviceImp() { * Determines if the device is available. * * @return true if the device is avaiable, false if it is not - * @throws InvalidConnectionException the invalid connection exception + * @throws InvalidConnectionException + * the invalid connection exception */ @Override - public boolean isAvailable() throws InvalidConnectionException{ + public boolean isAvailable() throws InvalidConnectionException { if (hasIsAvailable) { if (isAvaibleMeth == null) { try { - isAvaibleMeth = getWrapped().getClass().getMethod("isAvailable", null); + isAvaibleMeth = getWrapped().getClass().getMethod("isAvailable", null); } catch (Exception e) { - //true + // true } } try { return (boolean) isAvaibleMeth.invoke(getWrapped(), null); } catch (Exception e) { - //true + // true } } return true; @@ -105,11 +105,10 @@ public boolean connectDeviceImp() { return false; } public static boolean wrappable(Object o) { - if(o==null) + if (o == null) return false; - return methodExists(o, "connect") && - methodExists(o, "disconnect"); - + return methodExists(o, "connect") && methodExists(o, "disconnect"); + } public static boolean methodExists(Object clazz, String methodName) { for (Method method : clazz.getClass().getMethods()) { diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceConnectionException.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceConnectionException.java index 6da6ecec..b85eb7be 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceConnectionException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceConnectionException.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -23,7 +23,8 @@ public class DeviceConnectionException extends RuntimeException { /** * Instantiates a new device connection exception. * - * @param string the string + * @param string + * the string */ public DeviceConnectionException(String string) { super(string); diff --git a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java index be26b273..c2f9739a 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java +++ b/src/main/java/com/neuronrobotics/sdk/common/DeviceManager.java @@ -3,8 +3,6 @@ import java.util.ArrayList; import java.util.List; -import javax.management.RuntimeErrorException; - import com.neuronrobotics.sdk.bootloader.NRBootLoader; import com.neuronrobotics.sdk.bowlercam.device.BowlerCamDevice; import com.neuronrobotics.sdk.dyio.DyIO; @@ -34,7 +32,7 @@ public class DeviceManager { * the name */ public static void addConnection(final Object newDevice, String name) { - + if (BowlerAbstractDevice.class.isInstance(newDevice)) { addConnectionBAD((BowlerAbstractDevice) newDevice, name); } else if (DMDevice.wrappable(newDevice)) { @@ -61,21 +59,22 @@ private static void addConnectionBAD(final BowlerAbstractDevice newDevice, Strin com.neuronrobotics.sdk.common.Log.error("Device " + name + " is already in the manager"); return; } - if ( DMDevice.class.isInstance(newDevice)) { + if (DMDevice.class.isInstance(newDevice)) { DMDevice incoming = (DMDevice) newDevice; - for(String s:listConnectedDevice() ){ + for (String s : listConnectedDevice()) { Object sDev = DeviceManager.getSpecificDevice(s); - if(DMDevice.class.isInstance(sDev)) { + if (DMDevice.class.isInstance(sDev)) { DMDevice inside = (DMDevice) sDev; if (inside.getWrapped() == incoming.getWrapped()) { - com.neuronrobotics.sdk.common.Log.error("Wrapped Device " + name + " is already in the manager"); + com.neuronrobotics.sdk.common.Log + .error("Wrapped Device " + name + " is already in the manager"); return; } } } } - + if (!newDevice.isAvailable()) newDevice.connect(); if (!newDevice.isAvailable()) { @@ -107,8 +106,8 @@ public void onDisconnect(BowlerAbstractDevice source) { public void onConnect(BowlerAbstractDevice source) { } }); - - for (int i=0;i< deviceAddedListener.size();i++) { + + for (int i = 0; i < deviceAddedListener.size(); i++) { IDeviceAddedListener l = deviceAddedListener.get(i); l.onNewDeviceAdded(newDevice); } @@ -153,7 +152,7 @@ public static void addConnection(BowlerAbstractConnection connection) { addConnection(dyio, name); - }else if (gen.hasNamespace("bcs.pid.*")) { + } else if (gen.hasNamespace("bcs.pid.*")) { GenericPIDDevice delt = new GenericPIDDevice(); delt.setConnection(gen.getConnection()); delt.connect(); @@ -241,13 +240,13 @@ public static void removeDeviceAddedListener(IDeviceAddedListener l) { * @return the specific device */ public static Object getSpecificDevice(String name, IDeviceProvider provider) { - if(name.contains("*")) { + if (name.contains("*")) { name = name.split("\\*")[0]; } for (int i = 0; i < devices.size(); i++) { if (devices.get(i).getScriptingName().contains(name)) { - if(DMDevice.class.isInstance(devices.get(i))) { - return ((DMDevice)devices.get(i)).getWrapped(); + if (DMDevice.class.isInstance(devices.get(i))) { + return ((DMDevice) devices.get(i)).getWrapped(); } return devices.get(i); } @@ -256,10 +255,10 @@ public static Object getSpecificDevice(String name, IDeviceProvider provider) { // the fly Object newDev = provider.call(); addConnection(newDev, name); - Object dev= getSpecificDevice(name); - - if(DMDevice.class.isInstance(dev)) { - return ((DMDevice)dev).getWrapped(); + Object dev = getSpecificDevice(name); + + if (DMDevice.class.isInstance(dev)) { + return ((DMDevice) dev).getWrapped(); } return dev; } @@ -272,15 +271,15 @@ public static Object getSpecificDevice(String name, IDeviceProvider provider) { * @return the specific device */ public static Object getSpecificDevice(String name) { - if(name.contains("*")) { + if (name.contains("*")) { name = name.split("\\*")[0]; } for (int i = 0; i < devices.size(); i++) { String devname = devices.get(i).getScriptingName(); if (devname.contains(name)) { BowlerAbstractDevice dev = devices.get(i); - if(DMDevice.class.isInstance(dev)) { - return ((DMDevice)dev).getWrapped(); + if (DMDevice.class.isInstance(dev)) { + return ((DMDevice) dev).getWrapped(); } return dev; } @@ -298,7 +297,7 @@ public static Object getSpecificDevice(String name) { * @return the specific device */ public static Object getSpecificDevice(Class class1, String name) { - if(name.contains("*")) { + if (name.contains("*")) { name = name.split("\\*")[0]; } if (class1 == null) diff --git a/src/main/java/com/neuronrobotics/sdk/common/IBowlerDatagramListener.java b/src/main/java/com/neuronrobotics/sdk/common/IBowlerDatagramListener.java index 86841b4d..aa39686b 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IBowlerDatagramListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IBowlerDatagramListener.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -15,18 +15,20 @@ package com.neuronrobotics.sdk.common; // Auto-generated Javadoc /** - * Interface for classes to implement when they wich to be notified of a response datagram. + * Interface for classes to implement when they wich to be notified of a + * response datagram. + * * @author rbreznak * */ public interface IBowlerDatagramListener { - + /** * On async response. * - * @param data the data + * @param data + * the data */ public void onAsyncResponse(BowlerDatagram data); - } diff --git a/src/main/java/com/neuronrobotics/sdk/common/IClosedLoopController.java b/src/main/java/com/neuronrobotics/sdk/common/IClosedLoopController.java index 6cb2b2c2..c09899fd 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IClosedLoopController.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IClosedLoopController.java @@ -2,12 +2,17 @@ public interface IClosedLoopController { /** - * This is an interface for a single axis generic closed loop controller - * Linear PID controllers are the simplest form, but any other form of - * control could be implemented that opperates on this interface - * @param currentState the value that reperesents the curent state of the linear system - * @param target the desired target state of the control system - * @param seconds the amount of time this computation should calculate the velocity for. + * This is an interface for a single axis generic closed loop controller Linear + * PID controllers are the simplest form, but any other form of control could be + * implemented that opperates on this interface + * + * @param currentState + * the value that reperesents the curent state of the linear system + * @param target + * the desired target state of the control system + * @param seconds + * the amount of time this computation should calculate the velocity + * for. * @return the velocity set of the controller */ public double compute(double currentState, double target, double seconds); diff --git a/src/main/java/com/neuronrobotics/sdk/common/IConnectionEventListener.java b/src/main/java/com/neuronrobotics/sdk/common/IConnectionEventListener.java index 91367997..f247b219 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IConnectionEventListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IConnectionEventListener.java @@ -2,28 +2,28 @@ // Auto-generated Javadoc /** - * The listener interface for receiving IConnectionEvent events. - * The class that is interested in processing a IConnectionEvent - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIConnectionEventListener method. When - * the IConnectionEvent event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving IConnectionEvent events. The class that + * is interested in processing a IConnectionEvent event implements this + * interface, and the object created with that class is registered with a + * component using the component's addIConnectionEventListener method. When the + * IConnectionEvent event occurs, that object's appropriate method is invoked. * */ public interface IConnectionEventListener { - + /** * Called on the event of a connection object disconnect. * - * @param source the source + * @param source + * the source */ public void onDisconnect(BowlerAbstractConnection source); - + /** * called on the event of a connection object connect. * - * @param source the source + * @param source + * the source */ public void onConnect(BowlerAbstractConnection source); } diff --git a/src/main/java/com/neuronrobotics/sdk/common/IDeviceAddedListener.java b/src/main/java/com/neuronrobotics/sdk/common/IDeviceAddedListener.java index 13c85b73..54b39589 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IDeviceAddedListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IDeviceAddedListener.java @@ -1,30 +1,29 @@ package com.neuronrobotics.sdk.common; - // Auto-generated Javadoc /** - * The listener interface for receiving IDeviceAdded events. - * The class that is interested in processing a IDeviceAdded - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIDeviceAddedListener method. When - * the IDeviceAdded event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving IDeviceAdded events. The class that is + * interested in processing a IDeviceAdded event implements this interface, and + * the object created with that class is registered with a component using the + * component's addIDeviceAddedListener method. When the IDeviceAdded event + * occurs, that object's appropriate method is invoked. * */ public interface IDeviceAddedListener { - + /** * On new device added. * - * @param bad the bad + * @param bad + * the bad */ public void onNewDeviceAdded(BowlerAbstractDevice bad); - + /** * On device removed. * - * @param bad the bad + * @param bad + * the bad */ public void onDeviceRemoved(BowlerAbstractDevice bad); } diff --git a/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java b/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java index 3eb54160..f7cfe17e 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IDeviceConnectionEventListener.java @@ -1,33 +1,31 @@ package com.neuronrobotics.sdk.common; -import java.io.PrintWriter; -import java.io.StringWriter; - // Auto-generated Javadoc /** - * The listener interface for receiving IDeviceConnectionEvent events. - * The class that is interested in processing a IDeviceConnectionEvent - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIDeviceConnectionEventListener method. When - * the IDeviceConnectionEvent event occurs, that object's appropriate + * The listener interface for receiving IDeviceConnectionEvent events. The class + * that is interested in processing a IDeviceConnectionEvent event implements + * this interface, and the object created with that class is registered with a + * component using the component's addIDeviceConnectionEventListener method. + * When the IDeviceConnectionEvent event occurs, that object's appropriate * method is invoked. * */ public interface IDeviceConnectionEventListener { - - //Exception trace = new Exception(); + + // Exception trace = new Exception(); /** * Called on the event of a connection object disconnect. * - * @param source the source + * @param source + * the source */ public void onDisconnect(BowlerAbstractDevice source); - + /** * called on the event of a connection object connect. * - * @param source the source + * @param source + * the source */ public void onConnect(BowlerAbstractDevice source); } diff --git a/src/main/java/com/neuronrobotics/sdk/common/IFlushable.java b/src/main/java/com/neuronrobotics/sdk/common/IFlushable.java index 4e23e223..51182eef 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IFlushable.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IFlushable.java @@ -3,7 +3,10 @@ public interface IFlushable { /** * This interface says the device can cache values and flush them in one push - * @param seconds the duration of the flush, from current position and time to cached positions in this many seconds + * + * @param seconds + * the duration of the flush, from current position and time to + * cached positions in this many seconds */ public void flush(double seconds); } diff --git a/src/main/java/com/neuronrobotics/sdk/common/ISendable.java b/src/main/java/com/neuronrobotics/sdk/common/ISendable.java index 9eac73de..7d843995 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/ISendable.java +++ b/src/main/java/com/neuronrobotics/sdk/common/ISendable.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -15,12 +15,14 @@ package com.neuronrobotics.sdk.common; // Auto-generated Javadoc /** - * This interface is implemented by objects that can serialise themselves into a byte array. + * This interface is implemented by objects that can serialise themselves into a + * byte array. + * * @author rbreznak * */ public interface ISendable { - + /** * Gets the bytes. * diff --git a/src/main/java/com/neuronrobotics/sdk/common/ISynchronousDatagramListener.java b/src/main/java/com/neuronrobotics/sdk/common/ISynchronousDatagramListener.java index 94eacc7c..32336b24 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/ISynchronousDatagramListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/ISynchronousDatagramListener.java @@ -2,21 +2,21 @@ // Auto-generated Javadoc /** - * The listener interface for receiving ISynchronousDatagram events. - * The class that is interested in processing a ISynchronousDatagram - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addISynchronousDatagramListener method. When - * the ISynchronousDatagram event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving ISynchronousDatagram events. The class + * that is interested in processing a ISynchronousDatagram event implements this + * interface, and the object created with that class is registered with a + * component using the component's addISynchronousDatagramListener method. When + * the ISynchronousDatagram event occurs, that object's appropriate method is + * invoked. * */ public interface ISynchronousDatagramListener { - + /** * On sync inconimg packet. * - * @param data the data + * @param data + * the data * @return the bowler datagram */ public BowlerDatagram onSyncReceive(BowlerDatagram data); diff --git a/src/main/java/com/neuronrobotics/sdk/common/InvalidConnectionException.java b/src/main/java/com/neuronrobotics/sdk/common/InvalidConnectionException.java index 5400365a..6e9f8bb9 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/InvalidConnectionException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/InvalidConnectionException.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -21,17 +21,18 @@ * @author rbreznak */ public class InvalidConnectionException extends RuntimeException { - + /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** The message. */ private String message; - + /** * Instantiates a new invalid connection exception. * - * @param msg the msg + * @param msg + * the msg */ public InvalidConnectionException(String msg) { message = msg; @@ -44,12 +45,14 @@ public InvalidConnectionException() { message = "Invalid Connection"; } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.lang.Throwable#getMessage() */ @Override public String getMessage() { return message; } - + } diff --git a/src/main/java/com/neuronrobotics/sdk/common/InvalidDataLengthException.java b/src/main/java/com/neuronrobotics/sdk/common/InvalidDataLengthException.java index 18806611..14dc6cba 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/InvalidDataLengthException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/InvalidDataLengthException.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,11 +16,12 @@ // Auto-generated Javadoc /** * This exception is thrown in the case of an invalid data length. + * * @author rbreznak * */ public class InvalidDataLengthException extends RuntimeException { - + /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; @@ -34,7 +35,8 @@ public InvalidDataLengthException() { /** * Instantiates a new invalid data length exception. * - * @param string the string + * @param string + * the string */ public InvalidDataLengthException(String string) { super(string); diff --git a/src/main/java/com/neuronrobotics/sdk/common/InvalidMACAddressException.java b/src/main/java/com/neuronrobotics/sdk/common/InvalidMACAddressException.java index 801ec1fb..b0e5cfc6 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/InvalidMACAddressException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/InvalidMACAddressException.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,11 +16,12 @@ // Auto-generated Javadoc /** * This exception is thrown in the case of an invalid MAC address. + * * @author rbreznak * */ public class InvalidMACAddressException extends RuntimeException { - + /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; diff --git a/src/main/java/com/neuronrobotics/sdk/common/InvalidResponseException.java b/src/main/java/com/neuronrobotics/sdk/common/InvalidResponseException.java index 6311b7ac..9c5034ca 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/InvalidResponseException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/InvalidResponseException.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,36 +16,40 @@ // Auto-generated Javadoc /** * This exception is thrown when an invalid response is recieved from a device. + * * @author rbreznak * */ public class InvalidResponseException extends RuntimeException { - + /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** The message. */ private String message; - + /** * Instantiates a new invalid response exception. */ public InvalidResponseException() { message = "Invalid Response"; - //Log.warning(getMessage()); + // Log.warning(getMessage()); } - + /** * Instantiates a new invalid response exception. * - * @param msg the msg + * @param msg + * the msg */ public InvalidResponseException(String msg) { message = msg; - //Log.warning(getMessage()); + // Log.warning(getMessage()); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Throwable#getMessage() */ @Override diff --git a/src/main/java/com/neuronrobotics/sdk/common/IthreadedTimoutListener.java b/src/main/java/com/neuronrobotics/sdk/common/IthreadedTimoutListener.java index 523bb818..4bd9f48f 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/IthreadedTimoutListener.java +++ b/src/main/java/com/neuronrobotics/sdk/common/IthreadedTimoutListener.java @@ -2,21 +2,20 @@ // Auto-generated Javadoc /** - * The listener interface for receiving ithreadedTimout events. - * The class that is interested in processing a ithreadedTimout - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIthreadedTimoutListener method. When - * the ithreadedTimout event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving ithreadedTimout events. The class that + * is interested in processing a ithreadedTimout event implements this + * interface, and the object created with that class is registered with a + * component using the component's addIthreadedTimoutListener method. When the + * ithreadedTimout event occurs, that object's appropriate method is invoked. * */ public interface IthreadedTimoutListener { - + /** * On timeout. * - * @param message the message + * @param message + * the message */ public void onTimeout(String message); } diff --git a/src/main/java/com/neuronrobotics/sdk/common/Log.java b/src/main/java/com/neuronrobotics/sdk/common/Log.java index b1c2052a..248d37f6 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Log.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Log.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -28,10 +28,10 @@ import java.util.Date; import com.neuronrobotics.sdk.config.SDKBuildInfo; -import com.neuronrobotics.sdk.util.ThreadUtil; // Auto-generated Javadoc /** * This class is the Logging Class for the NRsdk. + * * @author rbreznak * */ @@ -39,52 +39,52 @@ public class Log { /** The Constant LOG. */ private static final int LOG = -1; - + /** The Constant INFO. */ private static final int INFO = 0; - + /** The Constant DEBUG. */ private static final int DEBUG = 1; - + /** The Constant WARNING. */ private static final int WARNING = 2; - + /** The Constant ERROR. */ private static final int ERROR = 3; - + /** The instance. */ private static Log instance; - + /** The messages. */ private Message m; - //private ArrayList messages = new ArrayList(); - + // private ArrayList messages = new ArrayList(); + /** The date format. */ private DateFormat dateFormat = new SimpleDateFormat("yyyy/MM/dd HH:mm:ss:SS"); /** The minprintlevel. */ private int minprintlevel = WARNING; - + /** The systemprint. */ private boolean systemprint = false; - + /** The debugprint. */ private boolean debugprint = false; - + /** The out stream. */ private static PrintStream outStream = System.out; /** The out stream. */ - private static PrintStream errStream = System.err; + private static PrintStream errStream = System.err; /** The out stream. */ - private static PrintStream mirrorStream = System.out; + private static PrintStream mirrorStream = System.out; /** The use colored prints. */ private boolean useColoredPrints = false; - + private Thread logFileThread = null; - + private File log = null; private ByteList incomingErr; @@ -103,65 +103,73 @@ private Log() { /** * Log an error message. * - * @param message the message to log as an error + * @param message + * the message to log as an error */ public static void error(Object message) { instance().add(message.toString(), ERROR); } - + /** * Log an warning message. * - * @param message the message to log as a warning + * @param message + * the message to log as a warning */ public static void warning(String message) { instance().add(message, WARNING); } - + /** * Log a info message. * - * @param message the message to log as a piece of information. + * @param message + * the message to log as a piece of information. */ public static void info(String message) { instance().add(message, INFO); } - + /** * Log a string. * - * @param message The string to log. + * @param message + * The string to log. */ public static void log(String message) { - instance().add(message, LOG); + instance().add(message, LOG); } - + /** * Log a debug message. * - * @param message The debug message to log + * @param message + * The debug message to log */ public static void debug(String message) { instance().add(message, DEBUG); } - + /** * Add a line to the log. * - * @param message The line to add + * @param message + * The line to add */ public static void add(String message) { - instance().add(message, LOG); + instance().add(message, LOG); } - + /** * Add a string to the log with a specific importance. * - * @param message the message to add - * @param importance the importance to log it as. + * @param message + * the message to add + * @param importance + * the importance to log it as. */ private void add(String message, int importance) { - + if (importance < minprintlevel) return; @@ -173,16 +181,17 @@ private void add(String message, int importance) { if (systemprint) outStream.println(m.toString()); } - + /** * Enable printing of output to standard out. * - * @param systemprint the systemprint + * @param systemprint + * the systemprint */ public static void enableSystemPrint(boolean systemprint) { Log.instance().systemprint = systemprint; } - + /** * Enable printing of debug output. */ @@ -194,17 +203,18 @@ public static void enableDebugPrint() { public static void disablePrint() { Log.enableSystemPrint(false); } - + /** * Enable printing of debug output. * - * @param flag the flag + * @param flag + * the flag */ public static void enableDebugPrint(boolean flag) { Log.enableSystemPrint(flag); Log.setMinimumPrintLevel(DEBUG); } - + /** * Enable printing of debug output. */ @@ -212,7 +222,7 @@ public static void enableInfoPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(INFO); } - + /** * Enable printing of debug output. */ @@ -220,7 +230,7 @@ public static void enableWarningPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(WARNING); } - + /** * Enable printing of debug output. */ @@ -228,26 +238,28 @@ public static void enableErrorPrint() { Log.enableSystemPrint(true); Log.setMinimumPrintLevel(ERROR); } - + /** - * Set the minimum level of importance to dsplay. - * Messages below this wont be displayed. - * @param level The minimu importance level + * Set the minimum level of importance to dsplay. Messages below this wont be + * displayed. + * + * @param level + * The minimu importance level */ public static void setMinimumPrintLevel(int level) { Log.instance().minprintlevel = level; } - + /** - * Set the minimum level of importance to dsplay. - * Messages below this wont be displayed. + * Set the minimum level of importance to dsplay. Messages below this wont be + * displayed. * * @return the minimum print level */ public static int getMinimumPrintLevel() { return Log.instance().minprintlevel; } - + /** * Get the current log (singleton) instance. * @@ -259,49 +271,51 @@ public static Log instance() { } return instance; } - + /** * Get a string describing the given importance level. * - * @param importance The given importance level. + * @param importance + * The given importance level. * @return the importance */ public String getImportance(int importance) { - switch(importance) { - case INFO: - return "Info"; - case WARNING: - return "Warning"; - case ERROR: - return "Error"; - case DEBUG: - return "Debug"; - case LOG: - default: - return "Log"; + switch (importance) { + case INFO : + return "Info"; + case WARNING : + return "Warning"; + case ERROR : + return "Error"; + case DEBUG : + return "Debug"; + case LOG : + default : + return "Log"; } } /** * Get a string describing the given importance level. * - * @param importance The given importance level. + * @param importance + * The given importance level. * @return the importance */ public String getImportanceColor(int importance) { if (isUseColoredPrints()) { - switch(importance) { - case INFO: - return "\033[92m";// green - case WARNING: - return "\033[93m";// orange - case ERROR: - return "\033[31m";// red - case DEBUG: - return "\033[94m";// blue - case LOG: - default: - return "\033[92m";// green + switch (importance) { + case INFO : + return "\033[92m";// green + case WARNING : + return "\033[93m";// orange + case ERROR : + return "\033[31m";// red + case DEBUG : + return "\033[94m";// blue + case LOG : + default : + return "\033[92m";// green } } return ""; @@ -315,67 +329,71 @@ public String getImportanceColor(int importance) { public static PrintStream getOutStream() { return outStream; } - + /** * Set the current output PrintStream. * - * @param newoutStream the new out stream + * @param newoutStream + * the new out stream */ public static void setOutStream(PrintStream newoutStream) { outStream = newoutStream; } - + /** * A log message. * * @author rbreznak */ private class Message { - + /** The message. */ private String message; - + /** The importance. */ private int importance; - + /** The datetime. */ private Date datetime; - + /** The calling class. */ private String callingClass; /** * Instantiates a new message. * - * @param message the message - * @param importance the importance + * @param message + * the message + * @param importance + * the importance */ public Message(String message, int importance) { init(message, importance); } - + /** * Inits the. * - * @param message the message - * @param importance the importance + * @param message + * the message + * @param importance + * the importance */ public void init(String message, int importance) { this.message = message; this.importance = importance; datetime = new Date(); - try - { + try { throw new Exception("Who called me?"); - } - catch( Exception e ) - { + } catch (Exception e) { callingClass = e.getStackTrace()[3].getClassName() + ":" + e.getStackTrace()[3].getMethodName(); } } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ public String toString() { @@ -390,14 +408,16 @@ public String toString() { } if (lastCallingClass.equals(getImportance(importance) + " " + callingClass)) - return getImportanceColor(importance) + " [" + dateFormat.format(datetime) + "] " + getColorNormalizationCode() + message; + return getImportanceColor(importance) + " [" + dateFormat.format(datetime) + "] " + + getColorNormalizationCode() + message; lastCallingClass = getImportance(importance) + " " + callingClass; - return "\n" + getImportanceColor(importance) + lastCallingClass + ":\n [" + dateFormat.format(datetime) + "] " + getColorNormalizationCode() + message; + return "\n" + getImportanceColor(importance) + lastCallingClass + ":\n [" + dateFormat.format(datetime) + + "] " + getColorNormalizationCode() + message; } } - + /** * Gets the color normalization code. * @@ -406,7 +426,7 @@ public String toString() { private String getColorNormalizationCode() { return isUseColoredPrints() ? "\033[39m" : ""; } - + /** * Checks if is use colored prints. * @@ -415,11 +435,12 @@ private String getColorNormalizationCode() { public static boolean isUseColoredPrints() { return instance().useColoredPrints; } - + /** * Sets the use colored prints. * - * @param useColoredPrints the new use colored prints + * @param useColoredPrints + * the new use colored prints */ public static void setUseColoredPrints(boolean useColoredPrints) { instance().useColoredPrints = useColoredPrints; @@ -457,9 +478,9 @@ public static void setFile(File logfile) { } instance.log = logfile; - instance.logFileThread = new Thread(()->{ + instance.logFileThread = new Thread(() -> { instance.incomingErr = new ByteList(); - + OutputStream streamErr = new OutputStream() { @Override public void write(int b) throws IOException { @@ -467,7 +488,7 @@ public void write(int b) throws IOException { } }; instance.incomingOut = new ByteList(); - + OutputStream streamOut = new OutputStream() { @Override public void write(int b) throws IOException { @@ -490,8 +511,10 @@ public void write(int b) throws IOException { String text = instance.incomingOut.asString(); instance.incomingOut.clear(); if ((text != null) && (text.length() > 0)) { - //Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); // java 11+ - Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), StandardOpenOption.APPEND); + // Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, + // StandardOpenOption.APPEND); // java 11+ + Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), + StandardOpenOption.APPEND); mirrorStream.println(text); } text = null; @@ -504,8 +527,10 @@ public void write(int b) throws IOException { String text = instance.incomingErr.asString(); instance.incomingErr.clear(); if ((text != null) && (text.length() > 0)) { - //Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, StandardOpenOption.APPEND); // java 11+ - Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), StandardOpenOption.APPEND); + // Files.writeString(logfile.toPath(), text, StandardCharsets.UTF_8, + // StandardOpenOption.APPEND); // java 11+ + Files.write(logfile.toPath(), text.getBytes(StandardCharsets.UTF_8), + StandardOpenOption.APPEND); errStream.println(text); } text = null; @@ -515,7 +540,7 @@ public void write(int b) throws IOException { } }); instance.logFileThread.start(); - info(SDKBuildInfo.getSDKVersionString()); + info(SDKBuildInfo.getSDKVersionString()); } public static void flush() { @@ -523,7 +548,7 @@ public static void flush() { System.setOut(outStream); System.setErr(outStream); instance.log = null; - while ((instance.incomingOut.size() > 0) || (instance.incomingErr.size() > 0 )) { + while ((instance.incomingOut.size() > 0) || (instance.incomingErr.size() > 0)) { try { Thread.sleep(10); } catch (InterruptedException e) { diff --git a/src/main/java/com/neuronrobotics/sdk/common/MACAddress.java b/src/main/java/com/neuronrobotics/sdk/common/MACAddress.java index e3c4c581..800a88fe 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/MACAddress.java +++ b/src/main/java/com/neuronrobotics/sdk/common/MACAddress.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,106 +16,120 @@ // Auto-generated Javadoc /** * A mac address object. This object represents a MAC Address. + * * @author rbreznak * */ public class MACAddress implements ISendable { - + /** The Constant BROADCAST. */ public static final String BROADCAST = "00:00:00:00:00:00"; - + /** The address. */ - private byte [] address = new byte[]{0,0,0,0,0,0}; - + private byte[] address = new byte[]{0, 0, 0, 0, 0, 0}; + /** * Instantiates a new mAC address. */ - public MACAddress(){ + public MACAddress() { } /** - * Construct a new MAC address object with a given MAC address represented as a string of 6 bytes in hex deliminated by semicolons. - * @param address The string representation. + * Construct a new MAC address object with a given MAC address represented as a + * string of 6 bytes in hex deliminated by semicolons. + * + * @param address + * The string representation. */ public MACAddress(String address) { init(address); } - + /** * Inits the. * - * @param address the address + * @param address + * the address */ - private void init(String address){ + private void init(String address) { address = address.toUpperCase().trim(); address = address.replace("-", ":"); - + if (address.matches("^([0-9A-Z]{2}:){5}[0-9A-Z]{2}$")) { String[] strs = address.split(":"); - for(int i=0; i<6; i++) { + for (int i = 0; i < 6; i++) { this.address[i] = Integer.decode("0x" + strs[i]).byteValue(); } } } - + /** * Create a mac address from an array of bytes. - * @param address The byte array. + * + * @param address + * The byte array. */ public MACAddress(byte[] address) { - for(int i=0; i<6; i++) { + for (int i = 0; i < 6; i++) { this.address[i] = address[i]; } } - + /** * Compare two mac addresses. * - * @param o the o + * @param o + * the o * @return true, if successful */ public boolean equals(Object o) { - if(!(o instanceof MACAddress)) { throw new RuntimeException("Object being compared is not of type MACAddress"); } + if (!(o instanceof MACAddress)) { + throw new RuntimeException("Object being compared is not of type MACAddress"); + } return equals((MACAddress) o); } - + /** * Equals. * - * @param addr the addr + * @param addr + * the addr * @return true, if successful */ - public boolean equals(MACAddress addr){ - for(int i=0; i<6; i++) { - if(addr.address[i] != address[i]) { + public boolean equals(MACAddress addr) { + for (int i = 0; i < 6; i++) { + if (addr.address[i] != address[i]) { return false; } } return true; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ public String toString() { String rtn = ""; - for(int i=0;i< address.length;i++){ - rtn += getHexByteString(i)+":"; + for (int i = 0; i < address.length; i++) { + rtn += getHexByteString(i) + ":"; } - rtn = rtn.substring(0, rtn.length()-1); + rtn = rtn.substring(0, rtn.length() - 1); return rtn.toUpperCase(); } - + /** * Gets the hex byte string. * - * @param index the index + * @param index + * the index * @return the hex byte string */ - public String getHexByteString(int index){ + public String getHexByteString(int index) { return String.format("%02x", address[index]); } - + /** * Checks if is valid. * @@ -125,46 +139,49 @@ public boolean isValid() { return true; } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.ISendable#getBytes() */ - + public byte[] getBytes() { return address; } - + /** * Increment. */ - public void increment(){ - if(address[5]<255) { + public void increment() { + if (address[5] < 255) { address[5]++; return; - }else { - if(address[4]<255) { - address[5]=0; + } else { + if (address[4] < 255) { + address[5] = 0; address[4]++; - }else { - if(address[3]<255) { - address[5]=0; - address[4]=0; + } else { + if (address[3] < 255) { + address[5] = 0; + address[4] = 0; address[3]++; - }else { + } else { throw new RuntimeException("MAC Address can not be incremented!"); } } } } - + /** * Sets the values. * - * @param address2 the new values + * @param address2 + * the new values */ public void setValues(MACAddress address2) { - //com.neuronrobotics.sdk.common.Log.error("Setting new values: "+address2); - for(int i=0; i<6; i++) { - address[i] = address2.address[i]; + // com.neuronrobotics.sdk.common.Log.error("Setting new values: "+address2); + for (int i = 0; i < 6; i++) { + address[i] = address2.address[i]; } } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/MalformattedDatagram.java b/src/main/java/com/neuronrobotics/sdk/common/MalformattedDatagram.java index f18b0c47..26c271c9 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/MalformattedDatagram.java +++ b/src/main/java/com/neuronrobotics/sdk/common/MalformattedDatagram.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,18 +16,20 @@ // Auto-generated Javadoc /** * his exception is thrown in the case of the reception of a malformed datagram. + * * @author rbreznak * */ public class MalformattedDatagram extends RuntimeException { - + /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; /** * Instantiates a new malformatted datagram. * - * @param message the message + * @param message + * the message */ public MalformattedDatagram(String message) { super(message); diff --git a/src/main/java/com/neuronrobotics/sdk/common/MissingNativeLibraryException.java b/src/main/java/com/neuronrobotics/sdk/common/MissingNativeLibraryException.java index ff9b8b09..27acd9ba 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/MissingNativeLibraryException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/MissingNativeLibraryException.java @@ -5,24 +5,27 @@ * The Class MissingNativeLibraryException. */ public class MissingNativeLibraryException extends RuntimeException { - + /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** The message. */ private String message; - + /** * Instantiates a new connection unavailable exception. * - * @param message the message + * @param message + * the message */ public MissingNativeLibraryException(String message) { this.message = message; Log.warning(message); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Throwable#getMessage() */ public String getMessage() { diff --git a/src/main/java/com/neuronrobotics/sdk/common/NamespaceEncapsulation.java b/src/main/java/com/neuronrobotics/sdk/common/NamespaceEncapsulation.java index 1cb80a90..772783db 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/NamespaceEncapsulation.java +++ b/src/main/java/com/neuronrobotics/sdk/common/NamespaceEncapsulation.java @@ -7,20 +7,21 @@ * The Class NamespaceEncapsulation. */ public class NamespaceEncapsulation { - + /** The namespace. */ private final String namespace; - + /** The rpc list. */ - private ArrayList rpcList= null; + private ArrayList rpcList = null; /** * Instantiates a new namespace encapsulation. * - * @param ns the ns + * @param ns + * the ns */ - public NamespaceEncapsulation(String ns){ - namespace=ns; + public NamespaceEncapsulation(String ns) { + namespace = ns; } /** @@ -44,22 +45,25 @@ public ArrayList getRpcList() { /** * Sets the rpc list. * - * @param rpcList the new rpc list + * @param rpcList + * the new rpc list */ public void setRpcList(ArrayList rpcList) { this.rpcList = rpcList; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ @Override - public String toString(){ - String s=namespace+" Num RPC="+ rpcList.size(); - for(RpcEncapsulation rpc:getRpcList()){ - s+="\n\t"+rpc.toString(); + public String toString() { + String s = namespace + " Num RPC=" + rpcList.size(); + for (RpcEncapsulation rpc : getRpcList()) { + s += "\n\t" + rpc.toString(); } return s; } - + } diff --git a/src/main/java/com/neuronrobotics/sdk/common/NoConnectionAvailableException.java b/src/main/java/com/neuronrobotics/sdk/common/NoConnectionAvailableException.java index aabfc5ee..47ad8e6e 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/NoConnectionAvailableException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/NoConnectionAvailableException.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,6 +16,7 @@ // Auto-generated Javadoc /** * This exception si thrown when there is no avaliable connection. + * * @author rbreznak * */ diff --git a/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java b/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java index 5bbb41f3..0d680ee6 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/common/NonBowlerDevice.java @@ -2,81 +2,88 @@ import java.util.ArrayList; -import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; - // Auto-generated Javadoc /** * The Class NonBowlerDevice. */ -public abstract class NonBowlerDevice extends BowlerAbstractDevice { +public abstract class NonBowlerDevice extends BowlerAbstractDevice { boolean connectedYet = false; /** - * This method tells the connection object to disconnect its pipes and close out the connection. Once this is called, it is safe to remove your device. + * This method tells the connection object to disconnect its pipes and close out + * the connection. Once this is called, it is safe to remove your device. */ - + public abstract void disconnectDeviceImp(); - + /** * Connect device imp. * * @return true, if successful */ - public abstract boolean connectDeviceImp(); - + public abstract boolean connectDeviceImp(); + /** * Gets the namespaces imp. * * @return the namespaces imp */ - public abstract ArrayList getNamespacesImp(); - - /* (non-Javadoc) + public abstract ArrayList getNamespacesImp(); + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#connect() */ @Override - public boolean connect(){ + public boolean connect() { fireConnectEvent(); - connectedYet= connectDeviceImp(); + connectedYet = connectDeviceImp(); return isAvailable(); } - + /** * Determines if the device is available. * * @return true if the device is avaiable, false if it is not - * @throws InvalidConnectionException the invalid connection exception + * @throws InvalidConnectionException + * the invalid connection exception */ @Override - public boolean isAvailable() throws InvalidConnectionException{ + public boolean isAvailable() throws InvalidConnectionException { return connectedYet; } - + /** - * This method tells the connection object to disconnect its pipes and close out the connection. Once this is called, it is safe to remove your device. + * This method tells the connection object to disconnect its pipes and close out + * the connection. Once this is called, it is safe to remove your device. */ @Override - public void disconnect(){ + public void disconnect() { fireDisconnectEvent(); disconnectDeviceImp(); connectedYet = false; } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com.neuronrobotics.sdk.common.BowlerDatagram) + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com. + * neuronrobotics.sdk.common.BowlerDatagram) */ @Override public void onAsyncResponse(BowlerDatagram data) { // Auto-generated method stub - + } - + /** * Get all the namespaces. * * @return the namespaces */ @Override - public ArrayList getNamespaces(){ - return getNamespacesImp(); + public ArrayList getNamespaces() { + return getNamespacesImp(); } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/ResponseTimeoutException.java b/src/main/java/com/neuronrobotics/sdk/common/ResponseTimeoutException.java index 49bb0c6f..1662408e 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/ResponseTimeoutException.java +++ b/src/main/java/com/neuronrobotics/sdk/common/ResponseTimeoutException.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -15,12 +15,14 @@ package com.neuronrobotics.sdk.common; // Auto-generated Javadoc /** - * This excepion is thrown when a device fails to respond to an asynchronous packet in time. + * This excepion is thrown when a device fails to respond to an asynchronous + * packet in time. + * * @author rvreznak * */ public class ResponseTimeoutException extends Exception { - + /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; diff --git a/src/main/java/com/neuronrobotics/sdk/common/RpcEncapsulation.java b/src/main/java/com/neuronrobotics/sdk/common/RpcEncapsulation.java index ec2d1ab2..0453d619 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/RpcEncapsulation.java +++ b/src/main/java/com/neuronrobotics/sdk/common/RpcEncapsulation.java @@ -10,324 +10,353 @@ public class RpcEncapsulation { /** The namespace. */ private String namespace; - + /** The rpc. */ private String rpc; - + /** The method. */ private BowlerMethod method; - + /** The downstream arguments. */ private BowlerDataType[] downstreamArguments; - + /** The upstream arguments. */ private BowlerDataType[] upstreamArguments; - + /** The up stream method. */ private BowlerMethod upStreamMethod; - + /** The namespace index. */ private int namespaceIndex; - + /** The processor. */ private IBowlerCommandProcessor processor; - + /** * This is an encapsulation object for a given RPC. * - * @param namespaceIndex the namespace index - * @param namespace The corosponding Namespace - * @param rpc The 4 byte RPC code - * @param downStreamMethod The method for sending messages - * @param downstreamArguments The array of data types for a downstream message - * @param upStreamMethod The return method type - * @param upstreamArguments THe return method arguments + * @param namespaceIndex + * the namespace index + * @param namespace + * The corosponding Namespace + * @param rpc + * The 4 byte RPC code + * @param downStreamMethod + * The method for sending messages + * @param downstreamArguments + * The array of data types for a downstream message + * @param upStreamMethod + * The return method type + * @param upstreamArguments + * THe return method arguments */ - public RpcEncapsulation(int namespaceIndex,String namespace, String rpc, - BowlerMethod downStreamMethod,BowlerDataType[] downstreamArguments, - BowlerMethod upStreamMethod,BowlerDataType[] upstreamArguments) { - this(namespaceIndex, namespace, rpc, downStreamMethod, downstreamArguments, upStreamMethod, upstreamArguments, null); + public RpcEncapsulation(int namespaceIndex, String namespace, String rpc, BowlerMethod downStreamMethod, + BowlerDataType[] downstreamArguments, BowlerMethod upStreamMethod, BowlerDataType[] upstreamArguments) { + this(namespaceIndex, namespace, rpc, downStreamMethod, downstreamArguments, upStreamMethod, upstreamArguments, + null); } - + /** * This is an encapsulation object for a given RPC. * - * @param namespaceIndex the namespace index - * @param namespace The corosponding Namespace - * @param rpc The 4 byte RPC code - * @param downStreamMethod The method for sending messages - * @param downstreamArguments The array of data types for a downstream message - * @param upStreamMethod The return method type - * @param upstreamArguments THe return method arguments - * @param processor the processor + * @param namespaceIndex + * the namespace index + * @param namespace + * The corosponding Namespace + * @param rpc + * The 4 byte RPC code + * @param downStreamMethod + * The method for sending messages + * @param downstreamArguments + * The array of data types for a downstream message + * @param upStreamMethod + * The return method type + * @param upstreamArguments + * THe return method arguments + * @param processor + * the processor */ - public RpcEncapsulation(int namespaceIndex,String namespace, String rpc, - BowlerMethod downStreamMethod,BowlerDataType[] downstreamArguments, - BowlerMethod upStreamMethod,BowlerDataType[] upstreamArguments, IBowlerCommandProcessor processor) { + public RpcEncapsulation(int namespaceIndex, String namespace, String rpc, BowlerMethod downStreamMethod, + BowlerDataType[] downstreamArguments, BowlerMethod upStreamMethod, BowlerDataType[] upstreamArguments, + IBowlerCommandProcessor processor) { this.setProcessor(processor); this.setNamespaceIndex(namespaceIndex); this.setNamespace(namespace); this.setRpc(rpc); - setArguments( downStreamMethod,downstreamArguments, upStreamMethod, upstreamArguments); + setArguments(downStreamMethod, downstreamArguments, upStreamMethod, upstreamArguments); } - + /** * Sets the arguments. * - * @param downStreamMethod the down stream method - * @param downstreamArguments the downstream arguments - * @param upStreamMethod the up stream method - * @param upstreamArguments the upstream arguments + * @param downStreamMethod + * the down stream method + * @param downstreamArguments + * the downstream arguments + * @param upStreamMethod + * the up stream method + * @param upstreamArguments + * the upstream arguments */ - public void setArguments(BowlerMethod downStreamMethod,BowlerDataType[] downstreamArguments, BowlerMethod upStreamMethod,BowlerDataType[] upstreamArguments) { + public void setArguments(BowlerMethod downStreamMethod, BowlerDataType[] downstreamArguments, + BowlerMethod upStreamMethod, BowlerDataType[] upstreamArguments) { this.setUpStreamMethod(upStreamMethod); this.setDownstreamArguments(downstreamArguments); this.setUpstreamArguments(upstreamArguments); this.setDownStreamMethod(downStreamMethod); } - + /** * Gets the command. * - * @param doswnstreamData the doswnstream data + * @param doswnstreamData + * the doswnstream data * @return the command */ - public BowlerAbstractCommand getCommand(Object [] doswnstreamData) { + public BowlerAbstractCommand getCommand(Object[] doswnstreamData) { return getCommand(doswnstreamData, downstreamArguments); } - + /** * Gets the command upstream. * - * @param doswnstreamData the doswnstream data + * @param doswnstreamData + * the doswnstream data * @return the command upstream */ - public BowlerAbstractCommand getCommandUpstream(Object [] doswnstreamData) { + public BowlerAbstractCommand getCommandUpstream(Object[] doswnstreamData) { return getCommand(doswnstreamData, upstreamArguments); } - - + /** * Gets the command. * - * @param doswnstreamData the doswnstream data - * @param arguments the arguments + * @param doswnstreamData + * the doswnstream data + * @param arguments + * the arguments * @return the command */ - public BowlerAbstractCommand getCommand(Object [] doswnstreamData, BowlerDataType [] arguments) { - BowlerAbstractCommand command = new BowlerAbstractCommand() {}; - + public BowlerAbstractCommand getCommand(Object[] doswnstreamData, BowlerDataType[] arguments) { + BowlerAbstractCommand command = new BowlerAbstractCommand() { + }; + command.setOpCode(getRpc()); command.setMethod(getDownstreamMethod()); command.setNamespaceIndex(getNamespaceIndex()); - + for (int i = 0; ((i < arguments.length) && (i < doswnstreamData.length)); i++) { try { - switch(arguments[i]) { - case ASCII: - command.getCallingDataStorage().add(doswnstreamData[i].toString()); - command.getCallingDataStorage().add(0); - break; - case FIXED100: - double d = Double.parseDouble(doswnstreamData[i].toString())*100; - command.getCallingDataStorage().addAs32((int)d); - break; - case FIXED1k: - double k = Double.parseDouble(doswnstreamData[i].toString())*1000; - command.getCallingDataStorage().addAs32((int)k); - break; - case I08: - command.getCallingDataStorage().add(Integer.parseInt(doswnstreamData[i].toString())); - break; - case BOOL: - command.getCallingDataStorage().add(Boolean.parseBoolean((doswnstreamData[i].toString()))?1:0); - break; - case I16: - command.getCallingDataStorage().addAs16(Integer.parseInt(doswnstreamData[i].toString())); - break; - case I32: - command.getCallingDataStorage().addAs32(Integer.parseInt(doswnstreamData[i].toString())); - break; - case I32STR: - try { - Integer [] data32 = (Integer [])doswnstreamData[i]; - command.getCallingDataStorage().add(data32.length); - for (int i1 = 0; i1 < data32.length; i1++) - command.getCallingDataStorage().addAs32(data32[i1]); - - } catch (ClassCastException ex) { - int [] data32 = (int [])doswnstreamData[i]; - command.getCallingDataStorage().add(data32.length); - for (int i1 = 0; i1 < data32.length; i1++) - command.getCallingDataStorage().addAs32(data32[i1]); - - } - break; - case FIXED1k_STR: - double [] dataDouble = (double [])doswnstreamData[i]; - command.getCallingDataStorage().add(dataDouble.length); - for (int i1 = 0; i1 < dataDouble.length; i1++) - command.getCallingDataStorage().addAs32((int) (dataDouble[i1] * 1000.0)); - - break; - case INVALID: - break; - case STR: - try { - ByteList data = (ByteList )doswnstreamData[i]; - command.getCallingDataStorage().add(data.size()); - for (int i1 = 0; i1 < data.size(); i1++) - command.getCallingDataStorage().add(data.get(i1)); - - } catch (ClassCastException ex) { + switch (arguments[i]) { + case ASCII : + command.getCallingDataStorage().add(doswnstreamData[i].toString()); + command.getCallingDataStorage().add(0); + break; + case FIXED100 : + double d = Double.parseDouble(doswnstreamData[i].toString()) * 100; + command.getCallingDataStorage().addAs32((int) d); + break; + case FIXED1k : + double k = Double.parseDouble(doswnstreamData[i].toString()) * 1000; + command.getCallingDataStorage().addAs32((int) k); + break; + case I08 : + command.getCallingDataStorage().add(Integer.parseInt(doswnstreamData[i].toString())); + break; + case BOOL : + command.getCallingDataStorage() + .add(Boolean.parseBoolean((doswnstreamData[i].toString())) ? 1 : 0); + break; + case I16 : + command.getCallingDataStorage().addAs16(Integer.parseInt(doswnstreamData[i].toString())); + break; + case I32 : + command.getCallingDataStorage().addAs32(Integer.parseInt(doswnstreamData[i].toString())); + break; + case I32STR : try { - Integer [] data32 = (Integer [])doswnstreamData[i]; + Integer[] data32 = (Integer[]) doswnstreamData[i]; command.getCallingDataStorage().add(data32.length); for (int i1 = 0; i1 < data32.length; i1++) command.getCallingDataStorage().addAs32(data32[i1]); - } catch (ClassCastException ex1) { - int [] data32 = (int [])doswnstreamData[i]; + } catch (ClassCastException ex) { + int[] data32 = (int[]) doswnstreamData[i]; command.getCallingDataStorage().add(data32.length); for (int i1 = 0; i1 < data32.length; i1++) command.getCallingDataStorage().addAs32(data32[i1]); } - } - break; - default: - throw new RuntimeException("Unrecognized data type " + arguments[i]); + break; + case FIXED1k_STR : + double[] dataDouble = (double[]) doswnstreamData[i]; + command.getCallingDataStorage().add(dataDouble.length); + for (int i1 = 0; i1 < dataDouble.length; i1++) + command.getCallingDataStorage().addAs32((int) (dataDouble[i1] * 1000.0)); + + break; + case INVALID : + break; + case STR : + try { + ByteList data = (ByteList) doswnstreamData[i]; + command.getCallingDataStorage().add(data.size()); + for (int i1 = 0; i1 < data.size(); i1++) + command.getCallingDataStorage().add(data.get(i1)); + + } catch (ClassCastException ex) { + try { + Integer[] data32 = (Integer[]) doswnstreamData[i]; + command.getCallingDataStorage().add(data32.length); + for (int i1 = 0; i1 < data32.length; i1++) + command.getCallingDataStorage().addAs32(data32[i1]); + + } catch (ClassCastException ex1) { + int[] data32 = (int[]) doswnstreamData[i]; + command.getCallingDataStorage().add(data32.length); + for (int i1 = 0; i1 < data32.length; i1++) + command.getCallingDataStorage().addAs32(data32[i1]); + + } + } + break; + default : + throw new RuntimeException("Unrecognized data type " + arguments[i]); } - } catch(Exception e) { + } catch (Exception e) { e.printStackTrace(); - Log.error("Expected : "+ arguments[i]+" got: "+doswnstreamData[i].getClass()); + Log.error("Expected : " + arguments[i] + " got: " + doswnstreamData[i].getClass()); if (arguments.length != doswnstreamData.length) - Log.error("Wrong size : "+ arguments.length+" got: "+doswnstreamData.length); + Log.error("Wrong size : " + arguments.length + " got: " + doswnstreamData.length); else for (int j = 0; j < arguments.length; j++) Log.error("Valid : " + arguments[j] + " got: " + doswnstreamData[i].getClass()); - + } } - + return command; } - + /** * Parses the response. * - * @param datagram the datagram + * @param datagram + * the datagram * @return the object[] */ - public Object [] parseResponse(BowlerDatagram datagram) { + public Object[] parseResponse(BowlerDatagram datagram) { return parseResponse(datagram, upstreamArguments); } - + /** * Parses the response downstream. * - * @param datagram the datagram + * @param datagram + * the datagram * @return the object[] */ - public Object [] parseResponseDownstream(BowlerDatagram datagram) { + public Object[] parseResponseDownstream(BowlerDatagram datagram) { return parseResponse(datagram, downstreamArguments); } - + /** * Parses the response. * - * @param datagram the datagram - * @param arguments the arguments + * @param datagram + * the datagram + * @param arguments + * the arguments * @return the object[] */ - public Object [] parseResponse(BowlerDatagram datagram, BowlerDataType [] arguments) { - Object [] response = new Object[arguments.length]; + public Object[] parseResponse(BowlerDatagram datagram, BowlerDataType[] arguments) { + Object[] response = new Object[arguments.length]; int i = 0; try { int numVals32; ByteList data = datagram.getData(); - for (i = 0; (i < arguments.length); i++) { - switch(arguments[i]) { - case ASCII: - String s = data.asString(); - data.popList(s.length() + 1); - response [i] = s; - break; - case FIXED100: - response [i] = ByteList.convertToInt(data.popList(4)) / 100.0; - break; - case FIXED1k: - response [i] = ByteList.convertToInt(data.popList(4)) / 1000.0; - break; - case I08: - response [i] = data.getUnsigned(0); - data.pop(); - break; - case BOOL: - response [i] = data.getUnsigned(0) != 0; - data.pop(); - break; - case I16: - response [i] = ByteList.convertToInt(data.popList(2)); - break; - case I32: - response [i] = ByteList.convertToInt(data.popList(4), true); - break; - case I32STR: - numVals32 = data.getUnsigned(0); - data.pop(); - ByteList d32 = new ByteList(data.popList(numVals32 * 4)); - Integer [] i32Data = new Integer[numVals32]; - response [i] = i32Data; - for (int j = 0; j < numVals32; j++) - i32Data[j] = ByteList.convertToInt(d32.popList(4)); - - break; - case FIXED1k_STR: - numVals32 = data.getUnsigned(0); - data.pop(); - ByteList dStr = new ByteList(data.popList(numVals32 * 4)); - double [] dData = new double[numVals32]; - response [i] = dData; - for (int j = 0; j < numVals32; j++) - dData[j] = ByteList.convertToInt(dStr.popList(4)) / 1000.0; - - break; - case INVALID: - break; - case STR: - int numVals = data.getUnsigned(0); - data.pop(); - ByteList iData = new ByteList(); - response [i] = iData; - if (numVals > 0) { - ByteList d = new ByteList(data.popList(numVals)); - for (int j = 0; j < numVals; j++) - iData.add(d.getUnsigned(j)); - - } - - break; - default: - throw new RuntimeException("Unrecognized data type"+arguments[i]); + for (i = 0; (i < arguments.length); i++) { + switch (arguments[i]) { + case ASCII : + String s = data.asString(); + data.popList(s.length() + 1); + response[i] = s; + break; + case FIXED100 : + response[i] = ByteList.convertToInt(data.popList(4)) / 100.0; + break; + case FIXED1k : + response[i] = ByteList.convertToInt(data.popList(4)) / 1000.0; + break; + case I08 : + response[i] = data.getUnsigned(0); + data.pop(); + break; + case BOOL : + response[i] = data.getUnsigned(0) != 0; + data.pop(); + break; + case I16 : + response[i] = ByteList.convertToInt(data.popList(2)); + break; + case I32 : + response[i] = ByteList.convertToInt(data.popList(4), true); + break; + case I32STR : + numVals32 = data.getUnsigned(0); + data.pop(); + ByteList d32 = new ByteList(data.popList(numVals32 * 4)); + Integer[] i32Data = new Integer[numVals32]; + response[i] = i32Data; + for (int j = 0; j < numVals32; j++) + i32Data[j] = ByteList.convertToInt(d32.popList(4)); + + break; + case FIXED1k_STR : + numVals32 = data.getUnsigned(0); + data.pop(); + ByteList dStr = new ByteList(data.popList(numVals32 * 4)); + double[] dData = new double[numVals32]; + response[i] = dData; + for (int j = 0; j < numVals32; j++) + dData[j] = ByteList.convertToInt(dStr.popList(4)) / 1000.0; + + break; + case INVALID : + break; + case STR : + int numVals = data.getUnsigned(0); + data.pop(); + ByteList iData = new ByteList(); + response[i] = iData; + if (numVals > 0) { + ByteList d = new ByteList(data.popList(numVals)); + for (int j = 0; j < numVals; j++) + iData.add(d.getUnsigned(j)); + + } + + break; + default : + throw new RuntimeException("Unrecognized data type" + arguments[i]); } } - } catch(java.lang.ClassCastException e) { + } catch (java.lang.ClassCastException e) { e.printStackTrace(); Log.error("Expected : " + arguments[i] + " got: " + response[i].getClass()); if (arguments.length != response.length) Log.error("Wrong size : " + arguments.length + " got: " + response.length); else for (int j = 0; j < arguments.length; j++) - Log.error("Valid : " + arguments[j]+" got: " + response[i].getClass()); - - } catch(RuntimeException ex) { + Log.error("Valid : " + arguments[j] + " got: " + response[i].getClass()); + + } catch (RuntimeException ex) { Log.error("Failed to parse " + i + "\n" + datagram + "\nFrom " + this); throw ex; } - + return response; } @@ -343,7 +372,8 @@ public String getNamespace() { /** * Sets the namespace. * - * @param namespace the new namespace + * @param namespace + * the new namespace */ public void setNamespace(String namespace) { this.namespace = namespace; @@ -361,7 +391,8 @@ public String getRpc() { /** * Sets the rpc. * - * @param rpc the new rpc + * @param rpc + * the new rpc */ public void setRpc(String rpc) { this.rpc = rpc; @@ -379,7 +410,8 @@ public BowlerMethod getDownstreamMethod() { /** * Sets the down stream method. * - * @param method the new down stream method + * @param method + * the new down stream method */ public void setDownStreamMethod(BowlerMethod method) { this.method = method; @@ -393,12 +425,12 @@ public void setDownStreamMethod(BowlerMethod method) { public BowlerDataType[] getDownstreamArguments() { return downstreamArguments; } - /** * Sets the downstream arguments. * - * @param downstreamArguments the new downstream arguments + * @param downstreamArguments + * the new downstream arguments */ public void setDownstreamArguments(BowlerDataType[] downstreamArguments) { for (int i = 0; i < downstreamArguments.length; i++) @@ -420,7 +452,8 @@ public BowlerDataType[] getUpstreamArguments() { /** * Sets the upstream arguments. * - * @param upstreamArguments the new upstream arguments + * @param upstreamArguments + * the new upstream arguments */ public void setUpstreamArguments(BowlerDataType[] upstreamArguments) { if (upstreamArguments == null) @@ -445,22 +478,25 @@ public BowlerMethod getUpStreamMethod() { /** * Sets the up stream method. * - * @param upStreamMethod the new up stream method + * @param upStreamMethod + * the new up stream method */ public void setUpStreamMethod(BowlerMethod upStreamMethod) { this.upStreamMethod = upStreamMethod; } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ @Override public String toString() { - String s=getNamespace() + " " + getRpc() + " " + getDownstreamMethod(); + String s = getNamespace() + " " + getRpc() + " " + getDownstreamMethod(); if (getDownstreamArguments() != null) { s += " ("; - for (int i=0;i(getStartTime()+getAmountOfTimeForTimerToRun()); + return System.currentTimeMillis() > (getStartTime() + getAmountOfTimeForTimerToRun()); } - + /** * Initialize. * - * @param sleepTime the sleep time - * @param listener the listener + * @param sleepTime + * the sleep time + * @param listener + * the listener */ - public void initialize(long sleepTime,IthreadedTimoutListener listener) { + public void initialize(long sleepTime, IthreadedTimoutListener listener) { setStartTime(System.currentTimeMillis()); this.time = (sleepTime); setTimeoutListener(listener); @@ -83,97 +82,100 @@ public long getAmountOfTimeForTimerToRun() { /** * Sets the timeout listener. * - * @param listener the new timeout listener + * @param listener + * the new timeout listener */ private void setTimeoutListener(IthreadedTimoutListener listener) { this.listener = listener; } - /** * The Class timerThreadClass. */ - private static class timerThreadClass extends Thread{ - + private static class timerThreadClass extends Thread { + /** The timers. */ private ArrayList timers = new ArrayList(); - + /** The to remove. */ private ArrayList toRemove = new ArrayList(); - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.lang.Thread#run() */ - public void run(){ + public void run() { setName("Bowler Platform Threaded timeout"); - while(true){ - if(timers.size()>0){ + while (true) { + if (timers.size() > 0) { toRemove.clear(); - - for(int i=0;i events = new ArrayList<>(); public static void tic(String message) { - if(!isEnabled()) + if (!isEnabled()) return; events.add(new Pair(System.currentTimeMillis(), message)); } - - + public static void clear() { events.clear(); } public static void toc() { - if(!isEnabled()) + if (!isEnabled()) return; events.add(new Pair(System.currentTimeMillis(), "Toc end event")); Pair start = events.remove(0); - Pair previous=null; + Pair previous = null; for (int i = 0; i < events.size(); i++) { Pair p = events.get(i); - p.print(start,previous); - previous=p; + p.print(start, previous); + previous = p; } - System.out.println("End TickToc "+System.currentTimeMillis()+"\n\n"); + System.out.println("End TickToc " + System.currentTimeMillis() + "\n\n"); clear(); } - public static boolean isEnabled() { return enabled; } - public static void setEnabled(boolean enabled) { TickToc.enabled = enabled; - if(!enabled) + if (!enabled) clear(); else { - System.out.println("\n\nStart TickToc "+System.currentTimeMillis()); + System.out.println("\n\nStart TickToc " + System.currentTimeMillis()); tic("Tick Tock start"); } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/Tracer.java b/src/main/java/com/neuronrobotics/sdk/common/Tracer.java index 68a34721..c1cd203f 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/Tracer.java +++ b/src/main/java/com/neuronrobotics/sdk/common/Tracer.java @@ -5,20 +5,17 @@ * The Class Tracer. */ public class Tracer { - + /** * Called from. * * @return the string */ public static String calledFrom() { - try - { - throw new Exception("Who called me?"); - } - catch( Exception e ) - { - return e.getStackTrace()[2].getClassName()+":"+e.getStackTrace()[2].getMethodName(); - } + try { + throw new Exception("Who called me?"); + } catch (Exception e) { + return e.getStackTrace()[2].getClassName() + ":" + e.getStackTrace()[2].getMethodName(); + } } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServer.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServer.java index 8731769b..baee453b 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServer.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServer.java @@ -11,128 +11,145 @@ import com.neuronrobotics.sdk.common.BowlerDatagramFactory; import com.neuronrobotics.sdk.common.Log; - // Auto-generated Javadoc /** * The Class BowlerAbstractDeviceServer. */ public abstract class BowlerAbstractDeviceServer extends BowlerAbstractDevice { - + /** The core. */ private String core = "bcs.core.*;0.3;;"; - + /** The namespaces. */ - private ArrayList namespaces = new ArrayList(); - - /* (non-Javadoc) + private ArrayList namespaces = new ArrayList(); + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#connect() */ @Override - public boolean connect(){ + public boolean connect() { super.connect(); addNamespace(core); return isAvailable(); } - + /** * Adds the namespace. * - * @param nms the nms + * @param nms + * the nms */ - public void addNamespace(String nms){ - if(!namespaces.contains(nms)) + public void addNamespace(String nms) { + if (!namespaces.contains(nms)) namespaces.add(nms); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#onAllResponse(com.neuronrobotics.sdk.common.BowlerDatagram) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#onAllResponse(com. + * neuronrobotics.sdk.common.BowlerDatagram) */ public void onAllResponse(BowlerDatagram data) { String rpc = data.getRPC(); - if(rpc.contains("_nms")) { - Log.info("Got a namespace packet of size: "+data.getData().size()); - if(data.getData().size() == 0) { + if (rpc.contains("_nms")) { + Log.info("Got a namespace packet of size: " + data.getData().size()); + if (data.getData().size() == 0) { try { - sendSyncResponse(new NamespaceCommand(namespaces.size(),true)); + sendSyncResponse(new NamespaceCommand(namespaces.size(), true)); } catch (IOException e) { e.printStackTrace(); } return; } - if(data.getData().size() == 1) { + if (data.getData().size() == 1) { int index = data.getData().get(0); try { - sendSyncResponse(new NamespaceCommand(namespaces.size(),namespaces.get(index))); + sendSyncResponse(new NamespaceCommand(namespaces.size(), namespaces.get(index))); } catch (IOException e) { e.printStackTrace(); } return; } - }else if(rpc.contains("_png")){ - //Log.info("Got ping"); + } else if (rpc.contains("_png")) { + // Log.info("Got ping"); try { sendSyncResponse(new PingCommand()); } catch (IOException e) { e.printStackTrace(); } return; - }else + } else onSynchronusRecive(data); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com.neuronrobotics.sdk.common.BowlerDatagram) + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com. + * neuronrobotics.sdk.common.BowlerDatagram) */ public void onAsyncResponse(BowlerDatagram data) { // Auto-generated method stub } - + /** * Send a sendable to the getConnection(). * - * @param command the command - * @param rpcIndexID the rpc index id - * @throws IOException Signals that an I/O exception has occurred. + * @param command + * the command + * @param rpcIndexID + * the rpc index id + * @throws IOException + * Signals that an I/O exception has occurred. */ public void sendAsync(BowlerAbstractCommand command, int rpcIndexID) throws IOException { command.setNamespaceIndex(rpcIndexID); BowlerDatagram bd = BowlerDatagramFactory.build(getAddress(), command); - //Log.debug("ASYN>>\n"+bd.toString()); + // Log.debug("ASYN>>\n"+bd.toString()); getConnection().sendAsync(bd); getConnection().getDataOuts().flush(); } - + /** * Send a sendable to the getConnection(). * - * @param command the command - * @throws IOException Signals that an I/O exception has occurred. + * @param command + * the command + * @throws IOException + * Signals that an I/O exception has occurred. */ public void sendSyncResponse(BowlerAbstractCommand command) throws IOException { - BowlerDatagram bd =BowlerDatagramFactory.build(getAddress(), command); - //Log.debug("RESP>>\n"+bd.toString()); + BowlerDatagram bd = BowlerDatagramFactory.build(getAddress(), command); + // Log.debug("RESP>>\n"+bd.toString()); getConnection().sendAsync(bd); getConnection().getDataOuts().flush(); } - + /** * Send packet with no response. * - * @param data the data - * @throws IOException Signals that an I/O exception has occurred. + * @param data + * the data + * @throws IOException + * Signals that an I/O exception has occurred. */ public void sendPacketWithNoResponse(BowlerDatagram data) throws IOException { - //Log.debug("RESP>>\n"+bd.toString()); + // Log.debug("RESP>>\n"+bd.toString()); getConnection().sendAsync(data); getConnection().getDataOuts().flush(); } - + /** * On synchronus recive. * - * @param data the data + * @param data + * the data */ public abstract void onSynchronusRecive(BowlerDatagram data); } diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServerNamespace.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServerNamespace.java index 1e8c21c8..e9f64bd1 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServerNamespace.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractDeviceServerNamespace.java @@ -5,7 +5,6 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerDatagram; import com.neuronrobotics.sdk.common.BowlerDatagramFactory; -import com.neuronrobotics.sdk.common.BowlerMethod; import com.neuronrobotics.sdk.common.MACAddress; import com.neuronrobotics.sdk.common.RpcEncapsulation; @@ -14,46 +13,48 @@ * The Class BowlerAbstractDeviceServerNamespace. */ public abstract class BowlerAbstractDeviceServerNamespace { - + /** The rpc. */ - protected ArrayList rpc=new ArrayList(); + protected ArrayList rpc = new ArrayList(); /** The ns. */ - protected final String ns ; - + protected final String ns; + /** The mac. */ - private final MACAddress mac ; + private final MACAddress mac; /** The namespace index. */ - private int namespaceIndex=0; - + private int namespaceIndex = 0; + /** * Instantiates a new bowler abstract device server namespace. * - * @param addr the addr - * @param namespaceString the namespace string + * @param addr + * the addr + * @param namespaceString + * the namespace string */ - public BowlerAbstractDeviceServerNamespace( MACAddress addr, String namespaceString){ + public BowlerAbstractDeviceServerNamespace(MACAddress addr, String namespaceString) { this.ns = namespaceString; this.mac = addr; } - + /** * Check rpc. * - * @param data the data + * @param data + * the data * @return true, if successful */ - public boolean checkRpc(BowlerDatagram data){ - for(RpcEncapsulation enc: getRpcList()){ - if(data.getRPC().contains(enc.getRpc()) && enc.getDownstreamMethod() == data.getMethod()){ + public boolean checkRpc(BowlerDatagram data) { + for (RpcEncapsulation enc : getRpcList()) { + if (data.getRPC().contains(enc.getRpc()) && enc.getDownstreamMethod() == data.getMethod()) { return true; } } return false; } - /** * Gets the namespace. * @@ -69,20 +70,20 @@ public String getNamespace() { * @return the rpc list */ public ArrayList getRpcList() { - + return rpc; } - - + /** * Adds the rpc. * - * @param newRpc the new rpc + * @param newRpc + * the new rpc */ public void addRpc(RpcEncapsulation newRpc) { rpc.add(newRpc); } - + /** * Gets the address. * @@ -95,27 +96,28 @@ public MACAddress getAddress() { /** * Process. * - * @param data the data + * @param data + * the data * @return the bowler datagram */ public BowlerDatagram process(BowlerDatagram data) { - Object [] dataParsed=null; - RpcEncapsulation parser=null; - for(RpcEncapsulation enc: getRpcList()){ - if(enc.getRpc().contains(data.getRPC())&& enc.getDownstreamMethod() == data.getMethod()){ + Object[] dataParsed = null; + RpcEncapsulation parser = null; + for (RpcEncapsulation enc : getRpcList()) { + if (enc.getRpc().contains(data.getRPC()) && enc.getDownstreamMethod() == data.getMethod()) { parser = enc; } } - if(parser == null) + if (parser == null) return null; dataParsed = parser.parseResponseDownstream(data); - - Object [] backData = parser.getProcessor().process(dataParsed); - + + Object[] backData = parser.getProcessor().process(dataParsed); + BowlerAbstractCommand back = parser.getCommandUpstream(backData); - + return BowlerDatagramFactory.build(getAddress(), back); - + } /** @@ -126,15 +128,15 @@ public BowlerDatagram process(BowlerDatagram data) { public int getNamespaceIndex() { return namespaceIndex; } - + /** * Sets the namespace index. * - * @param ns the new namespace index + * @param ns + * the new namespace index */ - public void setNamespaceIndex(int ns){ + public void setNamespaceIndex(int ns) { namespaceIndex = ns; } - - + } diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractServer.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractServer.java index 5801b72c..af617b96 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractServer.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerAbstractServer.java @@ -1,45 +1,36 @@ package com.neuronrobotics.sdk.common.device.server; import java.io.IOException; -import java.net.InetAddress; import java.net.ServerSocket; import java.net.Socket; -import java.net.UnknownHostException; import java.util.ArrayList; -import javax.management.RuntimeErrorException; - import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerAbstractConnection; -import com.neuronrobotics.sdk.common.BowlerAbstractDevice; import com.neuronrobotics.sdk.common.BowlerDataType; import com.neuronrobotics.sdk.common.BowlerDatagram; import com.neuronrobotics.sdk.common.BowlerDatagramFactory; import com.neuronrobotics.sdk.common.BowlerMethod; import com.neuronrobotics.sdk.common.DeviceConnectionException; -import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.common.IConnectionEventListener; import com.neuronrobotics.sdk.common.ISynchronousDatagramListener; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.common.MACAddress; -import com.neuronrobotics.sdk.common.NamespaceEncapsulation; import com.neuronrobotics.sdk.common.RpcEncapsulation; import com.neuronrobotics.sdk.common.device.server.bcs.core.BcsCoreNamespaceImp; import com.neuronrobotics.sdk.common.device.server.bcs.rpc.BcsRpcNamespaceImp; import com.neuronrobotics.sdk.network.BowlerTCPServer; import com.neuronrobotics.sdk.network.BowlerUDPServer; -import com.neuronrobotics.sdk.network.UDPBowlerConnection; // Auto-generated Javadoc /** * The Class BowlerAbstractServer. */ -public abstract class BowlerAbstractServer implements - ISynchronousDatagramListener { +public abstract class BowlerAbstractServer implements ISynchronousDatagramListener { /** The servers. */ private ArrayList servers = new ArrayList(); - + /** The local servers. */ private ArrayList localServers = new ArrayList(); @@ -48,10 +39,10 @@ public abstract class BowlerAbstractServer implements /** The bcs core. */ private BcsCoreNamespaceImp bcsCore; - + /** The bcs rpc. */ private BcsRpcNamespaceImp bcsRpc; - + /** The udp server. */ private BowlerUDPServer udpServer; @@ -61,7 +52,8 @@ public abstract class BowlerAbstractServer implements /** * Instantiates a new bowler abstract server. * - * @param mac the mac + * @param mac + * the mac */ public BowlerAbstractServer(MACAddress mac) { this.setMacAddress(mac); @@ -87,15 +79,14 @@ private void setup() { /** * Adds the bowler device server namespace. * - * @param ns the ns + * @param ns + * the ns */ - public void addBowlerDeviceServerNamespace( - BowlerAbstractDeviceServerNamespace ns) { + public void addBowlerDeviceServerNamespace(BowlerAbstractDeviceServerNamespace ns) { setup(); if (!getNamespaces().contains(ns)) { for (int i = 0; i < getNamespaces().size(); i++) { - if (getNamespaces().get(i).getNamespace() - .contains(ns.getNamespace())) { + if (getNamespaces().get(i).getNamespace().contains(ns.getNamespace())) { Log.error("Duplicate Namespace" + ns.getNamespace()); return; } @@ -108,10 +99,10 @@ public void addBowlerDeviceServerNamespace( /** * Removes the bowler device server namespace. * - * @param ns the ns + * @param ns + * the ns */ - public void removeBowlerDeviceServerNamespace( - BowlerAbstractDeviceServerNamespace ns) { + public void removeBowlerDeviceServerNamespace(BowlerAbstractDeviceServerNamespace ns) { setup(); if (getNamespaces().contains(ns)) getNamespaces().remove(ns); @@ -120,7 +111,8 @@ public void removeBowlerDeviceServerNamespace( /** * Process local. * - * @param data the data + * @param data + * the data * @return the bowler datagram */ private BowlerDatagram processLocal(BowlerDatagram data) { @@ -129,7 +121,8 @@ private BowlerDatagram processLocal(BowlerDatagram data) { throw new RuntimeException("No namespaces defined"); } for (BowlerAbstractDeviceServerNamespace n : getNamespaces()) { - // com.neuronrobotics.sdk.common.Log.error("Checking "+n.getNamespaces().get(0)); + // com.neuronrobotics.sdk.common.Log.error("Checking + // "+n.getNamespaces().get(0)); if (n.checkRpc(data)) { BowlerDatagram d = n.process(data); if (d != null) { @@ -157,8 +150,10 @@ public ArrayList getServers() { /** * Start network server. * - * @param port the port - * @throws IOException Signals that an I/O exception has occurred. + * @param port + * the port + * @throws IOException + * Signals that an I/O exception has occurred. */ public void startNetworkServer(final int port) throws IOException { udpServer = new BowlerUDPServer(port); @@ -170,9 +165,9 @@ public void run() { while (true) { Socket s; try { - //ex.printStackTrace(); - Log.warning("\n\nWaiting for UDP connection on port "+(port)+"..."); - Log.warning("\n\nWaiting for TCP connection on port "+(port+1)+"..."); + // ex.printStackTrace(); + Log.warning("\n\nWaiting for UDP connection on port " + (port) + "..."); + Log.warning("\n\nWaiting for TCP connection on port " + (port + 1) + "..."); s = serverSocket.accept(); addServer(new BowlerTCPServer(s)); Log.warning("Got a connection!"); @@ -189,7 +184,8 @@ public void run() { /** * Start network server. * - * @throws IOException Signals that an I/O exception has occurred. + * @throws IOException + * Signals that an I/O exception has occurred. */ public void startNetworkServer() throws IOException { startNetworkServer(1865); @@ -199,7 +195,8 @@ public void startNetworkServer() throws IOException { /** * Adds the server. * - * @param srv the srv + * @param srv + * the srv */ public void addServer(BowlerAbstractConnection srv) { if (!servers.contains(srv)) { @@ -221,8 +218,12 @@ public void onConnect(BowlerAbstractConnection source) { } } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.ISynchronousDatagramListener#onSyncReceive(com.neuronrobotics.sdk.common.BowlerDatagram) + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.ISynchronousDatagramListener#onSyncReceive(com. + * neuronrobotics.sdk.common.BowlerDatagram) */ @Override public BowlerDatagram onSyncReceive(BowlerDatagram data) { @@ -253,7 +254,8 @@ public BowlerDatagram onSyncReceive(BowlerDatagram data) { /** * Removes the server. * - * @param b the b + * @param b + * the b */ private void removeServer(BowlerAbstractConnection b) { if (b == udpServer) { @@ -273,34 +275,35 @@ private void removeServer(BowlerAbstractConnection b) { /** * THis is the scripting interface to Bowler devices. THis allows a user to - * describe a namespace, rpc, and array or arguments to be paced into the - * packet based on the data types of the argument. The response in likewise - * unpacked into an array of objects. + * describe a namespace, rpc, and array or arguments to be paced into the packet + * based on the data types of the argument. The response in likewise unpacked + * into an array of objects. * - * @param namespaceIndex the namespace index - * @param namespace The string of the desired namespace - * @param rpcString The string of the desired RPC - * @param arguments An array of objects corresponding to the data to be stuffed - * into the packet. - * @param asyncArguments the async arguments - * @throws DeviceConnectionException If the desired RPC's are not available then this will be - * thrown + * @param namespaceIndex + * the namespace index + * @param namespace + * The string of the desired namespace + * @param rpcString + * The string of the desired RPC + * @param arguments + * An array of objects corresponding to the data to be stuffed into + * the packet. + * @param asyncArguments + * the async arguments + * @throws DeviceConnectionException + * If the desired RPC's are not available then this will be thrown */ - public void pushAsyncPacket(int namespaceIndex, String namespace, - String rpcString, Object[] arguments, + public void pushAsyncPacket(int namespaceIndex, String namespace, String rpcString, Object[] arguments, BowlerDataType[] asyncArguments) { if (arguments.length != asyncArguments.length) { throw new RuntimeException( "Arguments must match argument types exactly, your two arrays are different lengths"); } - RpcEncapsulation rpcl = new RpcEncapsulation(namespaceIndex, namespace, - rpcString, BowlerMethod.ASYNCHRONOUS, asyncArguments, null, - null); - BowlerAbstractCommand command = BowlerAbstractConnection.getCommand( - namespace, BowlerMethod.ASYNCHRONOUS, rpcString, arguments, - rpcl); - BowlerDatagram cmd = BowlerDatagramFactory.build(new MACAddress(), - command); + RpcEncapsulation rpcl = new RpcEncapsulation(namespaceIndex, namespace, rpcString, BowlerMethod.ASYNCHRONOUS, + asyncArguments, null, null); + BowlerAbstractCommand command = BowlerAbstractConnection.getCommand(namespace, BowlerMethod.ASYNCHRONOUS, + rpcString, arguments, rpcl); + BowlerDatagram cmd = BowlerDatagramFactory.build(new MACAddress(), command); Log.debug("Async>>" + cmd); pushAsyncPacket(cmd); } @@ -308,7 +311,8 @@ public void pushAsyncPacket(int namespaceIndex, String namespace, /** * Push async packet. * - * @param data the data + * @param data + * the data */ public synchronized void pushAsyncPacket(BowlerDatagram data) { localServers.clear(); @@ -329,11 +333,11 @@ public synchronized void pushAsyncPacket(BowlerDatagram data) { run = true; } if (localServers.get(i).getClass() != BowlerUDPServer.class) { - // com.neuronrobotics.sdk.common.Log.error("Sending packet to "+getServers().get(i).getClass()); + // com.neuronrobotics.sdk.common.Log.error("Sending packet to + // "+getServers().get(i).getClass()); if (run && localServers.get(i).isConnected()) { // Log.warning("ASYNC<<\r\n"+data ); - String classString = localServers.get(i).getClass() - .toString(); + String classString = localServers.get(i).getClass().toString(); localServers.get(i).sendAsync(data); Log.info("Sent packet to " + classString); } @@ -349,8 +353,7 @@ public synchronized void pushAsyncPacket(BowlerDatagram data) { try { e.printStackTrace(); BowlerAbstractConnection abs = localServers.get(i); - Log.error("No client connected to this connection " - + abs.getClass()); + Log.error("No client connected to this connection " + abs.getClass()); abs.disconnect(); } catch (Exception ex) { @@ -373,10 +376,10 @@ public ArrayList getNamespaces() { /** * Sets the namespaces. * - * @param namespaces the new namespaces + * @param namespaces + * the new namespaces */ - public void setNamespaces( - ArrayList namespaces) { + public void setNamespaces(ArrayList namespaces) { this.namespaces = namespaces; } @@ -392,12 +395,11 @@ public MACAddress getMacAddress() { /** * Sets the mac address. * - * @param macAddress the new mac address + * @param macAddress + * the new mac address */ public void setMacAddress(MACAddress macAddress) { this.macAddress = macAddress; } - - } diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerDeviceReServerNamespace.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerDeviceReServerNamespace.java index be2db1c0..baf6ece5 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerDeviceReServerNamespace.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/BowlerDeviceReServerNamespace.java @@ -4,7 +4,6 @@ import com.neuronrobotics.sdk.common.BowlerAbstractConnection; import com.neuronrobotics.sdk.common.BowlerDatagram; -import com.neuronrobotics.sdk.common.BowlerMethod; import com.neuronrobotics.sdk.common.IBowlerDatagramListener; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.common.RpcEncapsulation; @@ -14,39 +13,41 @@ /** * The Class BowlerDeviceReServerNamespace. */ -public class BowlerDeviceReServerNamespace extends BowlerAbstractDeviceServerNamespace{ - +public class BowlerDeviceReServerNamespace extends BowlerAbstractDeviceServerNamespace { + /** The device. */ private BowlerAbstractConnection device; - + /** The server. */ private BowlerAbstractServer server; /** * Instantiates a new bowler device re server namespace. * - * @param device the device - * @param server the server - * @param useAsync the use async - * @param namespaceIndex the namespace index - * @param namespaceString the namespace string - * @param gen the gen + * @param device + * the device + * @param server + * the server + * @param useAsync + * the use async + * @param namespaceIndex + * the namespace index + * @param namespaceString + * the namespace string + * @param gen + * the gen */ - public BowlerDeviceReServerNamespace( BowlerAbstractConnection device, - BowlerAbstractServer server, - boolean useAsync, - int namespaceIndex, - String namespaceString, - GenericDevice gen){ - super( gen.getAddress() ,namespaceString); + public BowlerDeviceReServerNamespace(BowlerAbstractConnection device, BowlerAbstractServer server, boolean useAsync, + int namespaceIndex, String namespaceString, GenericDevice gen) { + super(gen.getAddress(), namespaceString); this.device = device; this.setServer(server); - ArrayList rpcEnc= gen.getRpcList(namespaceString); - for (RpcEncapsulation r:rpcEnc){ - Log.info("Adding Namespace "+r.getNamespace()); + ArrayList rpcEnc = gen.getRpcList(namespaceString); + for (RpcEncapsulation r : rpcEnc) { + Log.info("Adding Namespace " + r.getNamespace()); getRpcList().add(r); } - if(useAsync){ + if (useAsync) { device.addDatagramListener(new IBowlerDatagramListener() { @Override public void onAsyncResponse(BowlerDatagram data) { @@ -54,9 +55,9 @@ public void onAsyncResponse(BowlerDatagram data) { } }); } - + } - + /** * Gets the server. * @@ -69,17 +70,22 @@ public BowlerAbstractServer getServer() { /** * Sets the server. * - * @param server the new server + * @param server + * the new server */ public void setServer(BowlerAbstractServer server) { this.server = server; } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.device.server.BowlerAbstractDeviceServerNamespace#process(com.neuronrobotics.sdk.common.BowlerDatagram) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.common.device.server. + * BowlerAbstractDeviceServerNamespace#process(com.neuronrobotics.sdk.common. + * BowlerDatagram) */ @Override - public BowlerDatagram process(BowlerDatagram data){ + public BowlerDatagram process(BowlerDatagram data) { BowlerDatagram bd = device.sendSynchronusly(data); return bd; } diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/IBowlerCommandProcessor.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/IBowlerCommandProcessor.java index d23237e6..181e5e0c 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/IBowlerCommandProcessor.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/IBowlerCommandProcessor.java @@ -1,18 +1,17 @@ package com.neuronrobotics.sdk.common.device.server; -import com.neuronrobotics.sdk.common.BowlerMethod; - // Auto-generated Javadoc /** * The Interface IBowlerCommandProcessor. */ public interface IBowlerCommandProcessor { - + /** * Process. * - * @param data the data + * @param data + * the data * @return the object[] */ - public Object [] process(Object [] data); + public Object[] process(Object[] data); } diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/core/BcsCoreNamespaceImp.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/core/BcsCoreNamespaceImp.java index a6091fb6..12ca8a5c 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/core/BcsCoreNamespaceImp.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/core/BcsCoreNamespaceImp.java @@ -12,56 +12,45 @@ /** * The Class BcsCoreNamespaceImp. */ -public class BcsCoreNamespaceImp extends BowlerAbstractDeviceServerNamespace{ +public class BcsCoreNamespaceImp extends BowlerAbstractDeviceServerNamespace { - /** The server. */ private BowlerAbstractServer server; /** * Instantiates a new bcs core namespace imp. * - * @param s the s - * @param mac the mac + * @param s + * the s + * @param mac + * the mac */ - public BcsCoreNamespaceImp(final BowlerAbstractServer s, MACAddress mac){ - super( mac ,"bcs.core.*;;"); + public BcsCoreNamespaceImp(final BowlerAbstractServer s, MACAddress mac) { + super(mac, "bcs.core.*;;"); this.server = s; - rpc.add(new RpcEncapsulation(0, - getNamespace() , - "_png", - BowlerMethod.GET, - new BowlerDataType[]{}, - BowlerMethod.POST, - new BowlerDataType[]{}, - new IBowlerCommandProcessor() { + rpc.add(new RpcEncapsulation(0, getNamespace(), "_png", BowlerMethod.GET, new BowlerDataType[]{}, + BowlerMethod.POST, new BowlerDataType[]{}, new IBowlerCommandProcessor() { @Override public Object[] process(Object[] data) { Object[] back = new Object[0]; return back; } })); - - rpc.add(new RpcEncapsulation(0, - getNamespace() , - "_nms", - BowlerMethod.GET, - new BowlerDataType[]{BowlerDataType.I08}, - BowlerMethod.POST, - new BowlerDataType[]{BowlerDataType.ASCII,BowlerDataType.I08}, - new IBowlerCommandProcessor() { + + rpc.add(new RpcEncapsulation(0, getNamespace(), "_nms", BowlerMethod.GET, + new BowlerDataType[]{BowlerDataType.I08}, BowlerMethod.POST, + new BowlerDataType[]{BowlerDataType.ASCII, BowlerDataType.I08}, new IBowlerCommandProcessor() { @Override public Object[] process(Object[] data) { - int nsIndex = (Integer) data[0]; + int nsIndex = (Integer) data[0]; Object[] back = new Object[2]; - + back[0] = server.getNamespaces().get(nsIndex).getNamespace(); back[1] = new Integer(server.getNamespaces().size()); - + return back; } })); } - } diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcArgsCommand.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcArgsCommand.java index fd45c118..1bbfd35e 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcArgsCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcArgsCommand.java @@ -13,36 +13,40 @@ public class BcsRpcArgsCommand extends BowlerAbstractCommand { /** * Instantiates a new bcs rpc args command. * - * @param ns the ns - * @param rpc the rpc - * @param downstreamMethod the downstream method - * @param downstreamArguments the downstream arguments - * @param upStreamMethod the up stream method - * @param upstreamArguments the upstream arguments + * @param ns + * the ns + * @param rpc + * the rpc + * @param downstreamMethod + * the downstream method + * @param downstreamArguments + * the downstream arguments + * @param upStreamMethod + * the up stream method + * @param upstreamArguments + * the upstream arguments */ - public BcsRpcArgsCommand(int ns, int rpc, BowlerMethod downstreamMethod, - BowlerDataType[] downstreamArguments, BowlerMethod upStreamMethod, - BowlerDataType[] upstreamArguments) { + public BcsRpcArgsCommand(int ns, int rpc, BowlerMethod downstreamMethod, BowlerDataType[] downstreamArguments, + BowlerMethod upStreamMethod, BowlerDataType[] upstreamArguments) { setOpCode("args"); setMethod(BowlerMethod.POST); getCallingDataStorage().add(ns); getCallingDataStorage().add(rpc); - + getCallingDataStorage().add(downstreamMethod); - + getCallingDataStorage().add(downstreamArguments.length); - for(int i=0;i< downstreamArguments.length;i++){ + for (int i = 0; i < downstreamArguments.length; i++) { getCallingDataStorage().add(downstreamArguments[i]); } - + getCallingDataStorage().add(upStreamMethod); - + getCallingDataStorage().add(upstreamArguments.length); - for(int i=0;i< upstreamArguments.length;i++){ + for (int i = 0; i < upstreamArguments.length; i++) { getCallingDataStorage().add(upstreamArguments[i]); } - - } + } } diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcCommand.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcCommand.java index 4e1ba7fc..a4a08d80 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcCommand.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcCommand.java @@ -12,10 +12,14 @@ public class BcsRpcCommand extends BowlerAbstractCommand { /** * Instantiates a new bcs rpc command. * - * @param ns the ns - * @param rpc the rpc - * @param size the size - * @param rpc2 the rpc2 + * @param ns + * the ns + * @param rpc + * the rpc + * @param size + * the size + * @param rpc2 + * the rpc2 */ public BcsRpcCommand(int ns, int rpc, int size, String rpc2) { setOpCode("_rpc"); diff --git a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcNamespaceImp.java b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcNamespaceImp.java index 070142e6..33084c28 100644 --- a/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcNamespaceImp.java +++ b/src/main/java/com/neuronrobotics/sdk/common/device/server/bcs/rpc/BcsRpcNamespaceImp.java @@ -13,83 +13,76 @@ /** * The Class BcsRpcNamespaceImp. */ -public class BcsRpcNamespaceImp extends BowlerAbstractDeviceServerNamespace{ - +public class BcsRpcNamespaceImp extends BowlerAbstractDeviceServerNamespace { + /** The server. */ private BowlerAbstractServer server; - + /** * Instantiates a new bcs rpc namespace imp. * - * @param s the s - * @param mac the mac + * @param s + * the s + * @param mac + * the mac */ - public BcsRpcNamespaceImp(BowlerAbstractServer s,MACAddress mac){ - super( mac,"bcs.rpc.*;;"); + public BcsRpcNamespaceImp(BowlerAbstractServer s, MACAddress mac) { + super(mac, "bcs.rpc.*;;"); this.server = s; - - rpc.add(new RpcEncapsulation(1, - getNamespace() , - "_rpc", - BowlerMethod.GET, - new BowlerDataType[]{ BowlerDataType.I08,//namespace index - BowlerDataType.I08}, //rpc index - BowlerMethod.POST, - new BowlerDataType[]{ BowlerDataType.I08,//namespace index - BowlerDataType.I08,//rpc index - BowlerDataType.I08,// number of RPC's - BowlerDataType.ASCII}, - new IBowlerCommandProcessor() { - - @Override - public Object[] process(Object[] data) { - int nsIndex = (Integer) data[0]; - int rpcIndex = (Integer) data[1]; - Object[] back = new Object[4]; - - back[0] = new Integer(nsIndex); - back[1] = new Integer(rpcIndex); - - back[2] = new Integer(server.getNamespaces().get(nsIndex).getRpcList().size()); - back[3] = server.getNamespaces().get(nsIndex).getRpcList().get(rpcIndex).getRpc(); - return back; - } - }));//RPC - - rpc.add(new RpcEncapsulation(1, - getNamespace() , - "args", - BowlerMethod.GET, - new BowlerDataType[]{ BowlerDataType.I08,//namespace index - BowlerDataType.I08}, //rpc index - BowlerMethod.POST, - new BowlerDataType[]{ BowlerDataType.I08,//namespace index - BowlerDataType.I08,//rpc index - BowlerDataType.I08,//Downstream method - BowlerDataType.STR,//downstream arguments - BowlerDataType.I08,//upstream method - BowlerDataType.STR}, - new IBowlerCommandProcessor() { - - @Override - public Object[] process(Object[] data) { - int nsIndex = (Integer) data[0]; - int rpcIndex = (Integer) data[1]; - Object[] back = new Object[6]; - RpcEncapsulation myRpc = server.getNamespaces().get(nsIndex).getRpcList().get(rpcIndex ); - - back[0] = new Integer(nsIndex); - back[1] = new Integer(rpcIndex); - - back[2] = new Integer(myRpc.getDownstreamMethod().getValue()); - back[3] = new ByteList(myRpc.getDownstreamArguments()); - back[4] = new Integer(myRpc.getUpStreamMethod().getValue()); - back[5] = new ByteList( myRpc.getUpstreamArguments()); - return back; - } - }));//upstream arguments - - } + rpc.add(new RpcEncapsulation(1, getNamespace(), "_rpc", BowlerMethod.GET, + new BowlerDataType[]{BowlerDataType.I08, // namespace index + BowlerDataType.I08}, // rpc index + BowlerMethod.POST, new BowlerDataType[]{BowlerDataType.I08, // namespace index + BowlerDataType.I08, // rpc index + BowlerDataType.I08, // number of RPC's + BowlerDataType.ASCII}, + new IBowlerCommandProcessor() { + + @Override + public Object[] process(Object[] data) { + int nsIndex = (Integer) data[0]; + int rpcIndex = (Integer) data[1]; + Object[] back = new Object[4]; + + back[0] = new Integer(nsIndex); + back[1] = new Integer(rpcIndex); + + back[2] = new Integer(server.getNamespaces().get(nsIndex).getRpcList().size()); + back[3] = server.getNamespaces().get(nsIndex).getRpcList().get(rpcIndex).getRpc(); + return back; + } + }));// RPC + + rpc.add(new RpcEncapsulation(1, getNamespace(), "args", BowlerMethod.GET, + new BowlerDataType[]{BowlerDataType.I08, // namespace index + BowlerDataType.I08}, // rpc index + BowlerMethod.POST, new BowlerDataType[]{BowlerDataType.I08, // namespace index + BowlerDataType.I08, // rpc index + BowlerDataType.I08, // Downstream method + BowlerDataType.STR, // downstream arguments + BowlerDataType.I08, // upstream method + BowlerDataType.STR}, + new IBowlerCommandProcessor() { + + @Override + public Object[] process(Object[] data) { + int nsIndex = (Integer) data[0]; + int rpcIndex = (Integer) data[1]; + Object[] back = new Object[6]; + RpcEncapsulation myRpc = server.getNamespaces().get(nsIndex).getRpcList().get(rpcIndex); + + back[0] = new Integer(nsIndex); + back[1] = new Integer(rpcIndex); + + back[2] = new Integer(myRpc.getDownstreamMethod().getValue()); + back[3] = new ByteList(myRpc.getDownstreamArguments()); + back[4] = new Integer(myRpc.getUpStreamMethod().getValue()); + back[5] = new ByteList(myRpc.getUpstreamArguments()); + return back; + } + }));// upstream arguments + + } } diff --git a/src/main/java/com/neuronrobotics/sdk/config/SDKBuildInfo.java b/src/main/java/com/neuronrobotics/sdk/config/SDKBuildInfo.java index a33210dd..cfc720f3 100644 --- a/src/main/java/com/neuronrobotics/sdk/config/SDKBuildInfo.java +++ b/src/main/java/com/neuronrobotics/sdk/config/SDKBuildInfo.java @@ -11,8 +11,7 @@ */ public class SDKBuildInfo { /** The Constant NAME. */ - private static final String NAME = "Neuron Robotics SDK " - + getProtocolVersion() + "." + getSDKVersion() + "(" + private static final String NAME = "Neuron Robotics SDK " + getProtocolVersion() + "." + getSDKVersion() + "(" + getBuildVersion() + ")"; /** @@ -72,7 +71,8 @@ public static int[] getBuildInfo() { /** * Gets the tag. * - * @param target the target + * @param target + * the target * @return the tag */ private static String getTag(String target) { @@ -107,8 +107,7 @@ private static String getTag(String target) { */ public static String getBuildDate() { String s = ""; - InputStream is = SDKBuildInfo.class - .getResourceAsStream("/META-INF/MANIFEST.MF"); + InputStream is = SDKBuildInfo.class.getResourceAsStream("/META-INF/MANIFEST.MF"); BufferedReader br = new BufferedReader(new InputStreamReader(is)); String line; try { diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java index 53cd443c..f2d03efb 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIO.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -53,62 +53,64 @@ // Auto-generated Javadoc /** - * The DyIO class is an encapsulation of all of the functionality of the DyIO module into one object. This - * object has one connection to one DyIO module and wraps all of the commands in an accessible API. + * The DyIO class is an encapsulation of all of the functionality of the DyIO + * module into one object. This object has one connection to one DyIO module and + * wraps all of the commands in an accessible API. + * * @author Kevin Harrington, Robert Breznak */ -public class DyIO extends BowlerAbstractDevice implements IPidControlNamespace,IConnectionEventListener,IFlushable { +public class DyIO extends BowlerAbstractDevice implements IPidControlNamespace, IConnectionEventListener, IFlushable { /** The Constant NEURONROBOTICS_DYIO_1_0. */ private static final String NEURONROBOTICS_DYIO_1_0 = "neuronrobotics.dyio.*;1.0"; - + /** The listeners. */ private ArrayList listeners = new ArrayList(); - + /** The channels. */ private ArrayList channels = new ArrayList(); - + /** The firmware. */ - private byte [] firmware = {0, 0, 0}; - + private byte[] firmware = {0, 0, 0}; + /** The info. */ private String info = "DyIO"; - + /** The bank a state. */ private DyIOPowerState bankAState; - + /** The bank b state. */ private DyIOPowerState bankBState; - + /** The battery voltage. */ private double batteryVoltage = 0; - + /** The cached mode. */ - private boolean cachedMode=false; - + private boolean cachedMode = false; + /** The mute resync on mode change. */ - private boolean muteResyncOnModeChange=false; - + private boolean muteResyncOnModeChange = false; + /** The check firmware. */ - private static boolean checkFirmware=false; - + private static boolean checkFirmware = false; + /** The resyncing. */ private boolean resyncing = false; - + /** The have been synced. */ - private boolean haveBeenSynced =false; - + private boolean haveBeenSynced = false; + /** The legacy parser. */ private boolean legacyParser = false; - + /** The enable brown out. */ - private Boolean enableBrownOut=null; - + private Boolean enableBrownOut = null; + /** The pid. */ private GenericPIDDevice pid = new GenericPIDDevice(); /** - * Default Constructor. - * Builds a generic DyIO that has the default broadcast address and no default connection. + * Default Constructor. Builds a generic DyIO that has the default broadcast + * address and no default connection. */ public DyIO() { setAddress(new MACAddress(MACAddress.BROADCAST)); @@ -118,17 +120,19 @@ public DyIO() { /** * Builds a DyIO that has the given address and no default connection. * - * @param address the address + * @param address + * the address */ public DyIO(MACAddress address) { setAddress(address); getPid().setAddress(address); } - + /** * Builds a DyIO with the given connection and the broadcast address. * - * @param connection the connection + * @param connection + * the connection */ public DyIO(BowlerAbstractConnection connection) { setAddress(new MACAddress(MACAddress.BROADCAST)); @@ -140,8 +144,10 @@ public DyIO(BowlerAbstractConnection connection) { /** * Builds a DyIO with the given address and connection. * - * @param address the address - * @param connection the connection + * @param address + * the address + * @param connection + * the connection */ public DyIO(MACAddress address, BowlerAbstractConnection connection) { setAddress(address); @@ -153,309 +159,336 @@ public DyIO(MACAddress address, BowlerAbstractConnection connection) { /** * Returns the DyIO channel associated with a channel number. * - * @param channel integer representing the index of the channel - * - a channel number + * @param channel + * integer representing the index of the channel - a channel number * @return the channel */ public DyIOChannel getChannel(int channel) { validateChannel(channel); return getInternalChannels().get(channel); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#send(java.lang.String, com.neuronrobotics.sdk.common.BowlerMethod, java.lang.String, java.lang.Object[]) + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.BowlerAbstractDevice#send(java.lang.String, + * com.neuronrobotics.sdk.common.BowlerMethod, java.lang.String, + * java.lang.Object[]) */ - public Object[] send(String NS,BowlerMethod method, String rpcString, Object[] arguments){ - return send(NS,method,rpcString,arguments,2); + public Object[] send(String NS, BowlerMethod method, String rpcString, Object[] arguments) { + return send(NS, method, rpcString, arguments, 2); } - + /** - * This method sets the I/O mode of a specific channel. the DyIO will be sent a packet to update its mode in firmware - * If the mode is the same as the current mode, nothing happens - * If the mode is different from the previous mode, a mode change listeners will be fired - * Asynchronus state will be unaffected - * - * @param channel integer representing the index of the channel - * @param mode the DyIOChannelMode that this channel should be set to + * This method sets the I/O mode of a specific channel. the DyIO will be sent a + * packet to update its mode in firmware If the mode is the same as the current + * mode, nothing happens If the mode is different from the previous mode, a mode + * change listeners will be fired Asynchronus state will be unaffected + * + * @param channel + * integer representing the index of the channel + * @param mode + * the DyIOChannelMode that this channel should be set to * @return true for success */ public boolean setMode(int channel, DyIOChannelMode mode) { - boolean back =getChannel(channel).setMode(mode); - //ThreadUtil.wait(200); + boolean back = getChannel(channel).setMode(mode); + // ThreadUtil.wait(200); return back; } /** - * - * This method sets the I/O mode of a specific channel. the DyIO will be sent a packet to update its mode in firmware - * If the mode is the same as the current mode, nothing happens - * If the mode is different from the previous mode, a mode change listeners will be fired - * - * @param channel integer representing the index of the channel - * @param mode the DyIOChannelMode that this channel should be set to - * @param async Forces the mode into or out of async mode + * + * This method sets the I/O mode of a specific channel. the DyIO will be sent a + * packet to update its mode in firmware If the mode is the same as the current + * mode, nothing happens If the mode is different from the previous mode, a mode + * change listeners will be fired + * + * @param channel + * integer representing the index of the channel + * @param mode + * the DyIOChannelMode that this channel should be set to + * @param async + * Forces the mode into or out of async mode * @return true for success */ public boolean setMode(int channel, DyIOChannelMode mode, boolean async) { return getChannel(channel).setMode(mode, async); } - + /** * THis method returns the state of the given channels I/O mode. * - * @param channel integer representing the index of the channel + * @param channel + * integer representing the index of the channel * @return the current mode */ public DyIOChannelMode getMode(int channel) { return getChannel(channel).getMode(); } - + /** - * This method is a simple value set for a DyIO channel. This method is unit-less and will clip data to fit the - * channel modes requirements. - * - * @param channel integer representing the index of the channel - * @param value Unit-less value to set to the DyIO's channel - * @return true for success + * This method is a simple value set for a DyIO channel. This method is + * unit-less and will clip data to fit the channel modes requirements. + * + * @param channel + * integer representing the index of the channel + * @param value + * Unit-less value to set to the DyIO's channel + * @return true for success */ public boolean setValue(int channel, int value) { return getChannel(channel).setValue(value); } - + /** - * This method sets the value of a channel with a pre-packaged ByteList of the data to send. - * Since the bytelist is pre-packaged, the data will be sent to the DyIO as it is packet into - * the ByteList with NO VERIFICATION. - * - * @param channel integer representing the index of the channel - * @param value ByteList of the data to send to the DyIO - * @return true for success + * This method sets the value of a channel with a pre-packaged ByteList of the + * data to send. Since the bytelist is pre-packaged, the data will be sent to + * the DyIO as it is packet into the ByteList with NO VERIFICATION. + * + * @param channel + * integer representing the index of the channel + * @param value + * ByteList of the data to send to the DyIO + * @return true for success */ public boolean setValue(int channel, ByteList value) { return getChannel(channel).setValue(value); } /** - * This method is a simple value set for a DyIO channel. This method is unit-less and will clip data to fit the - * channel modes requirements. - * - * @param channel integer representing the index of the channel - * @param value Unit-less value to set to the DyIO's channel - * @return true for success + * This method is a simple value set for a DyIO channel. This method is + * unit-less and will clip data to fit the channel modes requirements. + * + * @param channel + * integer representing the index of the channel + * @param value + * Unit-less value to set to the DyIO's channel + * @return true for success */ public boolean setValue(int channel, java.math.BigDecimal value) { - return setValue(channel,value.intValue()); + return setValue(channel, value.intValue()); } /** - * This method is used to get the value of a given channel. The data units will be determined by - * DyIO channel mode, and so should be treated by this method as unit-less. - * - * @param channel integer representing the index of the channel - * @return The DyIO channels current value + * This method is used to get the value of a given channel. The data units will + * be determined by DyIO channel mode, and so should be treated by this method + * as unit-less. + * + * @param channel + * integer representing the index of the channel + * @return The DyIO channels current value */ public int getValue(int channel) { return getChannel(channel).getValue(); } - + /** - * Gets the DyIO's internally stored info string. This is a 16 byte string that can be stored on - * the DYIO and used as a human-readable, user setable, identifier. - * + * Gets the DyIO's internally stored info string. This is a 16 byte string that + * can be stored on the DYIO and used as a human-readable, user setable, + * identifier. + * * @return The current string */ - public String getInfo(){ -// BowlerDatagram response = send(new InfoCommand()); -// if (response != null) { -// info = response.getData().asString(); -// } + public String getInfo() { + // BowlerDatagram response = send(new InfoCommand()); + // if (response != null) { + // info = response.getData().asString(); + // } return info; } - + /** - * Sets the DyIO's internally stored info string. This is a 16 byte string that can be stored on - * the DYIO and used as a human-readable, user setable, identifier. - * - * @param info The String identifier to be stored by the DyIO. - */ - public void setInfo(String info){ -// if(send(new InfoCommand(info)) == null) { -// return; -// } + * Sets the DyIO's internally stored info string. This is a 16 byte string that + * can be stored on the DYIO and used as a human-readable, user setable, + * identifier. + * + * @param info + * The String identifier to be stored by the DyIO. + */ + public void setInfo(String info) { + // if(send(new InfoCommand(info)) == null) { + // return; + // } this.info = info; } - + /** - * This method gets the 3 byte firmware revision code. THis code is used to determine compatibility between - * the version of firmware on the DyIO and the version of the NRDK being used to communicate with it. - * + * This method gets the 3 byte firmware revision code. THis code is used to + * determine compatibility between the version of firmware on the DyIO and the + * version of the NRDK being used to communicate with it. + * * @return The firmware version data */ - public byte [] getFirmwareRev(){ + public byte[] getFirmwareRev() { return firmware; } - + /** - * This method turns the firmware version number into a formatted string for clear display - * - * @return Firmware version string. + * This method turns the firmware version number into a formatted string for + * clear display + * + * @return Firmware version string. */ - public String getFirmwareRevString(){ + public String getFirmwareRevString() { String revFmt = "%02d.%02d.%03d"; return "Firmware Revision: v" + String.format(revFmt, firmware[0], firmware[1], firmware[2]); } /** - * This method creates a new collection and populates it with the DyIO channel objects. - * + * This method creates a new collection and populates it with the DyIO channel + * objects. + * * @return a collection of DyIOChannel objects */ public ArrayList getChannels() { ArrayList c = new ArrayList(); - for(DyIOChannel chan:getInternalChannels() ) { - //com.neuronrobotics.sdk.common.Log.error(this.getClass()+" Adding channel: "+chan.getChannelNumber()+" as mode: "+chan.getMode()); + for (DyIOChannel chan : getInternalChannels()) { + // com.neuronrobotics.sdk.common.Log.error(this.getClass()+" Adding channel: + // "+chan.getChannelNumber()+" as mode: "+chan.getMode()); c.add(chan); } return c; } - + /** - * This method synchronizes the DyIO channel mode from the DyIO module with this DyIO channel object - * This will actively query the DyIO for this information. + * This method synchronizes the DyIO channel mode from the DyIO module with this + * DyIO channel object This will actively query the DyIO for this information. * - * @param channel integer representing the index of the channel + * @param channel + * integer representing the index of the channel */ public void resync(int channel) { getChannel(channel).resync(false); } - + /** - * This static method can be called before connection a DyIO object to disable the firmware verification step - * This can be used to allow older versions of the DyIO firmware to be used with newer NRDK versions. + * This static method can be called before connection a DyIO object to disable + * the firmware verification step This can be used to allow older versions of + * the DyIO firmware to be used with newer NRDK versions. */ public static void disableFWCheck() { - checkFirmware=false; + checkFirmware = false; } - + /** - * This static method can be called before connection a DyIO object to enable the firmware verification step. + * This static method can be called before connection a DyIO object to enable + * the firmware verification step. */ public static void enableFWCheck() { - //checkFirmware=true; + // checkFirmware=true; } - + /** - * Sync the state cache with the live device. - * This method will query the device for its firmware revision and its info string. - * The default opperation will be to throw a DyIOFirmwareOutOfDateException is the firmware version does not match - * the NRDK build version. This can be overridden if DyIO.disableFWCheck() is called BEFORE connection. - * - * @throws DyIOFirmwareOutOfDateException the dy io firmware out of date exception - */ - public void checkFirmwareRev()throws DyIOFirmwareOutOfDateException{ - if(checkFirmware) { - int[] sdkRev = SDKBuildInfo.getBuildInfo(); - - for(int i=0;i<3;i++){ - if(firmware[i] != sdkRev[i]){ - DyIOFirmwareOutOfDateException e = new DyIOFirmwareOutOfDateException( "\nNRDK version = "+new ByteList(sdkRev)+ - "\nDyIO version = "+ new ByteList(firmware)+ - "\nTry updating your firmware using the firmware update instructions from"+ - "\nhttp://wiki.neuronrobotics.com/NR_Console_Update_Firmware"); - //e.printStackTrace(); + * Sync the state cache with the live device. This method will query the device + * for its firmware revision and its info string. The default opperation will be + * to throw a DyIOFirmwareOutOfDateException is the firmware version does not + * match the NRDK build version. This can be overridden if DyIO.disableFWCheck() + * is called BEFORE connection. + * + * @throws DyIOFirmwareOutOfDateException + * the dy io firmware out of date exception + */ + public void checkFirmwareRev() throws DyIOFirmwareOutOfDateException { + if (checkFirmware) { + int[] sdkRev = SDKBuildInfo.getBuildInfo(); + + for (int i = 0; i < 3; i++) { + if (firmware[i] != sdkRev[i]) { + DyIOFirmwareOutOfDateException e = new DyIOFirmwareOutOfDateException( + "\nNRDK version = " + new ByteList(sdkRev) + "\nDyIO version = " + new ByteList(firmware) + + "\nTry updating your firmware using the firmware update instructions from" + + "\nhttp://wiki.neuronrobotics.com/NR_Console_Update_Firmware"); + // e.printStackTrace(); throw e; } } - }else{ + } else { Log.info("Not checking firmware version for DyIO"); } } - + /** * Gets the all channel modes. * * @return the all channel modes */ - public ArrayList getAllChannelModes(){ + public ArrayList getAllChannelModes() { ArrayList modes = new ArrayList(); BowlerDatagram response; ByteList bl; - if(isLegacyParser()){ + if (isLegacyParser()) { try { response = send(new GetChannelModeCommand()); } catch (Exception e) { - if (getInternalChannels().size()==0){ + if (getInternalChannels().size() == 0) { Log.error("Initilization failed once, retrying"); - try{ + try { response = send(new GetChannelModeCommand()); - }catch(Exception e2){ + } catch (Exception e2) { e2.printStackTrace(); setMuteResyncOnModeChange(false); - throw new DyIOCommunicationException("DyIO failed to report during initialization. Could not determine DyIO configuration: "+e2.getMessage()); + throw new DyIOCommunicationException( + "DyIO failed to report during initialization. Could not determine DyIO configuration: " + + e2.getMessage()); } - } - else { + } else { setMuteResyncOnModeChange(false); return null; } } - if(response == null) + if (response == null) checkFirmwareRev(); - //if(getAddress().equals(new MACAddress(MACAddress.BROADCAST))) { - setAddress(response.getAddress()); - //} + // if(getAddress().equals(new MACAddress(MACAddress.BROADCAST))) { + setAddress(response.getAddress()); + // } @SuppressWarnings("unused") - int count=0; - if(getDyIOChannelCount() != null){ + int count = 0; + if (getDyIOChannelCount() != null) { count = getDyIOChannelCount(); } bl = response.getData(); - + Log.error("Using old parsing model"); - }else{ - - Object [] args = send("bcs.io.*;0.3;;", - BowlerMethod.GET, - "gacm", - new Object[]{}); + } else { + + Object[] args = send("bcs.io.*;0.3;;", BowlerMethod.GET, "gacm", new Object[]{}); bl = (ByteList) args[0]; } - - - for (int i = 0; i < bl.size(); i++){ + + for (int i = 0; i < bl.size(); i++) { DyIOChannelMode cm = DyIOChannelMode.get(bl.getByte(i)); modes.add(cm); } - + return modes; } - /** - * This method re-synchronizes the entire state of the DyIO object with the DyIO module. - * The Firmware version is checked - * The info string is checked - * All channel modes are updated - * + * This method re-synchronizes the entire state of the DyIO object with the DyIO + * module. The Firmware version is checked The info string is checked All + * channel modes are updated + * * @return true if success */ public boolean resync() { - if(getConnection() == null) { + if (getConnection() == null) { Log.info("Not connected"); return false; } - if(!getConnection().isConnected()) { + if (!getConnection().isConnected()) { Log.info("Not connected"); return false; } - if(isResyncing()) { + if (isResyncing()) { Log.info("Already resyncing"); return true; } - - if(hasNamespace(NEURONROBOTICS_DYIO_1_0)){ + + if (hasNamespace(NEURONROBOTICS_DYIO_1_0)) { setLegacyParser(false); } - if(hasNamespace("neuronrobotics.dyio.*;0.3;;")){ + if (hasNamespace("neuronrobotics.dyio.*;0.3;;")) { setLegacyParser(true); } setResyncing(true); @@ -463,617 +496,697 @@ public boolean resync() { Log.info("Re-syncing..."); getBatteryVoltage(true); BowlerDatagram response; - try{ - if (!haveFirmware()){ - + try { + if (!haveFirmware()) { + firmware = getRevisions().get(0).getBytes(); } checkFirmwareRev(); -// if(info.contains("Unknown")){ -// response = send(new InfoCommand()); -// if (response != null) { -// info = response.getData().asString(); -// } -// } - - }catch (Exception e){ + // if(info.contains("Unknown")){ + // response = send(new InfoCommand()); + // if (response != null) { + // info = response.getData().asString(); + // } + // } + + } catch (Exception e) { e.printStackTrace(); checkFirmwareRev(); } - + ArrayList modes = getAllChannelModes(); - - for (int i = 0; i < modes.size(); i++){ + + for (int i = 0; i < modes.size(); i++) { DyIOChannelMode cm = modes.get(i); boolean editable = true; - if(cm == null) { + if (cm == null) { cm = DyIOChannelMode.DIGITAL_OUT; editable = false; try { Log.error("Mode get failed, setting to default"); send(new SetChannelModeCommand(i, cm)); - } catch(Exception e) { + } catch (Exception e) { setMuteResyncOnModeChange(false); throw new DyIOCommunicationException("Setting a pin to Digital In failed"); } } - try{ - Log.info("\n\nUpdating channel: "+i); + try { + Log.info("\n\nUpdating channel: " + i); getInternalChannels().get(i).update(this, i, cm, editable); - }catch(IndexOutOfBoundsException e){ - //com.neuronrobotics.sdk.common.Log.error("New channel "+i); + } catch (IndexOutOfBoundsException e) { + // com.neuronrobotics.sdk.common.Log.error("New channel "+i); getInternalChannels().add(new DyIOChannel(this, i, cm, editable)); - DyIOChannel dc =getInternalChannels().get(i); + DyIOChannel dc = getInternalChannels().get(i); dc.fireModeChangeEvent(dc.getCurrentMode()); } } setMuteResyncOnModeChange(false); - if (getInternalChannels().size()==0) + if (getInternalChannels().size() == 0) throw new DyIOCommunicationException("DyIO failed to report during initialization"); - - haveBeenSynced =true; + + haveBeenSynced = true; setResyncing(false); return true; } - + /** * Check to see if the firmware has been checked yet. * * @return true if already checked */ private boolean haveFirmware() { - if (firmware[0]==0 && firmware[1]==0 && firmware[2]==0) + if (firmware[0] == 0 && firmware[1] == 0 && firmware[2] == 0) return false; - else + else return true; } /** - * Add an IDyIOEventListener that will be contacted with an IDyIOEvent on - * each incoming data event. - * - * DyIO event listeners are used to get information from all DyIO events. - * This is how to access the Power events: - * DyIO power switch change events - * DyIO external power voltage change events + * Add an IDyIOEventListener that will be contacted with an IDyIOEvent on each + * incoming data event. + * + * DyIO event listeners are used to get information from all DyIO events. This + * is how to access the Power events: DyIO power switch change events DyIO + * external power voltage change events * - * @param l the l + * @param l + * the l */ public void addDyIOEventListener(IDyIOEventListener l) { - if(listeners.contains(l)) { + if (listeners.contains(l)) { return; } - + listeners.add(l); } - + /** - * Removes an IDyIOEventListener from being contacted on each new - * IDyIOEvent. + * Removes an IDyIOEventListener from being contacted on each new IDyIOEvent. * - * @param l the l + * @param l + * the l */ public void removeDyIOEventListener(IDyIOEventListener l) { - if(!listeners.contains(l)) { + if (!listeners.contains(l)) { return; } - + listeners.remove(l); } - + /** * Clears out all current IDyIOEventListeners. */ public void removeAllDyIOEventListeners() { listeners.clear(); } - + /** * Contact all of the listeners with the given event. - * + * * @param e * - the event to fire to all listeners */ public void fireDyIOEvent(IDyIOEvent e) { - //com.neuronrobotics.sdk.common.Log.error("DyIO Event: "+e); - for(IDyIOEventListener l : listeners) { + // com.neuronrobotics.sdk.common.Log.error("DyIO Event: "+e); + for (IDyIOEventListener l : listeners) { l.onDyIOEvent(e); } } - + /** * Validates a that a given channel is in the proper range. - * - * @param channel integer representing the index of the channel + * + * @param channel + * integer representing the index of the channel */ protected void validateChannel(int channel) { - int syncs=0; -// while(isResyncing()){ -// ThreadUtil.wait(100); -// } - if(!haveBeenSynced) + int syncs = 0; + // while(isResyncing()){ + // ThreadUtil.wait(100); + // } + if (!haveBeenSynced) return; - while(getInternalChannels().size() == 0){ + while (getInternalChannels().size() == 0) { Log.error("Valadate will fail, no channels, resyncing"); resync(); syncs++; - if(syncs>5){ + if (syncs > 5) { throw new DyIOCommunicationException("DyIO failed to report number of channels"); } ThreadUtil.wait(200); - + } if (channel < 0 || channel > getInternalChannels().size()) { - throw new IndexOutOfBoundsException("DyIO channels must be between 0 and " + getInternalChannels().size()+" requested:"+channel); + throw new IndexOutOfBoundsException( + "DyIO channels must be between 0 and " + getInternalChannels().size() + " requested:" + channel); } } - - /** - * This method returns the current state of the DyIO objects cache/flush system for the DyIO channel values. + * This method returns the current state of the DyIO objects cache/flush system + * for the DyIO channel values. + * * @return true if cache/flush mode is enabled */ public boolean getCachedMode() { return cachedMode; } /** - * This method enables the DyIO cache/flush system. When enabled, the system will interrupt all set value method calls and prevent them - * from sending packets to the DyIO. The channels will then need to either be flushed individually, or as a group. When the entire group - * is flushed, all channel values are set with a single packet allowing for co-ordinated motion. - * All channels will read the current state and set it as the cache value on the event of enabling the cache/flush mode - * @param mode true to enable cache/flush mode, false to disable. + * This method enables the DyIO cache/flush system. When enabled, the system + * will interrupt all set value method calls and prevent them from sending + * packets to the DyIO. The channels will then need to either be flushed + * individually, or as a group. When the entire group is flushed, all channel + * values are set with a single packet allowing for co-ordinated motion. All + * channels will read the current state and set it as the cache value on the + * event of enabling the cache/flush mode + * + * @param mode + * true to enable cache/flush mode, false to disable. */ public void setCachedMode(boolean mode) { - cachedMode=mode; - for(DyIOChannel d:getInternalChannels()) { + cachedMode = mode; + for (DyIOChannel d : getInternalChannels()) { d.setCachedMode(mode); - if(mode) + if (mode) try { d.setCachedValue(d.getValue()); - }catch(Exception e){ + } catch (Exception e) { d.setCachedValue(128); } } } - + /** - * This method will flush the DyIO cache for all channels. All channel values as stored by setting the value from code, or the value - * stored at the time that the cache/flush mode was enabled. THis method will flush all 24 channel values in one packet allowing for - * co-ordinated motion. + * This method will flush the DyIO cache for all channels. All channel values as + * stored by setting the value from code, or the value stored at the time that + * the cache/flush mode was enabled. THis method will flush all 24 channel + * values in one packet allowing for co-ordinated motion. * - * @param seconds the seconds + * @param seconds + * the seconds */ public void flushCache(double seconds) { - //com.neuronrobotics.sdk.common.Log.error("Updating all channels"); - Integer [] values = new Integer[getInternalChannels().size()]; - int i=0; - for(DyIOChannel d:getInternalChannels()) { - values[i++]=d.getCachedValue(); - //com.neuronrobotics.sdk.common.Log.error("Flushing chan "+d+" to "+d.getCachedValue()); + // com.neuronrobotics.sdk.common.Log.error("Updating all channels"); + Integer[] values = new Integer[getInternalChannels().size()]; + int i = 0; + for (DyIOChannel d : getInternalChannels()) { + values[i++] = d.getCachedValue(); + // com.neuronrobotics.sdk.common.Log.error("Flushing chan "+d+" to + // "+d.getCachedValue()); } - if(isLegacyParser()){ - for(int j=0;j<5;j++) { + if (isLegacyParser()) { + for (int j = 0; j < 5; j++) { try { - send(new SetAllChannelValuesCommand(seconds,values)); + send(new SetAllChannelValuesCommand(seconds, values)); return; - }catch (InvalidResponseException e1) { + } catch (InvalidResponseException e1) { com.neuronrobotics.sdk.common.Log.error("Failed to update all, retrying"); } } - }else{ -// for(DyIOChannel d:getInternalChannels()) { -// d.setCachedTime((float) seconds); -// if(d.getMode()==DyIOChannelMode.SERVO_OUT) -// d.flush(); -// } - send("bcs.io.*;0.3;;", - BowlerMethod.POST, - "sacv", - new Object[]{new Integer((int) (seconds*1000)),values}); - + } else { + // for(DyIOChannel d:getInternalChannels()) { + // d.setCachedTime((float) seconds); + // if(d.getMode()==DyIOChannelMode.SERVO_OUT) + // d.flush(); + // } + send("bcs.io.*;0.3;;", BowlerMethod.POST, "sacv", + new Object[]{new Integer((int) (seconds * 1000)), values}); + } - + } - - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#isAvailable() */ public boolean isAvailable() throws InvalidConnectionException { - if(getConnection() == null) + if (getConnection() == null) return false; return getConnection().isConnected(); - - } -// /* (non-Javadoc) -// * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAllResponse(com.neuronrobotics.sdk.common.BowlerDatagram) -// */ -// public void onAllResponse(BowlerDatagram data) { -// -// getPid().onAllResponse(data); -// } -// + + } + // /* (non-Javadoc) + // * @see + // com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAllResponse(com.neuronrobotics.sdk.common.BowlerDatagram) + // */ + // public void onAllResponse(BowlerDatagram data) { + // + // getPid().onAllResponse(data); + // } + // /** - * This method returns the bank switch state of bank A (0-11) - * This state is updated asynchronously by the DyIOEventListener. - * - * @return the current state - */ + * This method returns the bank switch state of bank A (0-11) This state is + * updated asynchronously by the DyIOEventListener. + * + * @return the current state + */ public DyIOPowerState getBankAState() { return bankAState; } - + /** - * This method returns the bank switch state of bank B (12-23) - * This state is updated asynchronously by the DyIOEventListener. + * This method returns the bank switch state of bank B (12-23) This state is + * updated asynchronously by the DyIOEventListener. * * @return the current state */ public DyIOPowerState getBankBState() { return bankBState; } - + /** - * THis method will return the current voltage on the battery connected to the DyIO external power connector. - * @param refresh true if you want to query the device, false to just get the cached value from the last async. + * THis method will return the current voltage on the battery connected to the + * DyIO external power connector. + * + * @param refresh + * true if you want to query the device, false to just get the cached + * value from the last async. * @return the voltage of the battery in Volts */ - public double getBatteryVoltage(boolean refresh){ - if(refresh) { + public double getBatteryVoltage(boolean refresh) { + if (refresh) { BowlerDatagram data = send(new PowerCommand()); powerEvent(data); } return batteryVoltage; } - + /** * Parses a datagram into the power event data. * - * @param data the data + * @param data + * the data */ private void powerEvent(BowlerDatagram data) { - - //Log.warning("POWER event "+data); - if(data.getRPC().contains("_pwr")){ + + // Log.warning("POWER event "+data); + if (data.getRPC().contains("_pwr")) { ByteList bl = data.getData(); - if(isLegacyParser() && bl.size() == 1){ - enableBrownOut=bl.get(0)!=0; + if (isLegacyParser() && bl.size() == 1) { + enableBrownOut = bl.get(0) != 0; } - if(bl.size()> 1){ - batteryVoltage = ((double)(ByteList.convertToInt(bl.getBytes(2, 2),false)))/1000.0; - bankAState = DyIOPowerState.valueOf(bl.get(0),batteryVoltage); - bankBState = DyIOPowerState.valueOf(bl.get(1),batteryVoltage); - if(!isLegacyParser()){ - enableBrownOut=bl.get(4)!=0; + if (bl.size() > 1) { + batteryVoltage = ((double) (ByteList.convertToInt(bl.getBytes(2, 2), false))) / 1000.0; + bankAState = DyIOPowerState.valueOf(bl.get(0), batteryVoltage); + bankBState = DyIOPowerState.valueOf(bl.get(1), batteryVoltage); + if (!isLegacyParser()) { + enableBrownOut = bl.get(4) != 0; } } fireDyIOEvent(new DyIOPowerEvent(bankAState, bankBState, batteryVoltage)); return; - }else{ - Log.error("Wrong type for updating Power state "+data); + } else { + Log.error("Wrong type for updating Power state " + data); } } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse */ public void onAsyncResponse(BowlerDatagram data) { - if(!haveBeenSynced){ + if (!haveBeenSynced) { return; } - Log.info("<< Async\n"+data.toString()); - if(data.getRPC().equals("_pwr")) { - + Log.info("<< Async\n" + data.toString()); + if (data.getRPC().equals("_pwr")) { + powerEvent(data); } - if(data.getRPC().equals("gchv")) { + if (data.getRPC().equals("gchv")) { ByteList bl = data.getData(); - + Byte b = bl.pop(); - if(b == null) { + if (b == null) { return; } DyIOChannel c = getChannel(b); c.fireChannelEvent(new DyIOChannelEvent(c, bl)); return; - }if(data.getRPC().equals("gacv")) { + } + if (data.getRPC().equals("gacv")) { - if(isLegacyParser()){ - Log.error("All channel values\n"+data.toString()); + if (isLegacyParser()) { + Log.error("All channel values\n" + data.toString()); ByteList bl = data.getData(); - for(DyIOChannel c:getChannels()){ + for (DyIOChannel c : getChannels()) { ByteList val = new ByteList(bl.popList(4)); - Log.error("DyIO event "+c+" value: "+val); - if(!c.isStreamChannel()) - c.fireChannelEvent(new DyIOChannelEvent(c,val)); + Log.error("DyIO event " + c + " value: " + val); + if (!c.isStreamChannel()) + c.fireChannelEvent(new DyIOChannelEvent(c, val)); } - }else{ - Log.info("All channel values\n"+data.toString()); + } else { + Log.info("All channel values\n" + data.toString()); ByteList bl = data.getData(); int numChan = bl.pop(); - if(numChan !=getChannels().size() ){ + if (numChan != getChannels().size()) { Log.error("Bad packet, wrong number of values"); } - for(int i=0;i getInternalChannels() { } /** - * This will enable a state where the DyIO will surpress DyIO mode update events. - * @param muteResyncOnModeChange true to enable the muted mode + * This will enable a state where the DyIO will surpress DyIO mode update + * events. + * + * @param muteResyncOnModeChange + * true to enable the muted mode */ public void setMuteResyncOnModeChange(boolean muteResyncOnModeChange) { this.muteResyncOnModeChange = muteResyncOnModeChange; } - + /** * This will check if the device is in the muted mode change mode. * @@ -1197,35 +1319,43 @@ public boolean isMuteResyncOnModeChange() { return muteResyncOnModeChange; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.IConnectionEventListener#onDisconnect(com.neuronrobotics.sdk.common.BowlerAbstractConnection) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.common.IConnectionEventListener#onDisconnect(com. + * neuronrobotics.sdk.common.BowlerAbstractConnection) */ @Override public void onDisconnect(BowlerAbstractConnection source) { - firmware[0]=0; - firmware[1]=0; - firmware[2]=0; + firmware[0] = 0; + firmware[1] = 0; + firmware[2] = 0; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.IConnectionEventListener#onConnect(com.neuronrobotics.sdk.common.BowlerAbstractConnection) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.common.IConnectionEventListener#onConnect(com. + * neuronrobotics.sdk.common.BowlerAbstractConnection) */ @Override public void onConnect(BowlerAbstractConnection source) { } - + /** - * Sets the flag to represent if the DyIO is currently re-syncing itself with the device. + * Sets the flag to represent if the DyIO is currently re-syncing itself with + * the device. * - * @param resyncing the new resyncing + * @param resyncing + * the new resyncing */ public void setResyncing(boolean resyncing) { this.resyncing = resyncing; } - + /** - * Checks to see if the DyIO is currently re-syncing its internal staate. + * Checks to see if the DyIO is currently re-syncing its internal staate. * * @return true, if is resyncing */ @@ -1233,80 +1363,78 @@ public boolean isResyncing() { return resyncing; } - - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ - + public String toString() { - + String chFmt = "%02d - ( %04d ) - %-20s %02d - ( %04d ) - %-20s\n"; - - String s = getFirmwareRevString()+ " \nMAC: " + getAddress() + "\n"; - for(int i = 0; i < getInternalChannels().size()/2; i++) { - int oppisite=getInternalChannels().size()-1-i; - s += String.format(chFmt, - oppisite, - getInternalChannels().get(oppisite).getPreviousValue(), - getInternalChannels().get(oppisite).getMode().toSlug(), - - i, - getInternalChannels().get(i).getPreviousValue(), - getInternalChannels().get(i).getMode().toSlug() - ); + + String s = getFirmwareRevString() + " \nMAC: " + getAddress() + "\n"; + for (int i = 0; i < getInternalChannels().size() / 2; i++) { + int oppisite = getInternalChannels().size() - 1 - i; + s += String.format(chFmt, oppisite, getInternalChannels().get(oppisite).getPreviousValue(), + getInternalChannels().get(oppisite).getMode().toSlug(), + + i, getInternalChannels().get(i).getPreviousValue(), + getInternalChannels().get(i).getMode().toSlug()); } - + return s; } - + /** * Gets the values of all channels as an array. * * @return the values of all non stream arrays. */ public int[] getAllChannelValues() { - int [] back = new int[getInternalChannels().size()]; - if(isLegacyParser()){ + int[] back = new int[getInternalChannels().size()]; + if (isLegacyParser()) { BowlerDatagram gacv = send(new GetAllChannelValuesCommand()); - Log.info("GACV RX<<\n"+gacv); + Log.info("GACV RX<<\n" + gacv); ByteList bl = gacv.getData(); - int i=0; - for(DyIOChannel c:getChannels()){ - if(!c.isStreamChannel()){ + int i = 0; + for (DyIOChannel c : getChannels()) { + if (!c.isStreamChannel()) { ByteList val = new ByteList(bl.popList(4)); - DyIOChannelEvent ev =new DyIOChannelEvent(c,val); - back[i++]=ev.getValue(); - if(!c.isStreamChannel()){ + DyIOChannelEvent ev = new DyIOChannelEvent(c, val); + back[i++] = ev.getValue(); + if (!c.isStreamChannel()) { c.fireChannelEvent(ev); } - }else{ + } else { back[i++] = 0; } } - }else{ - //Log.enableInfoPrint(); - Object [] args = send("bcs.io.*;0.3;;", - BowlerMethod.GET, - "gacv", - new Object[]{}); - Integer [] values = (Integer [])args[0]; - for(int i=0;i getAvailableChannelModes(int channel){ + public ArrayList getAvailableChannelModes(int channel) { ArrayList modes = new ArrayList(); ByteList m; - - if(isLegacyParser()){ + + if (isLegacyParser()) { BowlerDatagram dg = send(new GetChannelModeListCommand(channel)); m = dg.getData(); - Log.error("Packet "+channel+"\r\n"+dg); - Log.error("Data: "+channel+"\r\n"+m); - - }else{ - //int l = Log.getMinimumPrintLevel(); - //Log.enableInfoPrint(); - Object [] args = send("bcs.io.*;0.3;;", - BowlerMethod.GET, - "gcml", - new Object[]{channel}); - m = (ByteList)args[0]; - //Log.setMinimumPrintLevel(l); + Log.error("Packet " + channel + "\r\n" + dg); + Log.error("Data: " + channel + "\r\n" + m); + + } else { + // int l = Log.getMinimumPrintLevel(); + // Log.enableInfoPrint(); + Object[] args = send("bcs.io.*;0.3;;", BowlerMethod.GET, "gcml", new Object[]{channel}); + m = (ByteList) args[0]; + // Log.setMinimumPrintLevel(l); } String modeString = " Available modes on " + channel; - for(int i=0;i listeners = new ArrayList(); - + /** The mode listeners. */ - private ArrayList< IDyIOChannelModeChangeListener> modeListeners = new ArrayList< IDyIOChannelModeChangeListener>(); - + private ArrayList modeListeners = new ArrayList(); + /** The cached value. */ protected int cachedValue = 0; - + /** The cached mode. */ - private boolean cachedMode=false; - + private boolean cachedMode = false; + /** The dap. */ - private DyIOAbstractPeripheral dap=null; - + private DyIOAbstractPeripheral dap = null; + /** The previous value. */ private int previousValue = 1; - + /** The have set mode. */ private boolean haveSetMode = false; - + /** The setting mode. */ - private boolean settingMode=false; + private boolean settingMode = false; /** * Construct a channel object. - * @param dyio The DyIO that the channel belongs on - * @param channel The Channel on the DyIO that this object corresponds to. - * @param mode The Type of channel. - * @param isEditable Lock the channel parameters after creation. + * + * @param dyio + * The DyIO that the channel belongs on + * @param channel + * The Channel on the DyIO that this object corresponds to. + * @param mode + * The Type of channel. + * @param isEditable + * Lock the channel parameters after creation. */ public DyIOChannel(DyIO dyio, int channel, DyIOChannelMode mode, boolean isEditable) { - update(dyio, channel, mode, isEditable); + update(dyio, channel, mode, isEditable); } - + /** - * This method allows the user to update all of the content information of this instance of the object. + * This method allows the user to update all of the content information of this + * instance of the object. * - * @param dyio the dyio - * @param channel the channel - * @param mode the mode - * @param isEditable the is editable + * @param dyio + * the dyio + * @param channel + * the channel + * @param mode + * the mode + * @param isEditable + * the is editable */ public void update(DyIO dyio, int channel, DyIOChannelMode mode, boolean isEditable) { setDevice(dyio); number = channel; editable = isEditable; - if(getCurrentMode() == null){ + if (getCurrentMode() == null) { setMode(mode); - }else{ - setMode(mode,isAsync); + } else { + setMode(mode, isAsync); } fireModeChangeEvent(mode); - if(getCurrentMode() == DyIOChannelMode.NO_CHANGE) { - Log.error("Failed to update channel: "+ channel); - throw new RuntimeException("Failed to update channel: "+ channel); + if (getCurrentMode() == DyIOChannelMode.NO_CHANGE) { + Log.error("Failed to update channel: " + channel); + throw new RuntimeException("Failed to update channel: " + channel); } } - /** * Get the channel's number. + * * @return The Channel on the corresponding DyIO that this pin belongs to. */ public int getChannelNumber() { return number; } - + /** * Can the parameters of this channel be edited?. - * + * * @return True if the parameters can be changed */ public boolean isEditable() { return editable; } - + /** * Send a command to the Channel's DyIO. - * @param command The command to send. + * + * @param command + * The command to send. */ public void send(BowlerAbstractCommand command) { getDevice().send(command); } - - + /** * Clear list of objects that have subscribed to channel updates. */ public void removeAllChannelModeChangeListener() { modeListeners.clear(); } - + /** * Remove a particular subscription. - * + * * @param l * The object that has subscribed to updates */ public void removeChannelModeChangeListener(IDyIOChannelModeChangeListener l) { - if(!modeListeners.contains(l)) { + if (!modeListeners.contains(l)) { return; } - + modeListeners.remove(l); } - + /** * Add an object that wishes to receive channel updates. - * + * * @param l * The object that wishes to receive updates. */ public void addChannelModeChangeListener(IDyIOChannelModeChangeListener l) { - if(modeListeners.contains(l)) { + if (modeListeners.contains(l)) { return; } modeListeners.add(l); } - + /** * Clear list of objects that have subscribed to channel updates. */ public void removeAllChannelEventListeners() { listeners.clear(); } - + /** * Remove a particular subscription. - * + * * @param l * The object that has subscribed to updates */ public void removeChannelEventListener(IChannelEventListener l) { - if(!listeners.contains(l)) { + if (!listeners.contains(l)) { return; } - + listeners.remove(l); } - + /** * Add an object that wishes to receive channel updates. - * + * * @param l * The object that wishes to receive updates. */ public void addChannelEventListener(IChannelEventListener l) { - if(listeners.contains(l)) { + if (listeners.contains(l)) { return; } - + listeners.add(l); } - + /** * Set the mode of the DyIO Channel. - * + * * @param mode * The desired channel mode. * @return True if successful @@ -223,23 +234,22 @@ public void addChannelEventListener(IChannelEventListener l) { public boolean setMode(DyIOChannelMode mode) { return setMode(mode, isDefaultAsync(mode)); } - + /** - * Gets the mode of the channel. If resync is true, then the channel will do - * a live query to the device for its current mode and cache it to the - * channel for future use. - * - * Identical to calling resync(false) before - * getMode() + * Gets the mode of the channel. If resync is true, then the channel will do a + * live query to the device for its current mode and cache it to the channel for + * future use. + * + * Identical to calling resync(false) before getMode() * - * @param resync the resync + * @param resync + * the resync * @return the mode */ public DyIOChannelMode getMode(boolean resync) { resync(false); return getMode(); } - /** * Returns the parent device that is providing the channels. @@ -249,384 +259,411 @@ public DyIOChannelMode getMode(boolean resync) { public DyIO getDevice() { return device; } - + /** * Live query the device for its mode and cache it. - * - * @param all - should all channels be refreshed. + * + * @param all + * - should all channels be refreshed. */ public void resync(boolean all) { - - if(all) { + + if (all) { getDevice().resync(); return; } BowlerDatagram bd = getDevice().send(new GetChannelModeCommand(number)); - //com.neuronrobotics.sdk.common.Log.error(bd); + // com.neuronrobotics.sdk.common.Log.error(bd); fireModeChangeEvent(DyIOChannelMode.get(bd.getData().getByte(1))); throw new RuntimeException(); } - + /** - * This method verifies that this channel can be set to the mode given. - * @param m the mode that is desired + * This method verifies that this channel can be set to the mode given. + * + * @param m + * the mode that is desired * @return if this channel has the capacity to become this mode */ public boolean canBeMode(DyIOChannelMode m) { Collection modes = getAvailableModes(); - for(DyIOChannelMode mo:modes) { - if(mo == m) + for (DyIOChannelMode mo : modes) { + if (mo == m) return true; } return false; } /** - * Checks the current mode of this channel and checks if it is possible for it to have async. + * Checks the current mode of this channel and checks if it is possible for it + * to have async. + * * @return thru if it is possible to be async */ - public boolean hasAsync(){ - if(getMode() == null) + public boolean hasAsync() { + if (getMode() == null) return false; - switch(getMode()){ - case ANALOG_IN: - case COUNT_IN_INT: - case COUNT_OUT_INT: - case DIGITAL_IN: - return true; - default: - return false; + switch (getMode()) { + case ANALOG_IN : + case COUNT_IN_INT : + case COUNT_OUT_INT : + case DIGITAL_IN : + return true; + default : + return false; } } /** - * This method gets a collection of all of the possible channel modes for this channel. + * This method gets a collection of all of the possible channel modes for this + * channel. */ private ArrayList myModes; - + /** * Gets the available modes. * * @return the available modes */ public Collection getAvailableModes() { - if(myModes== null) + if (myModes == null) myModes = getDevice().getAvailableChannelModes(getChannelNumber()); - - for(int i=0;i= (getDevice().getDyIOChannelCount()/2) && device.getBankBState() != DyIOPowerState.REGULATED) { - myModes.add(DyIOChannelMode.SERVO_OUT); + + if (number >= (getDevice().getDyIOChannelCount() / 2) + && device.getBankBState() != DyIOPowerState.REGULATED) { + myModes.add(DyIOChannelMode.SERVO_OUT); } - }else{ - myModes.add(DyIOChannelMode.SERVO_OUT); + } else { + myModes.add(DyIOChannelMode.SERVO_OUT); } return myModes; } - + /** - * This method gets the value represented by the date portion of a DyIOChannelEvent. + * This method gets the value represented by the date portion of a + * DyIOChannelEvent. * - * @param e the event to parse + * @param e + * the event to parse * @return the value represented by the data section */ - public int parseDyIOChannelEvent(DyIOChannelEvent e){ - if(isStreamChannel()) + public int parseDyIOChannelEvent(DyIOChannelEvent e) { + if (isStreamChannel()) return 0; return e.getValue(); } - + /** - * Kicks off an event listener transaction for channel events. - * - * @param e the event to pass to all listeners + * Kicks off an event listener transaction for channel events. + * + * @param e + * the event to pass to all listeners */ protected void fireChannelEvent(DyIOChannelEvent e) { - int value= parseDyIOChannelEvent(e); - if((getPreviousValue() == value) && !isStreamChannel() ){ + int value = parseDyIOChannelEvent(e); + if ((getPreviousValue() == value) && !isStreamChannel()) { // return; - }else{ - Log.info("Value is not the same, last was: "+getPreviousValue()+" current: "+value); + } else { + Log.info("Value is not the same, last was: " + getPreviousValue() + " current: " + value); } setPreviousValue(value); - for(int i=0;i lookup = new HashMap(); - + private static final Map lookup = new HashMap(); + /** The value. */ private byte value; - + /** The readable name. */ private String readableName; - + static { - for(DyIOChannelMode cm : EnumSet.allOf(DyIOChannelMode.class)) { + for (DyIOChannelMode cm : EnumSet.allOf(DyIOChannelMode.class)) { lookup.put(cm.getValue(), cm); } } @@ -120,14 +121,16 @@ public enum DyIOChannelMode implements ISendable { /** * Instantiates a new dy io channel mode. * - * @param val the val - * @param name the name + * @param val + * the val + * @param name + * the name */ private DyIOChannelMode(int val, String name) { value = (byte) val; readableName = name; } - + /** * Gets the modes. * @@ -136,64 +139,70 @@ private DyIOChannelMode(int val, String name) { public static Collection getModes() { return lookup.values(); } - + /** * Gets the value. * * @return the value */ public byte getValue() { - return value; + return value; } - /** - * Gets the. - * - * @param code the code - * @return the dy io channel mode - */ - public static DyIOChannelMode get(byte code) { - if(lookup.get(code)==null) - lookup.put(code, NO_CHANGE); - return lookup.get(code); - } - - /** - * Gets the from slug. - * - * @param slug the slug - * @return the from slug - */ + /** + * Gets the. + * + * @param code + * the code + * @return the dy io channel mode + */ + public static DyIOChannelMode get(byte code) { + if (lookup.get(code) == null) + lookup.put(code, NO_CHANGE); + return lookup.get(code); + } + + /** + * Gets the from slug. + * + * @param slug + * the slug + * @return the from slug + */ public static DyIOChannelMode getFromSlug(String slug) { for (DyIOChannelMode cm : EnumSet.allOf(DyIOChannelMode.class)) { - if(cm.toSlug().toLowerCase().contentEquals(slug.toLowerCase())) + if (cm.toSlug().toLowerCase().contentEquals(slug.toLowerCase())) return cm; } - throw new RuntimeException("No mode available for slug: "+slug); + throw new RuntimeException("No mode available for slug: " + slug); } - - /* (non-Javadoc) - * @see java.lang.Enum#toString() - */ - public String toString() { - return readableName; - } - - /** - * To slug. - * - * @return the string - */ - public String toSlug() { - return toString().replace(" ", "-").toLowerCase(); - } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * + * @see java.lang.Enum#toString() + */ + public String toString() { + return readableName; + } + + /** + * To slug. + * + * @return the string + */ + public String toSlug() { + return toString().replace(" ", "-").toLowerCase(); + } + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.ISendable#getBytes() */ - + public byte[] getBytes() { - byte [] b = {getValue()}; + byte[] b = {getValue()}; return b; } } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOCommunicationException.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOCommunicationException.java index b7e465f7..e4c8135c 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOCommunicationException.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOCommunicationException.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -19,21 +19,22 @@ * The Class DyIOCommunicationException. */ public class DyIOCommunicationException extends RuntimeException { - + /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** * Instantiates a new dy io communication exception. */ public DyIOCommunicationException() { super("The DyIO is not communicating properly"); } - + /** * Instantiates a new dy io communication exception. * - * @param message the message + * @param message + * the message */ public DyIOCommunicationException(String message) { super(message); diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOFirmwareOutOfDateException.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOFirmwareOutOfDateException.java index 466a6adc..d23f59e0 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOFirmwareOutOfDateException.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOFirmwareOutOfDateException.java @@ -8,13 +8,14 @@ public class DyIOFirmwareOutOfDateException extends RuntimeException { /** The Constant serialVersionUID. */ private static final long serialVersionUID = 8845181001884863523L; - + /** * Instantiates a new dy io firmware out of date exception. * - * @param message the message + * @param message + * the message */ - public DyIOFirmwareOutOfDateException(String message){ + public DyIOFirmwareOutOfDateException(String message) { super(message); } } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOInputStream.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOInputStream.java index 681ecf44..1a4b42dc 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOInputStream.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOInputStream.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -27,23 +27,25 @@ public class DyIOInputStream extends InputStream { /** The buffer. */ private ByteList buffer = new ByteList(); - + /** The chan. */ DyIOChannel chan; - + /** * Instantiates a new dy io input stream. * - * @param channel the channel + * @param channel + * the channel */ public DyIOInputStream(DyIOChannel channel) { chan = channel; } - + /** * Write. * - * @param data the data + * @param data + * the data */ public void write(ByteList data) { synchronized (buffer) { @@ -51,28 +53,32 @@ public void write(ByteList data) { } } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.io.InputStream#read() */ @Override public int read() throws IOException { - while(chan.getMode() == DyIOChannelMode.USART_RX) { - if(available() > 0) { + while (chan.getMode() == DyIOChannelMode.USART_RX) { + if (available() > 0) { // cast the poped byte as an int to make sure its positive Byte val = buffer.pop(); - - if(val == null) { + + if (val == null) { continue; } - + return (int) val; } } - + return -1; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.io.InputStream#available() */ @Override diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOOutputStream.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOOutputStream.java index 59fdfb4b..4f2219a2 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOOutputStream.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOOutputStream.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -24,48 +24,51 @@ * The Class DyIOOutputStream. */ public class DyIOOutputStream extends OutputStream { - + /** The chan. */ DyIOChannel chan; - + /** * Instantiates a new dy io output stream. * - * @param channel the channel + * @param channel + * the channel */ public DyIOOutputStream(DyIOChannel channel) { chan = channel; } - + /** - * Writes bl to this output stream as a single packet verses - * individual writes for each byte. - * + * Writes bl to this output stream as a single packet verses individual writes + * for each byte. + * * @param bl * - the data * @throws IOException * - if an I/O error occurs. */ public void write(ByteList bl) throws IOException { - if(chan.getMode() != DyIOChannelMode.USART_TX) { + if (chan.getMode() != DyIOChannelMode.USART_TX) { throw new IOException("The DyIO is not configured with a UART Tx mode"); } - //Bypassing the channel on transmit to prevent re-transmits - //chan.getDevice().send(new SetChannelValueCommand(chan.getNumber(),bl)); - //com.neuronrobotics.sdk.common.Log.error("Sending ByteList: "+bl.asString()); - while(bl.size()>0){ + // Bypassing the channel on transmit to prevent re-transmits + // chan.getDevice().send(new SetChannelValueCommand(chan.getNumber(),bl)); + // com.neuronrobotics.sdk.common.Log.error("Sending ByteList: "+bl.asString()); + while (bl.size() > 0) { ByteList b; - if(bl.size()>20){ + if (bl.size() > 20) { b = new ByteList(bl.popList(20)); - }else{ + } else { b = new ByteList(bl.popList(bl.size())); } - //com.neuronrobotics.sdk.common.Log.error("Sending ByteList: "+b.asString()); + // com.neuronrobotics.sdk.common.Log.error("Sending ByteList: "+b.asString()); chan.setValue(b); } } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.io.OutputStream#write(int) */ @Override @@ -73,15 +76,19 @@ public void write(int b) throws IOException { write(new ByteList(b)); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.io.OutputStream#write(byte[]) */ @Override public void write(byte[] b) throws IOException { write(new ByteList(b)); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.io.OutputStream#write(byte[], int, int) */ @Override diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerEvent.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerEvent.java index 85f1401b..5d1a8f4b 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerEvent.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerEvent.java @@ -5,29 +5,32 @@ * The Class DyIOPowerEvent. */ public class DyIOPowerEvent implements IDyIOEvent { - + /** The bank a state. */ private DyIOPowerState bankAState; - + /** The bank b state. */ private DyIOPowerState bankBState; - + /** The voltage. */ private double voltage; - + /** * Instantiates a new dy io power event. * - * @param bankA the bank a - * @param bankB the bank b - * @param batteryVoltage the battery voltage + * @param bankA + * the bank a + * @param bankB + * the bank b + * @param batteryVoltage + * the battery voltage */ public DyIOPowerEvent(DyIOPowerState bankA, DyIOPowerState bankB, double batteryVoltage) { bankAState = bankA; bankBState = bankB; setVoltage(batteryVoltage); } - + /** * Gets the channel a mode. * @@ -36,7 +39,7 @@ public DyIOPowerEvent(DyIOPowerState bankA, DyIOPowerState bankB, double battery public DyIOPowerState getChannelAMode() { return bankAState; } - + /** * Gets the channel b mode. * @@ -49,7 +52,8 @@ public DyIOPowerState getChannelBMode() { /** * Sets the voltage. * - * @param voltage the new voltage + * @param voltage + * the new voltage */ private void setVoltage(double voltage) { this.voltage = voltage; @@ -63,14 +67,16 @@ private void setVoltage(double voltage) { public double getVoltage() { return voltage; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ - @Override - public String toString(){ - String s=""; - s+="Battery Voltage: "+getVoltage()+"V, Bank A state: "+bankAState+", Bank B state: "+bankBState; + @Override + public String toString() { + String s = ""; + s += "Battery Voltage: " + getVoltage() + "V, Bank A state: " + bankAState + ", Bank B state: " + bankBState; return s; } } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerState.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerState.java index 3655278c..6902d937 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerState.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOPowerState.java @@ -5,51 +5,55 @@ * The Enum DyIOPowerState. */ public enum DyIOPowerState { - + /** The regulated. */ REGULATED, - + /** The battery unpowered. */ BATTERY_UNPOWERED, - + /** The battery powered. */ BATTERY_POWERED; - + /** * Value of. * - * @param code the code - * @param batteryVoltage the battery voltage + * @param code + * the code + * @param batteryVoltage + * the battery voltage * @return the dy io power state */ public static DyIOPowerState valueOf(int code, double batteryVoltage) { - switch(code) { - case 1: - return DyIOPowerState.REGULATED; - case 0: - if(batteryVoltage<5.0) - return DyIOPowerState.BATTERY_UNPOWERED; - default: - return DyIOPowerState.BATTERY_POWERED; + switch (code) { + case 1 : + return DyIOPowerState.REGULATED; + case 0 : + if (batteryVoltage < 5.0) + return DyIOPowerState.BATTERY_UNPOWERED; + default : + return DyIOPowerState.BATTERY_POWERED; } } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Enum#toString() */ @Override - public String toString(){ - String s=""; - switch(this){ - case BATTERY_POWERED: - s="BATTERY POWERED"; - break; - case BATTERY_UNPOWERED: - s="BATTERY UN-POWERED"; - break; - case REGULATED: - s="REGULATED"; - break; + public String toString() { + String s = ""; + switch (this) { + case BATTERY_POWERED : + s = "BATTERY POWERED"; + break; + case BATTERY_UNPOWERED : + s = "BATTERY UN-POWERED"; + break; + case REGULATED : + s = "REGULATED"; + break; } return s; } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOUARTEvent.java b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOUARTEvent.java index 73d35ae6..b30b4488 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/DyIOUARTEvent.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/DyIOUARTEvent.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/IChannelEventListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/IChannelEventListener.java index 284c704d..0576dfdd 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/IChannelEventListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/IChannelEventListener.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,22 +16,21 @@ // Auto-generated Javadoc /** - * The listener interface for receiving IChannelEvent events. - * The class that is interested in processing a IChannelEvent - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIChannelEventListener method. When - * the IChannelEvent event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving IChannelEvent events. The class that is + * interested in processing a IChannelEvent event implements this interface, and + * the object created with that class is registered with a component using the + * component's addIChannelEventListener method. When the IChannelEvent event + * occurs, that object's appropriate method is invoked. * * @see DyIOChannelEvent */ public interface IChannelEventListener { - + /** * On channel event. * - * @param e the e + * @param e + * the e */ public void onChannelEvent(DyIOChannelEvent e); } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannel.java index 1e54529f..1cb4fa00 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -21,51 +21,55 @@ * The Interface IDyIOChannel. */ public interface IDyIOChannel { - + /** - * This method returns the channel object when requested. - * + * This method returns the channel object when requested. + * * @return the DyIOChannel object */ public DyIOChannel getChannel(); - + /** * Gets the channel's current mode. - * + * * @return the mode */ public DyIOChannelMode getMode(); - + /** * Get the current value of a channel. - * + * * @return the current value */ public int getValue(); - + /** * Set the mode of a channel. * - * @param mode the mode to set the channel to - * @param async if it should be async or not + * @param mode + * the mode to set the channel to + * @param async + * if it should be async or not * @return if the action was successful */ public boolean setMode(DyIOChannelMode mode, boolean async); - + /** - * Set the value of a channel. Channels may not be able to be set to certain - * or potentially any values depending on the mode that a channel is in. - * - * @param value the value to set + * Set the value of a channel. Channels may not be able to be set to certain or + * potentially any values depending on the mode that a channel is in. + * + * @param value + * the value to set * @return if the action was successful */ public boolean setValue(int value); - + /** - * Set the value of a channel. Channels may not be able to be set to certain or potentially any values - * depending on the mode that a channel is in. + * Set the value of a channel. Channels may not be able to be set to certain or + * potentially any values depending on the mode that a channel is in. * - * @param value the value + * @param value + * the value * @return true if successful */ public boolean setValue(ByteList value); diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannelModeChangeListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannelModeChangeListener.java index 128c90d8..69eaaf00 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannelModeChangeListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOChannelModeChangeListener.java @@ -2,22 +2,22 @@ // Auto-generated Javadoc /** - * The listener interface for receiving IDyIOChannelModeChange events. - * The class that is interested in processing a IDyIOChannelModeChange - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIDyIOChannelModeChangeListener method. When - * the IDyIOChannelModeChange event occurs, that object's appropriate + * The listener interface for receiving IDyIOChannelModeChange events. The class + * that is interested in processing a IDyIOChannelModeChange event implements + * this interface, and the object created with that class is registered with a + * component using the component's addIDyIOChannelModeChangeListener method. + * When the IDyIOChannelModeChange event occurs, that object's appropriate * method is invoked. * * @see IDyIOStateChangeListener */ public interface IDyIOChannelModeChangeListener { - + /** * On mode change. * - * @param newMode the new mode + * @param newMode + * the new mode */ public void onModeChange(DyIOChannelMode newMode); } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOEvent.java b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOEvent.java index 0d537505..6f109cb6 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOEvent.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOEvent.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -18,5 +18,5 @@ * The Interface IDyIOEvent. */ public interface IDyIOEvent { - + } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOEventListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOEventListener.java index 4bcde54a..8c801645 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOEventListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOEventListener.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,22 +16,21 @@ // Auto-generated Javadoc /** - * The listener interface for receiving IDyIOEvent events. - * The class that is interested in processing a IDyIOEvent - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIDyIOEventListener method. When - * the IDyIOEvent event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving IDyIOEvent events. The class that is + * interested in processing a IDyIOEvent event implements this interface, and + * the object created with that class is registered with a component using the + * component's addIDyIOEventListener method. When the IDyIOEvent event occurs, + * that object's appropriate method is invoked. * * @see IDyIOEvent */ public interface IDyIOEventListener { - + /** * On dy io event. * - * @param e the e + * @param e + * the e */ public void onDyIOEvent(IDyIOEvent e); } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOStateChangeListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOStateChangeListener.java index 598c1808..6f096a43 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOStateChangeListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/IDyIOStateChangeListener.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,23 +16,23 @@ // Auto-generated Javadoc /** - * The listener interface for receiving IDyIOStateChange events. - * The class that is interested in processing a IDyIOStateChange - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIDyIOStateChangeListener method. When - * the IDyIOStateChange event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving IDyIOStateChange events. The class that + * is interested in processing a IDyIOStateChange event implements this + * interface, and the object created with that class is registered with a + * component using the component's addIDyIOStateChangeListener method. When the + * IDyIOStateChange event occurs, that object's appropriate method is invoked. * * @see IDyIOEvent */ public interface IDyIOStateChangeListener { - + /** * On state change. * - * @param channel the channel - * @param mode the mode + * @param channel + * the channel + * @param mode + * the mode */ public void onStateChange(int channel, DyIOChannelMode mode); } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelException.java b/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelException.java index 98975433..aa57cf92 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelException.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelException.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -19,21 +19,22 @@ * The Class InvalidChannelException. */ public class InvalidChannelException extends RuntimeException { - + /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** * Instantiates a new invalid channel exception. */ public InvalidChannelException() { super("The channel is invalid."); } - + /** * Instantiates a new invalid channel exception. * - * @param message the message + * @param message + * the message */ public InvalidChannelException(String message) { super(message); diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelOperationException.java b/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelOperationException.java index 3649e118..c75eed31 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelOperationException.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/InvalidChannelOperationException.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -21,21 +21,22 @@ * The Class InvalidChannelOperationException. */ public class InvalidChannelOperationException extends BowlerRuntimeException { - + /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** * Instantiates a new invalid channel operation exception. */ public InvalidChannelOperationException() { super("The channel can not preform the requested action."); } - + /** * Instantiates a new invalid channel operation exception. * - * @param message the message + * @param message + * the message */ public InvalidChannelOperationException(String message) { super(message); diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/dypid/DyPIDConfiguration.java b/src/main/java/com/neuronrobotics/sdk/dyio/dypid/DyPIDConfiguration.java index dd8a92e0..5513b02b 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/dypid/DyPIDConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/dypid/DyPIDConfiguration.java @@ -8,55 +8,63 @@ * The Class DyPIDConfiguration. */ public class DyPIDConfiguration { - + /** The group. */ private int group; - + /** The input channel. */ private int inputChannel; - + /** The input mode. */ - private DyIOChannelMode inputMode=DyIOChannelMode.DIGITAL_IN; - + private DyIOChannelMode inputMode = DyIOChannelMode.DIGITAL_IN; + /** The output channel. */ private int outputChannel; - + /** The output mode. */ - private DyIOChannelMode outputMode=DyIOChannelMode.DIGITAL_OUT; - + private DyIOChannelMode outputMode = DyIOChannelMode.DIGITAL_OUT; + /** * Instantiates a new dy pid configuration. * - * @param group the group + * @param group + * the group */ - public DyPIDConfiguration(int group){ + public DyPIDConfiguration(int group) { setGroup(group); - //disabled + // disabled setInputChannel(0xff); setOutputChannel(0xff); } - + /** * Instantiates a new dy pid configuration. * - * @param group the group - * @param inputChannel the input channel - * @param inputMode the input mode - * @param outputChannel the output channel - * @param outputMode the output mode + * @param group + * the group + * @param inputChannel + * the input channel + * @param inputMode + * the input mode + * @param outputChannel + * the output channel + * @param outputMode + * the output mode */ - public DyPIDConfiguration(int group,int inputChannel,DyIOChannelMode inputMode,int outputChannel,DyIOChannelMode outputMode){ + public DyPIDConfiguration(int group, int inputChannel, DyIOChannelMode inputMode, int outputChannel, + DyIOChannelMode outputMode) { setGroup(group); setInputChannel(inputChannel); setInputMode(inputMode); setOutputChannel(outputChannel); setOutputMode(outputMode); } - + /** * Instantiates a new dy pid configuration. * - * @param conf the conf + * @param conf + * the conf */ public DyPIDConfiguration(BowlerDatagram conf) { setGroup(conf.getData().getUnsigned(0)); @@ -65,16 +73,17 @@ public DyPIDConfiguration(BowlerDatagram conf) { setOutputChannel(conf.getData().getUnsigned(3)); setOutputMode(DyIOChannelMode.get(conf.getData().get(4))); } - + /** * Sets the group. * - * @param group the new group + * @param group + * the new group */ public void setGroup(int group) { this.group = group; } - + /** * Gets the group. * @@ -83,16 +92,17 @@ public void setGroup(int group) { public int getGroup() { return group; } - + /** * Sets the input channel. * - * @param inputChannel the new input channel + * @param inputChannel + * the new input channel */ public void setInputChannel(int inputChannel) { this.inputChannel = inputChannel; } - + /** * Gets the input channel. * @@ -101,16 +111,17 @@ public void setInputChannel(int inputChannel) { public int getInputChannel() { return inputChannel; } - + /** * Sets the input mode. * - * @param inputMode the new input mode + * @param inputMode + * the new input mode */ public void setInputMode(DyIOChannelMode inputMode) { this.inputMode = inputMode; } - + /** * Gets the input mode. * @@ -119,16 +130,17 @@ public void setInputMode(DyIOChannelMode inputMode) { public DyIOChannelMode getInputMode() { return inputMode; } - + /** * Sets the output channel. * - * @param outputChannel the new output channel + * @param outputChannel + * the new output channel */ public void setOutputChannel(int outputChannel) { this.outputChannel = outputChannel; } - + /** * Gets the output channel. * @@ -137,16 +149,17 @@ public void setOutputChannel(int outputChannel) { public int getOutputChannel() { return outputChannel; } - + /** * Sets the output mode. * - * @param outputMode the new output mode + * @param outputMode + * the new output mode */ public void setOutputMode(DyIOChannelMode outputMode) { this.outputMode = outputMode; } - + /** * Gets the output mode. * diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/AnalogInputChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/AnalogInputChannel.java index 1337b83a..8738323b 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/AnalogInputChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/AnalogInputChannel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -28,163 +28,176 @@ * The Class AnalogInputChannel. */ public class AnalogInputChannel extends DyIOAbstractPeripheral implements IChannelEventListener { - + /** The Constant ADCRESOLUTION. */ public static final int ADCRESOLUTION = 1024; - + /** The Constant ADCVOLTAGE. */ public static final int ADCVOLTAGE = 5; - + /** The listeners. */ private ArrayList listeners = new ArrayList(); - + /** - * Constructor. - * Creates an analog input channel that is syncronous only by default. - * - * @param channel - the channel object requested from the DyIO + * Constructor. Creates an analog input channel that is syncronous only by + * default. + * + * @param channel + * - the channel object requested from the DyIO */ - public AnalogInputChannel(int channel){ - this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); + public AnalogInputChannel(int channel) { + this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); } - + /** - * Constructor. - * Creates an analog input channel that is syncronous only by default. + * Constructor. Creates an analog input channel that is syncronous only by + * default. * - * @param dyio the dyio - * @param channel - the channel object requested from the DyIO + * @param dyio + * the dyio + * @param channel + * - the channel object requested from the DyIO */ - public AnalogInputChannel(DyIO dyio,int channel){ - this(dyio.getChannel(channel)); + public AnalogInputChannel(DyIO dyio, int channel) { + this(dyio.getChannel(channel)); } - + /** - * Constructor. - * Creates an analog input channel that is syncronous only by default. - * - * @param channel - the channel object requested from the DyIO + * Constructor. Creates an analog input channel that is syncronous only by + * default. + * + * @param channel + * - the channel object requested from the DyIO */ - public AnalogInputChannel(DyIOChannel channel){ - this(channel,true); + public AnalogInputChannel(DyIOChannel channel) { + this(channel, true); } - + /** - * Constructor. - * Creates an analog input channel with the given ability for asyncronous communications. - * - * @param channel - the channel object requested from the DyIO - * @param async - boolean to determine if this is an async analog channel + * Constructor. Creates an analog input channel with the given ability for + * asyncronous communications. + * + * @param channel + * - the channel object requested from the DyIO + * @param async + * - boolean to determine if this is an async analog channel */ - public AnalogInputChannel(DyIOChannel channel, boolean async){ - super(channel,DyIOChannelMode.ANALOG_IN,async); + public AnalogInputChannel(DyIOChannel channel, boolean async) { + super(channel, DyIOChannelMode.ANALOG_IN, async); channel.addChannelEventListener(this); - - if(!setMode(async)) { - throw new DyIOPeripheralException("Could not set channel " + getChannel() + " to " + DyIOChannelMode.ANALOG_IN + " mode."); - } + + if (!setMode(async)) { + throw new DyIOPeripheralException( + "Could not set channel " + getChannel() + " to " + DyIOChannelMode.ANALOG_IN + " mode."); + } } - - /** * Gets the value of the channel as a percentage. - * + * * @return a percent of the max voltage the is seeing */ public double getScaledValue() { return scaleValue(getValue()); } - + /** * Scales the value to the voltage read on the channel (between 0v and 5v). - * + * * @return the voltage on the pin */ - public double getVoltage(){ + public double getVoltage() { return getScaledValue() * ADCVOLTAGE; } - + /** * Set the channel to be asyncronous or syncronous. * - * @param isAsync the new async + * @param isAsync + * the new async */ public void setAsync(boolean isAsync) { setMode(DyIOChannelMode.ANALOG_IN, isAsync); } - + /** * removeAllAnalogInputListeners clears the list of async packet listeners. */ public void removeAllAnalogInputListeners() { listeners.clear(); } - + /** * removeAnalogInputListener. - * + * * @param l * remove the specified listener */ public void removeAnalogInputListener(IAnalogInputListener l) { - if(!listeners.contains(l)) { + if (!listeners.contains(l)) { return; } - + listeners.remove(l); } - + /** * addAnalogInputListener. - * + * * @param l * add the specified listener */ public void addAnalogInputListener(IAnalogInputListener l) { - if(listeners.contains(l)) { + if (listeners.contains(l)) { return; } - + listeners.add(l); } - + /** * Fire value changed. * - * @param value the value + * @param value + * the value */ private void fireValueChanged(double value) { - try{ - for(IAnalogInputListener l : listeners) { + try { + for (IAnalogInputListener l : listeners) { l.onAnalogValueChange(this, value); } - }catch(Exception e){ + } catch (Exception e) { e.printStackTrace(); } } - + /** * Scale value. * - * @param value the value + * @param value + * the value * @return the double */ private static double scaleValue(int value) { - return (((double) value)/ADCRESOLUTION); + return (((double) value) / ADCRESOLUTION); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com.neuronrobotics.sdk.dyio.DyIOChannelEvent) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com. + * neuronrobotics.sdk.dyio.DyIOChannelEvent) */ - + public void onChannelEvent(DyIOChannelEvent e) { fireValueChanged(e.getUnsignedValue()); } - - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() */ public boolean hasAsync() { return true; diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterInputChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterInputChannel.java index c0596fee..e3cf2ece 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterInputChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterInputChannel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -29,145 +29,161 @@ * The Class CounterInputChannel. */ public class CounterInputChannel extends DyIOAbstractPeripheral implements IChannelEventListener { - + /** The listeners. */ private ArrayList listeners = new ArrayList(); - + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. - * - * @param channel - the channel object requested from the DyIO + * Constructor. Creates an counter input input channel that is syncronous only + * by default. + * + * @param channel + * - the channel object requested from the DyIO */ - public CounterInputChannel(int channel){ - this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); + public CounterInputChannel(int channel) { + this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); } - + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. + * Constructor. Creates an counter input input channel that is syncronous only + * by default. * - * @param dyio the dyio - * @param channel - the channel object requested from the DyIO + * @param dyio + * the dyio + * @param channel + * - the channel object requested from the DyIO */ - public CounterInputChannel(DyIO dyio,int channel){ - this(dyio.getChannel(channel)); + public CounterInputChannel(DyIO dyio, int channel) { + this(dyio.getChannel(channel)); } - + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. - * - * @param channel - the channel object requested from the DyIO + * Constructor. Creates an counter input input channel that is syncronous only + * by default. + * + * @param channel + * - the channel object requested from the DyIO */ - public CounterInputChannel(DyIOChannel channel){ - this(channel,true); + public CounterInputChannel(DyIOChannel channel) { + this(channel, true); } - + /** * Instantiates a new counter input channel. * - * @param channel the channel - * @param isAsync the is async + * @param channel + * the channel + * @param isAsync + * the is async */ - public CounterInputChannel(DyIOChannel channel,boolean isAsync) { - super(channel,DyIOChannelMode.COUNT_IN_INT,isAsync); - init(channel,isAsync); + public CounterInputChannel(DyIOChannel channel, boolean isAsync) { + super(channel, DyIOChannelMode.COUNT_IN_INT, isAsync); + init(channel, isAsync); } - + /** * Inits the. * - * @param channel the channel - * @param isAsync the is async + * @param channel + * the channel + * @param isAsync + * the is async */ - private void init(DyIOChannel channel,boolean isAsync){ + private void init(DyIOChannel channel, boolean isAsync) { DyIOChannelMode mode = DyIOChannelMode.COUNT_IN_INT; channel.addChannelEventListener(this); - if(!channel.setMode(mode, isAsync)) { + if (!channel.setMode(mode, isAsync)) { throw new DyIOPeripheralException("Could not set channel " + channel + " to " + mode + " mode."); } channel.resync(true); } - + /** * addCounterInputListener. - * + * * @param l * add this listener to this channels event listeners */ public void addCounterInputListener(ICounterInputListener l) { - if(listeners.contains(l)) { + if (listeners.contains(l)) { return; } - + listeners.add(l); } - + /** * removeCounterInputListener. - * + * * @param l * remove this listener to this channels event listeners */ public void removeCounterInputListener(ICounterInputListener l) { - if(!listeners.contains(l)) { + if (!listeners.contains(l)) { return; } - + listeners.add(l); } - + /** * Removes the all counter input listeners. */ public void removeAllCounterInputListeners() { listeners.clear(); } - + /** * Fire on counter input. * - * @param value the value + * @param value + * the value */ protected void fireOnCounterInput(int value) { - for(ICounterInputListener l : listeners) { + for (ICounterInputListener l : listeners) { l.onCounterValueChange(this, value); } } - + /** * onChannelEvent Send the counter value to all the listening objects. * - * @param e the e + * @param e + * the e */ - + public void onChannelEvent(DyIOChannelEvent e) { fireOnCounterInput(e.getSignedValue()); } - + /** * Sets the async. * - * @param isAsync the new async + * @param isAsync + * the new async */ public void setAsync(boolean isAsync) { setMode(DyIOChannelMode.COUNT_IN_INT, isAsync); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#setValue(int) + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#setValue(int) */ - - public boolean setValue(int value){ + + public boolean setValue(int value) { ByteList b = new ByteList(); b.addAs32(value); return setValue(b); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() */ public boolean hasAsync() { return true; diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterOutputChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterOutputChannel.java index 27cbad34..cdd0c256 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterOutputChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/CounterOutputChannel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -14,7 +14,6 @@ ******************************************************************************/ package com.neuronrobotics.sdk.dyio.peripherals; - import java.util.ArrayList; import com.neuronrobotics.sdk.common.ByteList; @@ -26,194 +25,212 @@ import com.neuronrobotics.sdk.common.DeviceManager; import com.neuronrobotics.sdk.dyio.IChannelEventListener; - // Auto-generated Javadoc /** * The Class CounterOutputChannel. */ -public class CounterOutputChannel extends DyIOAbstractPeripheral implements IChannelEventListener{ - +public class CounterOutputChannel extends DyIOAbstractPeripheral implements IChannelEventListener { + /** The listeners. */ private ArrayList listeners = new ArrayList(); - + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. - * - * @param channel - the channel object requested from the DyIO + * Constructor. Creates an counter input input channel that is syncronous only + * by default. + * + * @param channel + * - the channel object requested from the DyIO */ - public CounterOutputChannel(int channel){ - this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); + public CounterOutputChannel(int channel) { + this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); } - + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. + * Constructor. Creates an counter input input channel that is syncronous only + * by default. * - * @param dyio the dyio - * @param channel - the channel object requested from the DyIO + * @param dyio + * the dyio + * @param channel + * - the channel object requested from the DyIO */ - public CounterOutputChannel(DyIO dyio,int channel){ - this(dyio.getChannel(channel)); + public CounterOutputChannel(DyIO dyio, int channel) { + this(dyio.getChannel(channel)); } - + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. - * - * @param channel - the channel object requested from the DyIO + * Constructor. Creates an counter input input channel that is syncronous only + * by default. + * + * @param channel + * - the channel object requested from the DyIO */ - public CounterOutputChannel(DyIOChannel channel){ - this(channel,true); + public CounterOutputChannel(DyIOChannel channel) { + this(channel, true); } /** * Instantiates a new counter output channel. * - * @param channel the channel - * @param isAsync the is async + * @param channel + * the channel + * @param isAsync + * the is async */ - public CounterOutputChannel(DyIOChannel channel,boolean isAsync) { - super(channel,DyIOChannelMode.COUNT_OUT_INT,isAsync); - init(channel,isAsync); + public CounterOutputChannel(DyIOChannel channel, boolean isAsync) { + super(channel, DyIOChannelMode.COUNT_OUT_INT, isAsync); + init(channel, isAsync); } - + /** * Inits the. * - * @param channel the channel - * @param isAsync the is async + * @param channel + * the channel + * @param isAsync + * the is async */ - private void init(DyIOChannel channel,boolean isAsync){ + private void init(DyIOChannel channel, boolean isAsync) { DyIOChannelMode mode = DyIOChannelMode.COUNT_OUT_INT; channel.addChannelEventListener(this); - if(!channel.setMode(mode, isAsync)) { + if (!channel.setMode(mode, isAsync)) { throw new DyIOPeripheralException("Could not set channel " + channel + " to " + mode + " mode."); } channel.resync(true); } - + /** * Set the Counter to a given position. * - * @param pos the pos + * @param pos + * the pos * @return if the action was successful */ - public boolean SetPosition(int pos){ + public boolean SetPosition(int pos) { return SetPosition(pos, 0); } - + /** * Steps the Counter though a transformation over a given amount of time. - * - * @param pos - the end position - * @param time - the number of seconds for the transition to take place + * + * @param pos + * - the end position + * @param time + * - the number of seconds for the transition to take place * @return if the action was successful */ - public boolean SetPosition(int pos, float time){ - if(!validate()) { + public boolean SetPosition(int pos, float time) { + if (!validate()) { return false; } getChannel().setCachedValue(pos); getChannel().setCachedTime(time); - if(getChannel().getCachedMode()) { + if (getChannel().getCachedMode()) { return true; } return flush(); } - - + /** * addCounterOutputListener. - * + * * @param l * add this listener to this channels event listeners */ public void addCounterOutputListener(ICounterOutputListener l) { - if(listeners.contains(l)) { + if (listeners.contains(l)) { return; } - + listeners.add(l); } - + /** * removeCounterOutputListener. - * + * * @param l * remove this listener to this channels event listeners */ public void removeCounterOutputListener(ICounterOutputListener l) { - if(!listeners.contains(l)) { + if (!listeners.contains(l)) { return; } - + listeners.add(l); } - + /** * Removes the all counter output listeners. */ public void removeAllCounterOutputListeners() { listeners.clear(); } - + /** * Fire on counter output. * - * @param value the value + * @param value + * the value */ protected void fireOnCounterOutput(int value) { - for(ICounterOutputListener l : listeners) { + for (ICounterOutputListener l : listeners) { l.onCounterValueChange(this, value); } } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#setValue(int) + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#setValue(int) */ - - public boolean setValue(int value){ + + public boolean setValue(int value) { Log.info("Setting counter set point"); ByteList b = new ByteList(); b.addAs32(value); return setValue(b); } - + /** * onChannelEvent Send the counter value to all the listening objects. * - * @param e the e + * @param e + * the e */ - + public void onChannelEvent(DyIOChannelEvent e) { fireOnCounterOutput(e.getSignedValue()); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() */ public boolean hasAsync() { return true; } - + /** * Sets the async. * - * @param isAsync the new async + * @param isAsync + * the new async */ public void setAsync(boolean isAsync) { setMode(DyIOChannelMode.COUNT_OUT_INT, isAsync); } - + /** * Validate. * * @return true, if successful */ private boolean validate() { - if(!isEnabled()) { - //return false; + if (!isEnabled()) { + // return false; } return getMode() == DyIOChannelMode.COUNT_OUT_INT; } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DCMotorOutputChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DCMotorOutputChannel.java index 2b825ab3..d7afe9a0 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DCMotorOutputChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DCMotorOutputChannel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -19,70 +19,75 @@ import com.neuronrobotics.sdk.dyio.DyIOChannelMode; import com.neuronrobotics.sdk.common.DeviceManager; - // Auto-generated Javadoc /** * The Class DCMotorOutputChannel. */ public class DCMotorOutputChannel extends DyIOAbstractPeripheral { - + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. - * - * @param channel - the channel object requested from the DyIO + * Constructor. Creates an counter input input channel that is syncronous only + * by default. + * + * @param channel + * - the channel object requested from the DyIO */ - public DCMotorOutputChannel(int channel){ - this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); + public DCMotorOutputChannel(int channel) { + this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); } - + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. + * Constructor. Creates an counter input input channel that is syncronous only + * by default. * - * @param dyio the dyio - * @param channel - the channel object requested from the DyIO + * @param dyio + * the dyio + * @param channel + * - the channel object requested from the DyIO */ - public DCMotorOutputChannel(DyIO dyio,int channel){ - this(dyio.getChannel(channel)); + public DCMotorOutputChannel(DyIO dyio, int channel) { + this(dyio.getChannel(channel)); } - - + /** * DCMotorOutputChannel. - * + * * @param channel * The channel object to set up as a full duty, hardware PWM */ public DCMotorOutputChannel(DyIOChannel channel) { - super(channel,DyIOChannelMode.DC_MOTOR_VEL,false); - - if(!setMode()) { + super(channel, DyIOChannelMode.DC_MOTOR_VEL, false); + + if (!setMode()) { throw new DyIOPeripheralException("Could not set channel " + channel + " to DC motor output mode"); } } - + /** - * This takes in a velocity from 100 to -100 - * 100 is full on forward, -100 is full on backward and 0 is stop. + * This takes in a velocity from 100 to -100 100 is full on forward, -100 is + * full on backward and 0 is stop. * - * @param velocity the velocity + * @param velocity + * the velocity */ - public void SetVelocity(float velocity){ - - if (velocity > 100) { + public void SetVelocity(float velocity) { + + if (velocity > 100) { velocity = 100; } - - if (velocity<-100) { - velocity=-100; + + if (velocity < -100) { + velocity = -100; } - - setValue((int)((velocity / 100) * 128)+128); + + setValue((int) ((velocity / 100) * 128) + 128); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() */ @Override public boolean hasAsync() { diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalInputChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalInputChannel.java index 2be92bf2..ba03074e 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalInputChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalInputChannel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -28,132 +28,145 @@ * The Class DigitalInputChannel. */ public class DigitalInputChannel extends DyIOAbstractPeripheral implements IChannelEventListener { - + /** The listeners. */ private ArrayList listeners = new ArrayList(); - + /** * DigitalInputChannel. - * + * * @param channel * The channel object to set up as a Digital Input * @param async * if this should be in async mode */ - public DigitalInputChannel(DyIOChannel channel, boolean async){ - super(channel,DyIOChannelMode.DIGITAL_IN,async); - channel.addChannelEventListener(this); - if(!setMode( async)) { - throw new DyIOPeripheralException("Could not set channel " + getChannel() + " to " + DyIOChannelMode.DIGITAL_IN + " mode."); - } + public DigitalInputChannel(DyIOChannel channel, boolean async) { + super(channel, DyIOChannelMode.DIGITAL_IN, async); + channel.addChannelEventListener(this); + if (!setMode(async)) { + throw new DyIOPeripheralException( + "Could not set channel " + getChannel() + " to " + DyIOChannelMode.DIGITAL_IN + " mode."); + } } - + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. - * - * @param channel - the channel object requested from the DyIO + * Constructor. Creates an counter input input channel that is syncronous only + * by default. + * + * @param channel + * - the channel object requested from the DyIO */ - public DigitalInputChannel(int channel){ - this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); + public DigitalInputChannel(int channel) { + this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); } - + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. + * Constructor. Creates an counter input input channel that is syncronous only + * by default. * - * @param dyio the dyio - * @param channel - the channel object requested from the DyIO + * @param dyio + * the dyio + * @param channel + * - the channel object requested from the DyIO */ - public DigitalInputChannel(DyIO dyio,int channel){ - this(dyio.getChannel(channel)); + public DigitalInputChannel(DyIO dyio, int channel) { + this(dyio.getChannel(channel)); } - + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. - * - * @param channel - the channel object requested from the DyIO + * Constructor. Creates an counter input input channel that is syncronous only + * by default. + * + * @param channel + * - the channel object requested from the DyIO */ - public DigitalInputChannel(DyIOChannel channel){ - this(channel,true); + public DigitalInputChannel(DyIOChannel channel) { + this(channel, true); } - + /** * isHigh. - * + * * @return Checks to see if the pin is at logic high */ public boolean isHigh() { return getValue() != 0; } - + /** * Set the channel to be asynchronous or synchronous. - * - * @param isAsync - true if the channel should be set to asynchronous and synchronous, false if synchronous only + * + * @param isAsync + * - true if the channel should be set to asynchronous and + * synchronous, false if synchronous only */ public void setAsync(boolean isAsync) { setMode(DyIOChannelMode.DIGITAL_IN, isAsync); } - + /** * removeAllDigitalInputListeners remove all the listeners. */ public void removeAllDigitalInputListeners() { listeners.clear(); } - + /** * removeDigitalInputListener. - * + * * @param l * remove the specified listener */ public void removeDigitalInputListener(IDigitalInputListener l) { - if(!listeners.contains(l)) { + if (!listeners.contains(l)) { return; } - + listeners.remove(l); } - + /** * addDigitalInputListener. - * + * * @param l * add the specified listener */ public void addDigitalInputListener(IDigitalInputListener l) { - if(listeners.contains(l)) { + if (listeners.contains(l)) { return; } - + listeners.add(l); } - + /** * Fire value changed. * - * @param value the value + * @param value + * the value */ private void fireValueChanged(boolean value) { - for(IDigitalInputListener l : listeners) { + for (IDigitalInputListener l : listeners) { l.onDigitalValueChange(this, value); } } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com.neuronrobotics.sdk.dyio.DyIOChannelEvent) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com. + * neuronrobotics.sdk.dyio.DyIOChannelEvent) */ - + public void onChannelEvent(DyIOChannelEvent e) { fireValueChanged(e.getUnsignedValue() != 0); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() */ public boolean hasAsync() { return true; diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalOutputChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalOutputChannel.java index 12a3200e..d79c90a9 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalOutputChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DigitalOutputChannel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -25,63 +25,68 @@ */ public class DigitalOutputChannel extends DyIOAbstractPeripheral { /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. - * - * @param channel - the channel object requested from the DyIO + * Constructor. Creates an counter input input channel that is syncronous only + * by default. + * + * @param channel + * - the channel object requested from the DyIO */ - public DigitalOutputChannel(int channel){ - this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); + public DigitalOutputChannel(int channel) { + this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); } - + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. + * Constructor. Creates an counter input input channel that is syncronous only + * by default. * - * @param dyio the dyio - * @param channel - the channel object requested from the DyIO + * @param dyio + * the dyio + * @param channel + * - the channel object requested from the DyIO */ - public DigitalOutputChannel(DyIO dyio,int channel){ - this(dyio.getChannel(channel)); + public DigitalOutputChannel(DyIO dyio, int channel) { + this(dyio.getChannel(channel)); } - /** * DigitalOutChannel. - * + * * @param channel * The channel object to set up as a digital output */ public DigitalOutputChannel(DyIOChannel channel) { - super(channel,DyIOChannelMode.DIGITAL_OUT,false); - - if(!setMode()) { + super(channel, DyIOChannelMode.DIGITAL_OUT, false); + + if (!setMode()) { throw new DyIOPeripheralException("Could not set channel " + channel + " to digital out mode"); } } - + /** * setHigh. - * + * * @param high * boolean to set high or not high * @return if it worked */ public boolean setHigh(boolean high) { - return setValue(high?1:0); + return setValue(high ? 1 : 0); } - + /** * isHigh. - * + * * @return the state of the pin */ public boolean isHigh() { return getValue() != 0; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() */ @Override public boolean hasAsync() { diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOAbstractPeripheral.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOAbstractPeripheral.java index 369f7ea2..e95b8662 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOAbstractPeripheral.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOAbstractPeripheral.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -15,7 +15,6 @@ package com.neuronrobotics.sdk.dyio.peripherals; import com.neuronrobotics.sdk.commands.bcs.io.AsyncThreshholdEdgeType; -import com.neuronrobotics.sdk.commands.bcs.io.GetDyIOChannelCountCommand; import com.neuronrobotics.sdk.commands.bcs.io.SetChannelValueCommand; import com.neuronrobotics.sdk.common.BowlerMethod; import com.neuronrobotics.sdk.common.ByteList; @@ -29,300 +28,326 @@ * The Class DyIOAbstractPeripheral. */ public abstract class DyIOAbstractPeripheral implements IDyIOChannel { - + /** The channel. */ private DyIOChannel channel; - + /** The enabled. */ private boolean enabled = false; - + /** The configuration. */ - private int configuration=0; - + private int configuration = 0; + /** * DyIOAbstractPeripheral. * - * @param channel The channel object to set up as whatever peripheral is needed - * @param myMode the my mode - * @param async the async + * @param channel + * The channel object to set up as whatever peripheral is needed + * @param myMode + * the my mode + * @param async + * the async */ public DyIOAbstractPeripheral(DyIOChannel channel, DyIOChannelMode myMode, boolean async) { this.channel = channel; this.enabled = true; - if(channel.getMode() != myMode) + if (channel.getMode() != myMode) channel.setMode(myMode, async); setConfiguration(getConfigurationFromDevice()); - //channel.removeAllChannelEventListeners(); - //Always notify any listeners of mode changes - //channel.removeAllChannelModeChangeListener(); + // channel.removeAllChannelEventListeners(); + // Always notify any listeners of mode changes + // channel.removeAllChannelModeChangeListener(); } - + /** * Gets the configuration from device. * * @return the configuration from device */ private int getConfigurationFromDevice() { - if(getChannel().getDevice().isLegacyParser()){ - if(channel.getMode() == DyIOChannelMode.SERVO_OUT) + if (getChannel().getDevice().isLegacyParser()) { + if (channel.getMode() == DyIOChannelMode.SERVO_OUT) return 128; return 0; - }else{ - Object[] args = getChannel().getDevice().send("bcs.io.*;0.3;;", - BowlerMethod.CRITICAL, - "cchn", - new Object[]{ 255, - false, - new Integer[]{} - }); - Integer [] configs = (Integer[]) args[0]; + } else { + Object[] args = getChannel().getDevice().send("bcs.io.*;0.3;;", BowlerMethod.CRITICAL, "cchn", + new Object[]{255, false, new Integer[]{}}); + Integer[] configs = (Integer[]) args[0]; return configs[getChannel().getChannelNumber()]; } - + } - + /** * This method retrieves the channel mode of this peripheral. * * @return the class mode */ - public DyIOChannelMode getClassMode() { + public DyIOChannelMode getClassMode() { return channel.getMode(); } - + /** * isEnabled. - * + * * @return if the channel is enabled */ public boolean isEnabled() { return enabled; } - + /** * This sets the mode of this peripheral. * * @return if the set worked. Not all channels have all peripherals */ - public boolean setMode(){ + public boolean setMode() { return channel.setMode(getClassMode()); } - + /** * This method sets the current mode of this peripheral. * - * @param async If the channel should be set into async mode + * @param async + * If the channel should be set into async mode * @return if the set worked. Not all channels have all peripherals */ - public boolean setMode( boolean async) { + public boolean setMode(boolean async) { return channel.setMode(getClassMode(), async); } - + /** * This method sets the current mode of this peripheral. * - * @param mode the DyIO mode to set the channel to - * @param async If the channel should be set into async mode + * @param mode + * the DyIO mode to set the channel to + * @param async + * If the channel should be set into async mode * @return if the set worked. Not all channels have all peripherals - * @throws InvalidResponseException the invalid response exception + * @throws InvalidResponseException + * the invalid response exception */ public boolean setMode(DyIOChannelMode mode, boolean async) { - if(mode != getClassMode()) - throw new RuntimeException("The mode being set does not match the defined channel mode: "+mode+" is not"+getClassMode()); + if (mode != getClassMode()) + throw new RuntimeException( + "The mode being set does not match the defined channel mode: " + mode + " is not" + getClassMode()); return channel.setMode(getClassMode(), async); } - + /** * Returns the channel object used by the peripheral. * * @return returns the channel object */ - + public DyIOChannel getChannel() { return channel.getChannel(); } - + /** * This method gets the current mode of this peripheral. * * @return returns the mode of this channel */ - + public DyIOChannelMode getMode() { return channel.getMode(); } - + /** * This method sets the value of the output of the giver peripheral. * - * @param value Sets this value to the channel + * @param value + * Sets this value to the channel * @return if the set worked - * @throws InvalidResponseException the invalid response exception + * @throws InvalidResponseException + * the invalid response exception */ - + public boolean setValue(int value) throws InvalidResponseException { return channel.setValue(value); } - + /** * This method sets the value of the output of the giver peripheral. * - * @param value Sets this value to the channel + * @param value + * Sets this value to the channel * @return if the set worked - * @throws InvalidResponseException the invalid response exception + * @throws InvalidResponseException + * the invalid response exception */ - - public boolean setValue(ByteList value)throws InvalidResponseException { + + public boolean setValue(ByteList value) throws InvalidResponseException { return channel.setValue(value); } - + /** * This method gets the value of the given peripheral. * * @return the value of the channel on the DyIO - * @throws InvalidResponseException the invalid response exception + * @throws InvalidResponseException + * the invalid response exception */ - - public int getValue()throws InvalidResponseException { - //new RuntimeException().printStackTrace(); + + public int getValue() throws InvalidResponseException { + // new RuntimeException().printStackTrace(); return channel.getValue(); } - - + /** - * This method sets the value of the output of the giver peripheral, and also stores this value as the "default" - * value in non volatile memory to use at startup of the peripheral. - * - * @param pos the position to set as the new starting point for the channel + * This method sets the value of the output of the giver peripheral, and also + * stores this value as the "default" value in non volatile memory to use at + * startup of the peripheral. + * + * @param pos + * the position to set as the new starting point for the channel * @return if the save worked or not. */ - public boolean SavePosition(int pos){ + public boolean SavePosition(int pos) { try { DyIOChannelMode mode = getChannel().getMode(); - switch(mode){ - case SERVO_OUT: - case PWM_OUT : - configuration = pos; - if(getChannel().getDevice().isLegacyParser()){ - getChannel().send(new SetChannelValueCommand(getChannel().getChannelNumber(), pos , getMode(), true)); - }else{ - - getChannel().getDevice().send("bcs.io.*;0.3;;", - BowlerMethod.CRITICAL, - "cchn", - new Object[]{ getChannel().getChannelNumber(), - true, - new Integer[]{pos} - }); - getChannel().setValue(pos); - try { - Thread.sleep(30); - } catch (InterruptedException e) { - // Auto-generated catch block - e.printStackTrace(); + switch (mode) { + case SERVO_OUT : + case PWM_OUT : + configuration = pos; + if (getChannel().getDevice().isLegacyParser()) { + getChannel().send( + new SetChannelValueCommand(getChannel().getChannelNumber(), pos, getMode(), true)); + } else { + + getChannel().getDevice().send("bcs.io.*;0.3;;", BowlerMethod.CRITICAL, "cchn", + new Object[]{getChannel().getChannelNumber(), true, new Integer[]{pos}}); + getChannel().setValue(pos); + try { + Thread.sleep(30); + } catch (InterruptedException e) { + // Auto-generated catch block + e.printStackTrace(); + } } - } - return true; - default: - return false; + return true; + default : + return false; } - + } catch (InvalidResponseException e) { return false; } } - + /** - * This method is to check if this peripheral is capable to be set as up as asynchronous. + * This method is to check if this peripheral is capable to be set as up as + * asynchronous. + * * @return if it cna be async */ abstract public boolean hasAsync(); - + /** - * This method configures the advanced async mode for a given DyIO channel to trigger on any event where the values are not equal. - * This sets the sample time to 100 ms + * This method configures the advanced async mode for a given DyIO channel to + * trigger on any event where the values are not equal. This sets the sample + * time to 100 ms + * * @return true is success */ - public boolean configAdvancedAsyncNotEqual(){ + public boolean configAdvancedAsyncNotEqual() { return getChannel().configAdvancedAsyncNotEqual(100); } - + /** - * This method configures the advanced async mode for a given DyIO channel to trigger on any event where the values are outside a deadband - * This sets the sample time to 100 ms. + * This method configures the advanced async mode for a given DyIO channel to + * trigger on any event where the values are outside a deadband This sets the + * sample time to 100 ms. * - * @param deadbandSize the size in sensor units of the deadband + * @param deadbandSize + * the size in sensor units of the deadband * @return true if success */ - public boolean configAdvancedAsyncDeadBand(int deadbandSize){ - return getChannel().configAdvancedAsyncDeadBand(100,deadbandSize); + public boolean configAdvancedAsyncDeadBand(int deadbandSize) { + return getChannel().configAdvancedAsyncDeadBand(100, deadbandSize); } - + /** - * This method configures the advanced async mode for a given DyIO channel to trigger on any event where the value crosses a threshhold - * This sets the sample time to 100 ms. + * This method configures the advanced async mode for a given DyIO channel to + * trigger on any event where the value crosses a threshhold This sets the + * sample time to 100 ms. * - * @param threshholdValue a value setpoint that triggers an even when it is crossed - * @param edgeType Rising, Falling, or both + * @param threshholdValue + * a value setpoint that triggers an even when it is crossed + * @param edgeType + * Rising, Falling, or both * @return true if success */ - public boolean configAdvancedAsyncTreshhold(int threshholdValue,AsyncThreshholdEdgeType edgeType){ - return getChannel().configAdvancedAsyncTreshhold(100, threshholdValue, edgeType); + public boolean configAdvancedAsyncTreshhold(int threshholdValue, AsyncThreshholdEdgeType edgeType) { + return getChannel().configAdvancedAsyncTreshhold(100, threshholdValue, edgeType); } - + /** - * This method configures the advanced async mode for a given DyIO channel to trigger on any event where the value is sampled on a real-time - * This sets the sample time to 100 ms - * clock and sent as async regardless of value change. + * This method configures the advanced async mode for a given DyIO channel to + * trigger on any event where the value is sampled on a real-time This sets the + * sample time to 100 ms clock and sent as async regardless of value change. * * @return true if success */ - public boolean configAdvancedAsyncAutoSample(){ - return getChannel().configAdvancedAsyncAutoSample(100); + public boolean configAdvancedAsyncAutoSample() { + return getChannel().configAdvancedAsyncAutoSample(100); } /** - * This method configures the advanced async mode for a given DyIO channel to trigger on any event where the values are not equal. - * @param msTime the sample time in MiliSeconds + * This method configures the advanced async mode for a given DyIO channel to + * trigger on any event where the values are not equal. + * + * @param msTime + * the sample time in MiliSeconds * @return true if success */ - public boolean configAdvancedAsyncNotEqual(int msTime){ + public boolean configAdvancedAsyncNotEqual(int msTime) { return getChannel().configAdvancedAsyncNotEqual(msTime); } - + /** - * This method configures the advanced async mode for a given DyIO channel to trigger on any event where the values are outside a deadband. + * This method configures the advanced async mode for a given DyIO channel to + * trigger on any event where the values are outside a deadband. * - * @param msTime the sample time in MiliSeconds - * @param deadbandSize the size in sensor units of the deadband + * @param msTime + * the sample time in MiliSeconds + * @param deadbandSize + * the size in sensor units of the deadband * @return true if success */ - public boolean configAdvancedAsyncDeadBand(int msTime,int deadbandSize){ - return getChannel().configAdvancedAsyncDeadBand(msTime,deadbandSize); + public boolean configAdvancedAsyncDeadBand(int msTime, int deadbandSize) { + return getChannel().configAdvancedAsyncDeadBand(msTime, deadbandSize); } - + /** - * This method configures the advanced async mode for a given DyIO channel to trigger on any event where the value crosses a threshhold. + * This method configures the advanced async mode for a given DyIO channel to + * trigger on any event where the value crosses a threshhold. * - * @param msTime the sample time in MiliSeconds - * @param threshholdValue a value setpoint that triggers an even when it is crossed - * @param edgeType Rising, Falling, or both + * @param msTime + * the sample time in MiliSeconds + * @param threshholdValue + * a value setpoint that triggers an even when it is crossed + * @param edgeType + * Rising, Falling, or both * @return true if success */ - public boolean configAdvancedAsyncTreshhold(int msTime,int threshholdValue, AsyncThreshholdEdgeType edgeType){ - return getChannel().configAdvancedAsyncTreshhold(msTime, threshholdValue, edgeType); + public boolean configAdvancedAsyncTreshhold(int msTime, int threshholdValue, AsyncThreshholdEdgeType edgeType) { + return getChannel().configAdvancedAsyncTreshhold(msTime, threshholdValue, edgeType); } - + /** - * This method configures the advanced async mode for a given DyIO channel to trigger on any event where the value is sampled on a real-time - * clock and sent as async regardless of value change. + * This method configures the advanced async mode for a given DyIO channel to + * trigger on any event where the value is sampled on a real-time clock and sent + * as async regardless of value change. * - * @param msTime the sample time in MiliSeconds + * @param msTime + * the sample time in MiliSeconds * @return true if success */ - public boolean configAdvancedAsyncAutoSample(int msTime){ - return getChannel().configAdvancedAsyncAutoSample(msTime); + public boolean configAdvancedAsyncAutoSample(int msTime) { + return getChannel().configAdvancedAsyncAutoSample(msTime); } - + /** * THis method performs a cache flush on the channel wrapped by this object. * @@ -331,16 +356,17 @@ public boolean configAdvancedAsyncAutoSample(int msTime){ public boolean flush() { return getChannel().flush(); } - + /** * This method sets the async mode for this peripheral . * - * @param b if it should be async or not + * @param b + * if it should be async or not */ public void setAsync(boolean b) { channel.setMode(getClassMode(), b); } - + /** * Gets the configuration. * @@ -349,11 +375,12 @@ public void setAsync(boolean b) { public int getConfiguration() { return configuration; } - + /** * Sets the configuration. * - * @param configuration the new configuration + * @param configuration + * the new configuration */ private void setConfiguration(int configuration) { this.configuration = configuration; diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOPeripheralException.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOPeripheralException.java index 561843ea..859f8b32 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOPeripheralException.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/DyIOPeripheralException.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -24,10 +24,10 @@ public class DyIOPeripheralException extends BowlerRuntimeException { /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** * DyIOPeripheralException. - * + * * @param message * description of what the problem is */ diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IAnalogInputListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IAnalogInputListener.java index ea5e9973..9fa5dc3b 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IAnalogInputListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IAnalogInputListener.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,23 +16,23 @@ // Auto-generated Javadoc /** - * The listener interface for receiving IAnalogInput events. - * The class that is interested in processing a IAnalogInput - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIAnalogInputListener method. When - * the IAnalogInput event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving IAnalogInput events. The class that is + * interested in processing a IAnalogInput event implements this interface, and + * the object created with that class is registered with a component using the + * component's addIAnalogInputListener method. When the IAnalogInput event + * occurs, that object's appropriate method is invoked. * * @see AnalogInputChannel */ public interface IAnalogInputListener { - + /** * IAnalogInputListener. * - * @param chan the chan - * @param value The value of the analog channel is sent to listeners + * @param chan + * the chan + * @param value + * The value of the analog channel is sent to listeners */ - public void onAnalogValueChange(AnalogInputChannel chan,double value); + public void onAnalogValueChange(AnalogInputChannel chan, double value); } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterInputListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterInputListener.java index 37a228bb..0d5d742a 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterInputListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterInputListener.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,21 +16,19 @@ // Auto-generated Javadoc /** - * The listener interface for receiving ICounterInput events. - * The class that is interested in processing a ICounterInput - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addICounterInputListener method. When - * the ICounterInput event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving ICounterInput events. The class that is + * interested in processing a ICounterInput event implements this interface, and + * the object created with that class is registered with a component using the + * component's addICounterInputListener method. When the ICounterInput event + * occurs, that object's appropriate method is invoked. * * @see CounterInputChannel */ public interface ICounterInputListener { - + /** * ICounterInputListener. - * + * * @param source * The channel object that the event came from * @param value diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterOutputListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterOutputListener.java index 2f6b4e76..cee97e1a 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterOutputListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ICounterOutputListener.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,21 +16,19 @@ // Auto-generated Javadoc /** - * The listener interface for receiving ICounterOutput events. - * The class that is interested in processing a ICounterOutput - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addICounterOutputListener method. When - * the ICounterOutput event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving ICounterOutput events. The class that is + * interested in processing a ICounterOutput event implements this interface, + * and the object created with that class is registered with a component using + * the component's addICounterOutputListener method. When the ICounterOutput + * event occurs, that object's appropriate method is invoked. * * @see CounterOutputChannel */ public interface ICounterOutputListener { - + /** * ICounterInputListener. - * + * * @param source * The channel object that the event came from * @param value diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IDigitalInputListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IDigitalInputListener.java index 1169d90c..62be6ac8 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IDigitalInputListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IDigitalInputListener.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -16,21 +16,19 @@ // Auto-generated Javadoc /** - * The listener interface for receiving IDigitalInput events. - * The class that is interested in processing a IDigitalInput - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIDigitalInputListener method. When - * the IDigitalInput event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving IDigitalInput events. The class that is + * interested in processing a IDigitalInput event implements this interface, and + * the object created with that class is registered with a component using the + * component's addIDigitalInputListener method. When the IDigitalInput event + * occurs, that object's appropriate method is invoked. * * @see DigitalInputChannel */ public interface IDigitalInputListener { - + /** * IDigitalInputListener. - * + * * @param source * the channel the digital event came from * @param isHigh diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IPPMReaderListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IPPMReaderListener.java index 25a2714c..af928db2 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IPPMReaderListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IPPMReaderListener.java @@ -4,22 +4,21 @@ //import com.neuronrobotics.sdk.dyio.IChannelEventListener; /** - * The listener interface for receiving IPPMReader events. - * The class that is interested in processing a IPPMReader - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIPPMReaderListener method. When - * the IPPMReader event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving IPPMReader events. The class that is + * interested in processing a IPPMReader event implements this interface, and + * the object created with that class is registered with a component using the + * component's addIPPMReaderListener method. When the IPPMReader event occurs, + * that object's appropriate method is invoked. + * * - */ -public interface IPPMReaderListener{ - +public interface IPPMReaderListener { + /** * On ppm packet. * - * @param values the values + * @param values + * the values */ - void onPPMPacket(int [] values); + void onPPMPacket(int[] values); } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IServoPositionUpdateListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IServoPositionUpdateListener.java index 34614a25..db48a38c 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IServoPositionUpdateListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IServoPositionUpdateListener.java @@ -1,26 +1,27 @@ package com.neuronrobotics.sdk.dyio.peripherals; - // Auto-generated Javadoc /** - * The listener interface for receiving IServoPositionUpdate events. - * The class that is interested in processing a IServoPositionUpdate - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIServoPositionUpdateListener method. When - * the IServoPositionUpdate event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving IServoPositionUpdate events. The class + * that is interested in processing a IServoPositionUpdate event implements this + * interface, and the object created with that class is registered with a + * component using the component's addIServoPositionUpdateListener method. When + * the IServoPositionUpdate event occurs, that object's appropriate method is + * invoked. + * * - */ public interface IServoPositionUpdateListener { - + /** * On servo position update. * - * @param srv the source of the event - * @param position the position to set to - * @param time th time in seconds + * @param srv + * the source of the event + * @param position + * the position to set to + * @param time + * th time in seconds */ public void onServoPositionUpdate(ServoChannel srv, int position, double time); } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IUARTStreamListener.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IUARTStreamListener.java index df15d815..30a9c676 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IUARTStreamListener.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/IUARTStreamListener.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -17,15 +17,13 @@ import com.neuronrobotics.sdk.dyio.IChannelEventListener; /** - * The listener interface for receiving IUARTStream events. - * The class that is interested in processing a IUARTStream - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIUARTStreamListener method. When - * the IUARTStream event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving IUARTStream events. The class that is + * interested in processing a IUARTStream event implements this interface, and + * the object created with that class is registered with a component using the + * component's addIUARTStreamListener method. When the IUARTStream event occurs, + * that object's appropriate method is invoked. * */ -public interface IUARTStreamListener extends IChannelEventListener{ +public interface IUARTStreamListener extends IChannelEventListener { } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PPMReaderChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PPMReaderChannel.java index c92d3a67..5057e5dd 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PPMReaderChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/PPMReaderChannel.java @@ -17,193 +17,202 @@ // Auto-generated Javadoc /** - * This class is a wrapper for the DyIO PPM signal reader. - * This manages taking Channel 23 and using it to read values from the VEX rc controller (others might be supported as well) + * This class is a wrapper for the DyIO PPM signal reader. This manages taking + * Channel 23 and using it to read values from the VEX rc controller (others + * might be supported as well) + * * @author hephaestus * */ -public class PPMReaderChannel extends DyIOAbstractPeripheral implements IChannelEventListener{ - +public class PPMReaderChannel extends DyIOAbstractPeripheral implements IChannelEventListener { + /** The Constant myMode. */ private static final DyIOChannelMode myMode = DyIOChannelMode.PPM_IN; /** The cross links. */ - private int [] crossLinks =null; - + private int[] crossLinks = null; + /** The values. */ - int [] values=null; - + int[] values = null; + /** The Constant NO_CROSSLINK. */ public static final int NO_CROSSLINK = 0xff; - + /** * Void constructor assumes you are suing the DyIORegestry and channel 23. */ public PPMReaderChannel() { this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(23)); } - + /** * Takes a DyIO channel which must be channel 23. * - * @param channel the channel + * @param channel + * the channel */ public PPMReaderChannel(DyIOChannel channel) { - super(channel,myMode,true); - if(!getChannel().canBeMode(myMode)) { - throw new DyIOPeripheralException("Could not ever be " + channel + " to " + myMode + " mode"); + super(channel, myMode, true); + if (!getChannel().canBeMode(myMode)) { + throw new DyIOPeripheralException("Could not ever be " + channel + " to " + myMode + " mode"); } - if(!setMode()) { - throw new DyIOPeripheralException("Could not set channel " + channel + " to " + myMode + " mode"); + if (!setMode()) { + throw new DyIOPeripheralException("Could not set channel " + channel + " to " + myMode + " mode"); } getChannel().addChannelEventListener(this); } - + /** * Shut down the internal corss link system. */ - public void stopAllCrossLinks(){ - if(crossLinks == null) + public void stopAllCrossLinks() { + if (crossLinks == null) crossLinks = new int[6]; - for(int i=0;i listeners = new ArrayList (); - + ArrayList listeners = new ArrayList(); + /** * Add a PPM reader listener. * - * @param l the IPPMReaderListener to add + * @param l + * the IPPMReaderListener to add */ public void addPPMReaderListener(IPPMReaderListener l) { - if(!listeners.contains(l)) + if (!listeners.contains(l)) listeners.add(l); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com.neuronrobotics.sdk.dyio.DyIOChannelEvent) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com. + * neuronrobotics.sdk.dyio.DyIOChannelEvent) */ public void onChannelEvent(DyIOChannelEvent e) { getValues(); - if(crossLinks == null){ + if (crossLinks == null) { crossLinks = new int[6]; - ByteList data =new ByteList( e.getData().getBytes(6, 6)); - for(int i=0;i 100) { + public void SetDutyPercent(float duty) { + + if (duty > 100) { duty = 100; } - - if (duty<0) { - duty=0; + + if (duty < 0) { + duty = 0; } - - setValue((int)((duty / 100) * 255)); + + setValue((int) ((duty / 100) * 255)); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() */ @Override public boolean hasAsync() { diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/SPIChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/SPIChannel.java index 0f593356..9f45fea0 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/SPIChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/SPIChannel.java @@ -4,7 +4,6 @@ import com.neuronrobotics.sdk.common.BowlerDatagram; import com.neuronrobotics.sdk.common.BowlerMethod; import com.neuronrobotics.sdk.common.ByteList; -import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.dyio.DyIO; import com.neuronrobotics.sdk.dyio.DyIOChannelEvent; import com.neuronrobotics.sdk.dyio.DyIOChannelMode; @@ -18,96 +17,111 @@ * * @author Kevin Harrington */ -public class SPIChannel implements IChannelEventListener{ - +public class SPIChannel implements IChannelEventListener { + /** The dyio. */ DyIO dyio; - + /** The rx. */ - byte [] rx=null; - + byte[] rx = null; + /** * Default constructor, assumes the DyIO regestry is being used. */ - public SPIChannel () { + public SPIChannel() { this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null))); } - + /** * Constructor for an SPI channel. * - * @param d the d + * @param d + * the d */ - public SPIChannel (DyIO d) { + public SPIChannel(DyIO d) { d.setMode(0, DyIOChannelMode.SPI_CLOCK); dyio = d; dyio.getChannel(0).addChannelEventListener(this); } /** - * THis method sends a byte array our the SPI peripheral. It uses another DyIO channel as its slave select pin. - * @param ss the index of the DyIO channel to use as a slave select pin for the SPI - * @param stream the Bytes to be sent out + * THis method sends a byte array our the SPI peripheral. It uses another DyIO + * channel as its slave select pin. + * + * @param ss + * the index of the DyIO channel to use as a slave select pin for the + * SPI + * @param stream + * the Bytes to be sent out * @return true if success */ @Deprecated - private BowlerDatagram sendSPIStream(int ss, byte [] stream) { - + private BowlerDatagram sendSPIStream(int ss, byte[] stream) { + ByteList b = new ByteList(); b.add(ss); b.add(stream); - return dyio.send(new SetChannelValueCommand(0, b)); + return dyio.send(new SetChannelValueCommand(0, b)); } /** * This performs a dumb read. The data sent out by the host is junk data. - * @param ss the index of the DyIO channel to use as a slave select pin for the SPI - * @param numBytes the number of bytes to read + * + * @param ss + * the index of the DyIO channel to use as a slave select pin for the + * SPI + * @param numBytes + * the number of bytes to read * @return the data received */ - public byte [] read(int ss, int numBytes) { - byte [] stream = new byte[numBytes]; - for(int i = 0; i < numBytes; i++) { - stream[i]=(byte) 0xff; + public byte[] read(int ss, int numBytes) { + byte[] stream = new byte[numBytes]; + for (int i = 0; i < numBytes; i++) { + stream[i] = (byte) 0xff; } - return write(ss,stream); + return write(ss, stream); } /** - * This performs a full read/write transaction. The data is sent down, and the corosponding data is read back in. - * @param ss the index of the DyIO channel to use as a slave select pin for the SPI - * @param stream the Bytes to be sent out + * This performs a full read/write transaction. The data is sent down, and the + * corosponding data is read back in. + * + * @param ss + * the index of the DyIO channel to use as a slave select pin for the + * SPI + * @param stream + * the Bytes to be sent out * @return the data received */ - public byte [] write(int ss, byte [] stream) { - if(dyio.isLegacyParser()){ - BowlerDatagram b= sendSPIStream(ss,stream); - if(b==null) + public byte[] write(int ss, byte[] stream) { + if (dyio.isLegacyParser()) { + BowlerDatagram b = sendSPIStream(ss, stream); + if (b == null) return new byte[0]; return b.getData().getBytes(2); - }else{ - ByteList data = new ByteList(stream); + } else { + ByteList data = new ByteList(stream); data.insert(0, (byte) ss); - dyio.send("bcs.io.*;0.3;;", - BowlerMethod.POST, - "strm", - new Object[]{0,data}); + dyio.send("bcs.io.*;0.3;;", BowlerMethod.POST, "strm", new Object[]{0, data}); int timeout = 1000; - rx=null; - while(timeout-->0){ + rx = null; + while (timeout-- > 0) { ThreadUtil.wait(1); - if(rx!=null){ + if (rx != null) { return rx; } } - return new byte [0]; + return new byte[0]; } } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com.neuronrobotics.sdk.dyio.DyIOChannelEvent) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com. + * neuronrobotics.sdk.dyio.DyIOChannelEvent) */ @Override public void onChannelEvent(DyIOChannelEvent e) { - //Log.error("SPI"+e); + // Log.error("SPI"+e); rx = e.getData().getBytes(); } } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ServoChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ServoChannel.java index 56eb5862..96dc74d3 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ServoChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/ServoChannel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -17,7 +17,6 @@ import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerMethod; -import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.dyio.DyIO; import com.neuronrobotics.sdk.dyio.DyIOChannel; import com.neuronrobotics.sdk.dyio.DyIOChannelEvent; @@ -30,181 +29,201 @@ * The Class ServoChannel. */ public class ServoChannel extends DyIOAbstractPeripheral implements IChannelEventListener { - + /** The listeners. */ - private ArrayListlisteners = new ArrayList(); - + private ArrayList listeners = new ArrayList(); + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. - * - * @param channel - the channel object requested from the DyIO + * Constructor. Creates an counter input input channel that is syncronous only + * by default. + * + * @param channel + * - the channel object requested from the DyIO */ - public ServoChannel(int channel){ - this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); + public ServoChannel(int channel) { + this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null)).getChannel(channel)); } - + /** - * Constructor. - * Creates an counter input input channel that is syncronous only by default. + * Constructor. Creates an counter input input channel that is syncronous only + * by default. * - * @param dyio the dyio - * @param channel - the channel object requested from the DyIO + * @param dyio + * the dyio + * @param channel + * - the channel object requested from the DyIO */ - public ServoChannel(DyIO dyio,int channel){ - this(dyio.getChannel(channel)); + public ServoChannel(DyIO dyio, int channel) { + this(dyio.getChannel(channel)); } - + /** * Instantiates a new servo channel. * - * @param channel the channel + * @param channel + * the channel */ - public ServoChannel(DyIOChannel channel){ - super(channel,DyIOChannelMode.SERVO_OUT,false); - if(!setMode()) { - throw new DyIOPeripheralException("Could not set channel " + channel + " to " + DyIOChannelMode.SERVO_OUT + " mode"); + public ServoChannel(DyIOChannel channel) { + super(channel, DyIOChannelMode.SERVO_OUT, false); + if (!setMode()) { + throw new DyIOPeripheralException( + "Could not set channel " + channel + " to " + DyIOChannelMode.SERVO_OUT + " mode"); } channel.setDap(this); channel.addChannelEventListener(this); } - + /** * Set the servo to a given position. * - * @param pos the pos + * @param pos + * the pos * @return if the action was successful */ - public boolean SetPosition(int pos){ + public boolean SetPosition(int pos) { return SetPosition(pos, 0); } /** * Steps the servo though a transformation over a given amount of time. - * - * @param pos - the end position - * @param time - the number of seconds for the transition to take place + * + * @param pos + * - the end position + * @param time + * - the number of seconds for the transition to take place * @return if the action was successful */ - public boolean SetPosition(int pos, double time){ - return SetPosition( pos, (float) time); + public boolean SetPosition(int pos, double time) { + return SetPosition(pos, (float) time); } - + /** * Steps the servo though a transformation over a given amount of time. - * - * @param pos - the end position - * @param time - the number of seconds for the transition to take place + * + * @param pos + * - the end position + * @param time + * - the number of seconds for the transition to take place * @return if the action was successful */ - public boolean SetPosition(int pos, float time){ - if(time == 0) + public boolean SetPosition(int pos, float time) { + if (time == 0) time = (float) .001; - if(!validate()) { + if (!validate()) { return false; } - //firePositionUpdate(pos,time); + // firePositionUpdate(pos,time); getChannel().setCachedValue(pos); getChannel().setCachedTime(time); - if(getChannel().getCachedMode()) { - //Log.debug(getClass()+" In cached mode, NOT flushing on Set"); + if (getChannel().getCachedMode()) { + // Log.debug(getClass()+" In cached mode, NOT flushing on Set"); return true; } - + return flush(); } - - + /** * Validate. * * @return true, if successful */ private boolean validate() { - if(!isEnabled()) { - //return false; + if (!isEnabled()) { + // return false; } return getMode() == DyIOChannelMode.SERVO_OUT; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() */ @Override public boolean hasAsync() { return false; } - + /** * Fire position update. * - * @param pos the pos - * @param time the time + * @param pos + * the pos + * @param time + * the time */ - private void firePositionUpdate(int pos,double time){ - for(IServoPositionUpdateListener s:listeners){ - s.onServoPositionUpdate(this, pos,time); + private void firePositionUpdate(int pos, double time) { + for (IServoPositionUpdateListener s : listeners) { + s.onServoPositionUpdate(this, pos, time); } } - + /** - * THis method allows you to listen to servo setpoint changes. + * THis method allows you to listen to servo setpoint changes. * - * @param l the l + * @param l + * the l */ public void addIServoPositionUpdateListener(IServoPositionUpdateListener l) { - if(listeners.contains(l)) + if (listeners.contains(l)) return; listeners.add(l); } - + /** * removes a specified listener. * - * @param l the l + * @param l + * the l */ public void removeIServoPositionUpdateListener(IServoPositionUpdateListener l) { - if(listeners.contains(l)) + if (listeners.contains(l)) listeners.remove(l); } - + /** - * This method allows you to override the servo voltage lock-out - * it is enabled by default. + * This method allows you to override the servo voltage lock-out it is enabled + * by default. */ - public void enablePowerOverride(){ - getChannel().getDevice().send(new powerOverridePacket(true) ); + public void enablePowerOverride() { + getChannel().getDevice().send(new powerOverridePacket(true)); } - + /** * This method allows you to re enable the lock-out. */ - public void disablePowerOverride(){ - getChannel().getDevice().send(new powerOverridePacket(false) ); + public void disablePowerOverride() { + getChannel().getDevice().send(new powerOverridePacket(false)); } - + /** * The Class powerOverridePacket. */ - private class powerOverridePacket extends BowlerAbstractCommand{ - + private class powerOverridePacket extends BowlerAbstractCommand { + /** * Instantiates a new power override packet. * - * @param ovr the ovr + * @param ovr + * the ovr */ - public powerOverridePacket(boolean ovr){ + public powerOverridePacket(boolean ovr) { setMethod(BowlerMethod.CRITICAL); setOpCode("povr"); - getCallingDataStorage().add(ovr?1:0); + getCallingDataStorage().add(ovr ? 1 : 0); } } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com.neuronrobotics.sdk.dyio.DyIOChannelEvent) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com. + * neuronrobotics.sdk.dyio.DyIOChannelEvent) */ @Override public void onChannelEvent(DyIOChannelEvent e) { firePositionUpdate(e.getUnsignedValue(), e.getChannel().getDevice().currentTimeMillis()); } - + } diff --git a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/UARTChannel.java b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/UARTChannel.java index e88d0ab3..eb380f5d 100644 --- a/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/UARTChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/dyio/peripherals/UARTChannel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -17,7 +17,6 @@ import java.io.IOException; import java.util.ArrayList; -import com.neuronrobotics.sdk.commands.bcs.io.SetChannelValueCommand; import com.neuronrobotics.sdk.commands.bcs.io.SetUARTBaudrateCommand; import com.neuronrobotics.sdk.common.BowlerMethod; import com.neuronrobotics.sdk.common.ByteList; @@ -32,326 +31,339 @@ import com.neuronrobotics.sdk.dyio.IChannelEventListener; import com.neuronrobotics.sdk.dyio.InvalidChannelOperationException; - // Auto-generated Javadoc /** * The Class UARTChannel. */ public class UARTChannel implements ISendable { - + /** The listeners. */ private ArrayList listeners = new ArrayList(); - + /** The Constant UART_IN. */ public static final int UART_IN = 17; - + /** The Constant UART_OUT. */ public static final int UART_OUT = 16; - + /** The device. */ DyIO device; - + /** The tx. */ UARTTxChannel tx; - + /** The rx. */ UARTRxChannel rx; - + /** * Instantiates a new UART channel. */ public UARTChannel() { this(((DyIO) DeviceManager.getSpecificDevice(DyIO.class, null))); } - + /** * Instantiates a new UART channel. * - * @param d the d + * @param d + * the d */ - public UARTChannel(DyIO d){ + public UARTChannel(DyIO d) { device = d; - tx=new UARTTxChannel(d.getChannel(16)); - rx=new UARTRxChannel(d.getChannel(17)); + tx = new UARTTxChannel(d.getChannel(16)); + rx = new UARTRxChannel(d.getChannel(17)); } - - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.ISendable#getBytes() */ public byte[] getBytes() { return getBytes(rx.getInStreamSize()); } - + /** * Gets the bytes. * - * @param size the size + * @param size + * the size * @return the bytes */ public byte[] getBytes(int size) { return rx.getBytes(size); } - - + /** * Send bytes. * - * @param stream the stream + * @param stream + * the stream * @return true, if successful - * @throws IOException Signals that an I/O exception has occurred. + * @throws IOException + * Signals that an I/O exception has occurred. */ - public boolean sendBytes(ByteList stream) throws IOException{ + public boolean sendBytes(ByteList stream) throws IOException { return tx.putStream(stream); } - - + /** * Gets the in stream size. * * @return the in stream size */ - public int getInStreamSize(){ + public int getInStreamSize() { return rx.getInStreamSize(); } - + /** * In stream data ready. * * @return true, if successful */ - public boolean inStreamDataReady(){ - return (getInStreamSize()>0); + public boolean inStreamDataReady() { + return (getInStreamSize() > 0); } - + /** * Sets the uart baudrate. * - * @param baudrate the baudrate + * @param baudrate + * the baudrate * @return true, if successful */ public boolean setUARTBaudrate(int baudrate) { - switch(baudrate){ - case 2400: - case 4800: - case 9600: - case 14400: - case 19200: - case 28800: - case 38400: - case 57600: - case 76800: - case 115200: - case 230400: - break; - default: - throw new InvalidChannelOperationException("This channel can not be set to that baudrate"); + switch (baudrate) { + case 2400 : + case 4800 : + case 9600 : + case 14400 : + case 19200 : + case 28800 : + case 38400 : + case 57600 : + case 76800 : + case 115200 : + case 230400 : + break; + default : + throw new InvalidChannelOperationException("This channel can not be set to that baudrate"); } - if(device.isLegacyParser()){ + if (device.isLegacyParser()) { device.send(new SetUARTBaudrateCommand(UART_IN, baudrate)); - }else{ - - device.send("bcs.io.*;0.3;;", - BowlerMethod.CRITICAL, - "cchn", - new Object[]{ 17, - true, - new Integer[]{baudrate} - }); + } else { + + device.send("bcs.io.*;0.3;;", BowlerMethod.CRITICAL, "cchn", + new Object[]{17, true, new Integer[]{baudrate}}); } - + return true; } - + /** * Gets the out stream. * * @return the out stream */ - public DyIOOutputStream getOutStream(){ + public DyIOOutputStream getOutStream() { return tx.getOutStream(); } - + /** * Gets the input stream. * * @return the input stream */ - public DyIOInputStream getInputStream(){ + public DyIOInputStream getInputStream() { return rx.getInputStream(); } - + /** * Clear list of objects that have subscribed to channel updates. */ public void removeAllUARTStreamListener() { listeners.clear(); } - + /** * Remove a particular subscription. - * + * * @param l * The object that has subscribed to updates */ public void removeUARTStreamListener(IUARTStreamListener l) { - if(!listeners.contains(l)) { + if (!listeners.contains(l)) { return; } listeners.remove(l); } - + /** * Add an object that wishes to receive channel updates. - * + * * @param l * The object that wishes to receive updates. */ public void addUARTStreamListener(IUARTStreamListener l) { - if(listeners.contains(l)) { + if (listeners.contains(l)) { return; } listeners.add(l); } - + /** * Fire channel event. * - * @param e the e + * @param e + * the e */ protected void fireChannelEvent(DyIOChannelEvent e) { - for(IUARTStreamListener l : listeners) { + for (IUARTStreamListener l : listeners) { l.onChannelEvent(e); } } - + /** * The Class UARTTxChannel. */ private class UARTTxChannel extends DyIOAbstractPeripheral { - + /** The out. */ DyIOOutputStream out; - + /** * Instantiates a new UART tx channel. * - * @param channel the channel + * @param channel + * the channel */ public UARTTxChannel(DyIOChannel channel) { - super(channel,DyIOChannelMode.USART_TX,true); - if(!setMode()) { - throw new DyIOPeripheralException("Could not set channel " + channel + " to " + DyIOChannelMode.USART_TX + " mode"); + super(channel, DyIOChannelMode.USART_TX, true); + if (!setMode()) { + throw new DyIOPeripheralException( + "Could not set channel " + channel + " to " + DyIOChannelMode.USART_TX + " mode"); } out = new DyIOOutputStream(channel); } - + /** * Put stream. * - * @param stream the stream + * @param stream + * the stream * @return true, if successful - * @throws IOException Signals that an I/O exception has occurred. + * @throws IOException + * Signals that an I/O exception has occurred. */ public boolean putStream(ByteList stream) throws IOException { out.write(stream); return false; } - + /** * Gets the out stream. * * @return the out stream */ - public DyIOOutputStream getOutStream(){ + public DyIOOutputStream getOutStream() { return out; } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.dyio.peripherals.DyIOAbstractPeripheral#hasAsync() */ public boolean hasAsync() { // Auto-generated method stub return true; } - + } - + /** * The Class UARTRxChannel. */ private class UARTRxChannel extends DyIOAbstractPeripheral implements IChannelEventListener { - + /** The in. */ DyIOInputStream in; - + /** * Instantiates a new UART rx channel. * - * @param channel the channel + * @param channel + * the channel */ public UARTRxChannel(DyIOChannel channel) { - super(channel,DyIOChannelMode.USART_RX,true); + super(channel, DyIOChannelMode.USART_RX, true); channel.addChannelEventListener(this); - if(!setMode()) { - throw new DyIOPeripheralException("Could not set channel " + channel + " to " + DyIOChannelMode.USART_RX + " mode"); + if (!setMode()) { + throw new DyIOPeripheralException( + "Could not set channel " + channel + " to " + DyIOChannelMode.USART_RX + " mode"); } in = new DyIOInputStream(channel); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com.neuronrobotics.sdk.dyio.DyIOChannelEvent) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.dyio.IChannelEventListener#onChannelEvent(com. + * neuronrobotics.sdk.dyio.DyIOChannelEvent) */ public void onChannelEvent(DyIOChannelEvent e) { in.write(e.getData()); fireChannelEvent(e); } - + /** * Gets the in stream size. * * @return the in stream size */ - public int getInStreamSize(){ + public int getInStreamSize() { return in.available(); } /** * Gets the bytes. * - * @param inStreamSize the in stream size + * @param inStreamSize + * the in stream size * @return the bytes */ public byte[] getBytes(int inStreamSize) { if (inStreamSize > getInStreamSize()) throw new IndexOutOfBoundsException(); - byte [] b = new byte [inStreamSize]; + byte[] b = new byte[inStreamSize]; - for (int i=0;i usbDeviceEventListeners = new ArrayList(); - + /** The thread. */ private static EventHandlingThread thread; - + /** The data. */ byte[] data = new byte[64]; - + /** * Instantiates a new usb cdc serial connection. * - * @param deviceString the device string + * @param deviceString + * the device string */ public UsbCDCSerialConnection(String deviceString) { - MyDeviceString=deviceString; + MyDeviceString = deviceString; setup(); } - + /** * Instantiates a new usb cdc serial connection. * - * @param device the device + * @param device + * the device */ public UsbCDCSerialConnection(UsbDevice device) { if (device == null) - throw new NullPointerException( - "A valid USB device is needed to regester this connection."); - + throw new NullPointerException("A valid USB device is needed to regester this connection."); + try { - MyDeviceString=getUniqueID(device); - + MyDeviceString = getUniqueID(device); + } catch (UnsupportedEncodingException e) { // Auto-generated catch block e.printStackTrace(); @@ -145,9 +145,9 @@ public UsbCDCSerialConnection(UsbDevice device) { } /** - * This is the event handling thread. libusb doesn't start threads by its - * own so it is our own responsibility to give libusb time to handle the - * events in our own thread. + * This is the event handling thread. libusb doesn't start threads by its own so + * it is our own responsibility to give libusb time to handle the events in our + * own thread. */ static class EventHandlingThread extends Thread { /** If thread should abort. */ @@ -160,60 +160,55 @@ public void abort() { this.abort = true; } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.lang.Thread#run() */ @Override public void run() { - //if(!OsInfoUtil.isWindows()){ - setName("Bowler Platform USB Events thread"); - while (!this.abort) { - // Let libusb handle pending events. This blocks until events - // have been handled, a hotplug callback has been deregistered - // or the specified time of .1 second (Specified in - // Microseconds) has passed. - try { - int result = LibUsb.handleEventsTimeoutCompleted(null, 0, - null); - } catch (Exception e) { - e.printStackTrace(); - } - ThreadUtil.wait(100); + // if(!OsInfoUtil.isWindows()){ + setName("Bowler Platform USB Events thread"); + while (!this.abort) { + // Let libusb handle pending events. This blocks until events + // have been handled, a hotplug callback has been deregistered + // or the specified time of .1 second (Specified in + // Microseconds) has passed. + try { + int result = LibUsb.handleEventsTimeoutCompleted(null, 0, null); + } catch (Exception e) { + e.printStackTrace(); } - //} + ThreadUtil.wait(100); + } + // } } } static { resetUsbSystem(); } - + /** * Reset usb system. */ - private static void resetUsbSystem(){ + private static void resetUsbSystem() { try { - + services = UsbHostManager.getUsbServices(); - if(!OsInfoUtil.isWindows()){ + if (!OsInfoUtil.isWindows()) { callbackHandle = new HotplugCallbackHandle(); int result = LibUsb.hotplugRegisterCallback(null, - LibUsb.HOTPLUG_EVENT_DEVICE_ARRIVED - | LibUsb.HOTPLUG_EVENT_DEVICE_LEFT, - LibUsb.HOTPLUG_ENUMERATE, LibUsb.HOTPLUG_MATCH_ANY, - LibUsb.HOTPLUG_MATCH_ANY, LibUsb.HOTPLUG_MATCH_ANY, - new HotplugCallback() { - + LibUsb.HOTPLUG_EVENT_DEVICE_ARRIVED | LibUsb.HOTPLUG_EVENT_DEVICE_LEFT, + LibUsb.HOTPLUG_ENUMERATE, LibUsb.HOTPLUG_MATCH_ANY, LibUsb.HOTPLUG_MATCH_ANY, + LibUsb.HOTPLUG_MATCH_ANY, new HotplugCallback() { + @Override - public int processEvent(Context arg0, Device arg1, - int arg2, Object arg3) { + public int processEvent(Context arg0, Device arg1, int arg2, Object arg3) { DeviceDescriptor descriptor = new DeviceDescriptor(); - int result = LibUsb.getDeviceDescriptor(arg1, - descriptor); + int result = LibUsb.getDeviceDescriptor(arg1, descriptor); if (result != LibUsb.SUCCESS) - throw new LibUsbException( - "Unable to read device descriptor", - result); + throw new LibUsbException("Unable to read device descriptor", result); if (0x04d8 == descriptor.idVendor()) { for (IUsbDeviceEventListener d : usbDeviceEventListeners) { d.onDeviceEvent(mapLibUsbDevicetoJavaxDevice(arg1)); @@ -233,7 +228,7 @@ public int processEvent(Context arg0, Device arg1, // Auto-generated catch block e.printStackTrace(); } - if(thread!=null) + if (thread != null) thread.abort(); // Start the event handling thread @@ -244,7 +239,8 @@ public int processEvent(Context arg0, Device arg1, /** * Adds the usb device event listener. * - * @param l the l + * @param l + * the l */ static public void addUsbDeviceEventListener(IUsbDeviceEventListener l) { if (!usbDeviceEventListeners.contains(l)) @@ -254,7 +250,8 @@ static public void addUsbDeviceEventListener(IUsbDeviceEventListener l) { /** * Removes the usb device event listener. * - * @param l the l + * @param l + * the l */ static public void removeUsbDeviceEventListener(IUsbDeviceEventListener l) { if (usbDeviceEventListeners.contains(l)) @@ -264,7 +261,8 @@ static public void removeUsbDeviceEventListener(IUsbDeviceEventListener l) { /** * Map lib usb deviceto javax device. * - * @param device the device + * @param device + * the device * @return the usb device */ public static UsbDevice mapLibUsbDevicetoJavaxDevice(Device device) { @@ -273,12 +271,9 @@ public static UsbDevice mapLibUsbDevicetoJavaxDevice(Device device) { LibUsb.getDeviceDescriptor(device, descriptor); ArrayList javaxDev = getAllUsbBowlerDevices(); for (UsbDevice d : javaxDev) { - if (descriptor.iSerialNumber() == d.getUsbDeviceDescriptor() - .iSerialNumber() - && descriptor.idProduct() == d.getUsbDeviceDescriptor() - .iProduct() - && descriptor.idVendor() == d.getUsbDeviceDescriptor() - .idVendor()) { + if (descriptor.iSerialNumber() == d.getUsbDeviceDescriptor().iSerialNumber() + && descriptor.idProduct() == d.getUsbDeviceDescriptor().iProduct() + && descriptor.idVendor() == d.getUsbDeviceDescriptor().idVendor()) { return d; } } @@ -302,26 +297,30 @@ public static UsbDevice mapLibUsbDevicetoJavaxDevice(Device device) { /** * Dump device. * - * @param device the device - * @param addrs the addrs - * @throws UnsupportedEncodingException the unsupported encoding exception - * @throws UsbDisconnectedException the usb disconnected exception - * @throws UsbException the usb exception + * @param device + * the device + * @param addrs + * the addrs + * @throws UnsupportedEncodingException + * the unsupported encoding exception + * @throws UsbDisconnectedException + * the usb disconnected exception + * @throws UsbException + * the usb exception */ @SuppressWarnings("unchecked") - private static void dumpDevice(final UsbDevice device, - ArrayList addrs) throws UnsupportedEncodingException, - UsbDisconnectedException, UsbException { + private static void dumpDevice(final UsbDevice device, ArrayList addrs) + throws UnsupportedEncodingException, UsbDisconnectedException, UsbException { try { - if (device.getUsbDeviceDescriptor().idVendor() == 0x04d8 && - ( device.getUsbDeviceDescriptor().idProduct() == 0x0001|| - device.getUsbDeviceDescriptor().idProduct() == 0x3742 - ) - ) {// Neuron - // robotics - // devices - // Dump information about the device itself - // com.neuronrobotics.sdk.common.Log.error("Device: "+device.getProductString()); + if (device.getUsbDeviceDescriptor().idVendor() == 0x04d8 + && (device.getUsbDeviceDescriptor().idProduct() == 0x0001 + || device.getUsbDeviceDescriptor().idProduct() == 0x3742)) {// Neuron + // robotics + // devices + // Dump information about the + // device itself + // com.neuronrobotics.sdk.common.Log.error("Device: + // "+device.getProductString()); addrs.add(device); // Dump device descriptor @@ -333,8 +332,7 @@ private static void dumpDevice(final UsbDevice device, // Dump child devices if device is a hub if (device.isUsbHub()) { final UsbHub hub = (UsbHub) device; - for (UsbDevice child : (List) hub - .getAttachedUsbDevices()) { + for (UsbDevice child : (List) hub.getAttachedUsbDevices()) { dumpDevice(child, addrs); } } @@ -347,14 +345,17 @@ private static void dumpDevice(final UsbDevice device, * Gets the all usb bowler devices. * * @return the all usb bowler devices - * @throws UnsupportedEncodingException the unsupported encoding exception - * @throws UsbDisconnectedException the usb disconnected exception - * @throws SecurityException the security exception - * @throws UsbException the usb exception + * @throws UnsupportedEncodingException + * the unsupported encoding exception + * @throws UsbDisconnectedException + * the usb disconnected exception + * @throws SecurityException + * the security exception + * @throws UsbException + * the usb exception */ public static ArrayList getAllUsbBowlerDevices() - throws UnsupportedEncodingException, UsbDisconnectedException, - SecurityException, UsbException { + throws UnsupportedEncodingException, UsbDisconnectedException, SecurityException, UsbException { ArrayList addrs = null; if (addrs == null) { addrs = new ArrayList(); @@ -367,26 +368,26 @@ public static ArrayList getAllUsbBowlerDevices() /** * Gets the unique id. * - * @param d the d + * @param d + * the d * @return the unique id - * @throws UnsupportedEncodingException the unsupported encoding exception - * @throws UsbDisconnectedException the usb disconnected exception - * @throws UsbException the usb exception + * @throws UnsupportedEncodingException + * the unsupported encoding exception + * @throws UsbDisconnectedException + * the usb disconnected exception + * @throws UsbException + * the usb exception */ public static String getUniqueID(UsbDevice d) - throws UnsupportedEncodingException, UsbDisconnectedException, - UsbException { - return d.getProductString().trim() + " " - + d.getSerialNumberString().trim(); + throws UnsupportedEncodingException, UsbDisconnectedException, UsbException { + return d.getProductString().trim() + " " + d.getSerialNumberString().trim(); } - - /** * Setup. */ - private void setup(){ - + private void setup() { + ArrayList devices; try { devices = getAllUsbBowlerDevices(); @@ -412,25 +413,22 @@ private void setup(){ } if (MyDeviceString == null) - throw new NullPointerException( - "A valid USB device is needed to regester this connection."); + throw new NullPointerException("A valid USB device is needed to regester this connection."); } - - /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#connect() */ @SuppressWarnings("unchecked") @Override public boolean connect() { - try{ + try { localDisconnect(); resetUsbSystem(); setup(); - }catch(Exception e){ + } catch (Exception e) { e.printStackTrace(); } @@ -439,11 +437,9 @@ public boolean connect() { // com.neuronrobotics.sdk.common.Log.error(mDevice.getUsbDeviceDescriptor()); // Process all configurations - for (UsbConfiguration configuration : (List) mDevice - .getUsbConfigurations()) { + for (UsbConfiguration configuration : (List) mDevice.getUsbConfigurations()) { // Process all interfaces - for (UsbInterface iface : (List) configuration - .getUsbInterfaces()) { + for (UsbInterface iface : (List) configuration.getUsbInterfaces()) { // Dump the interface descriptor // com.neuronrobotics.sdk.common.Log.error(iface.getUsbInterfaceDescriptor()); @@ -466,10 +462,8 @@ public boolean connect() { try { dataInterface.claim(); // Process all endpoints - for (UsbEndpoint endpoint : (List) dataInterface - .getUsbEndpoints()) { - if (endpoint.getUsbEndpointDescriptor() - .bEndpointAddress() == 0x03) { + for (UsbEndpoint endpoint : (List) dataInterface.getUsbEndpoints()) { + if (endpoint.getUsbEndpointDescriptor().bEndpointAddress() == 0x03) { // com.neuronrobotics.sdk.common.Log.error("Data out Endpipe"); dataOutEndpoint = endpoint; @@ -506,51 +500,48 @@ public boolean connect() { mDevice.addUsbDeviceListener(this); } - - return isConnected(); } /** * Find device. * - * @param seriualNumber the seriual number + * @param seriualNumber + * the seriual number * @return the device */ public Device findDevice(String seriualNumber) { - //if(!OsInfoUtil.isWindows()){ - // Read the USB device list - DeviceList list = new DeviceList(); - int result = LibUsb.getDeviceList(null, list); - if (result < 0) - throw new LibUsbException("Unable to get device list", result); - - try { - // Iterate over all devices and scan for the right one - for (Device device : list) { - - DeviceDescriptor descriptor = new DeviceDescriptor(); - result = LibUsb.getDeviceDescriptor(device, descriptor); - if (result != LibUsb.SUCCESS) - throw new LibUsbException( - "Unable to read device descriptor", result); - DeviceHandle handle = new DeviceHandle(); - result = LibUsb.open(device, handle); - if (result == LibUsb.SUCCESS) { - String sn = LibUsb.getStringDescriptor(handle, - descriptor.iSerialNumber()).trim(); - LibUsb.close(handle); - if (sn.contains(seriualNumber.trim())) { - - return device; - } + // if(!OsInfoUtil.isWindows()){ + // Read the USB device list + DeviceList list = new DeviceList(); + int result = LibUsb.getDeviceList(null, list); + if (result < 0) + throw new LibUsbException("Unable to get device list", result); + + try { + // Iterate over all devices and scan for the right one + for (Device device : list) { + + DeviceDescriptor descriptor = new DeviceDescriptor(); + result = LibUsb.getDeviceDescriptor(device, descriptor); + if (result != LibUsb.SUCCESS) + throw new LibUsbException("Unable to read device descriptor", result); + DeviceHandle handle = new DeviceHandle(); + result = LibUsb.open(device, handle); + if (result == LibUsb.SUCCESS) { + String sn = LibUsb.getStringDescriptor(handle, descriptor.iSerialNumber()).trim(); + LibUsb.close(handle); + if (sn.contains(seriualNumber.trim())) { + + return device; } } - } finally { - // Ensure the allocated device list is freed - LibUsb.freeDeviceList(list, true); } - //} + } finally { + // Ensure the allocated device list is freed + LibUsb.freeDeviceList(list, true); + } + // } // Device not found return null; } @@ -558,67 +549,67 @@ public Device findDevice(String seriualNumber) { /** * Kernel detatch. * - * @param mDevice the m device + * @param mDevice + * the m device */ - private void kernelDetatch(UsbDevice mDevice){ - //if(!OsInfoUtil.isWindows()){ - Device kDev=null; - try { - kDev = findDevice(mDevice.getSerialNumberString()); - } catch (UnsupportedEncodingException e) { - // Auto-generated catch block - e.printStackTrace(); - } catch (UsbDisconnectedException e) { - // Auto-generated catch block - e.printStackTrace(); - } catch (UsbException e) { - // Auto-generated catch block - e.printStackTrace(); - } - if (kDev == null) - return; - - deviceHandle = new DeviceHandle(); - interfaceNumber = dataInterface.getUsbInterfaceDescriptor() - .bInterfaceNumber(); - - int result = LibUsb.open(kDev, deviceHandle); - if (result != LibUsb.SUCCESS) - throw new LibUsbException("Unable to open USB device", result); - - int r = LibUsb.detachKernelDriver(deviceHandle, interfaceNumber); - if (r != LibUsb.SUCCESS && r != LibUsb.ERROR_NOT_SUPPORTED - && r != LibUsb.ERROR_NOT_FOUND) - throw new LibUsbException("Unable to detach kernel driver", r); - // com.neuronrobotics.sdk.common.Log.error("Kernel detatched for device "+mDevice); - //} + private void kernelDetatch(UsbDevice mDevice) { + // if(!OsInfoUtil.isWindows()){ + Device kDev = null; + try { + kDev = findDevice(mDevice.getSerialNumberString()); + } catch (UnsupportedEncodingException e) { + // Auto-generated catch block + e.printStackTrace(); + } catch (UsbDisconnectedException e) { + // Auto-generated catch block + e.printStackTrace(); + } catch (UsbException e) { + // Auto-generated catch block + e.printStackTrace(); + } + if (kDev == null) + return; + + deviceHandle = new DeviceHandle(); + interfaceNumber = dataInterface.getUsbInterfaceDescriptor().bInterfaceNumber(); + + int result = LibUsb.open(kDev, deviceHandle); + if (result != LibUsb.SUCCESS) + throw new LibUsbException("Unable to open USB device", result); + + int r = LibUsb.detachKernelDriver(deviceHandle, interfaceNumber); + if (r != LibUsb.SUCCESS && r != LibUsb.ERROR_NOT_SUPPORTED && r != LibUsb.ERROR_NOT_FOUND) + throw new LibUsbException("Unable to detach kernel driver", r); + // com.neuronrobotics.sdk.common.Log.error("Kernel detatched for device + // "+mDevice); + // } } - + /** * Local disconnect. */ - private void localDisconnect(){ + private void localDisconnect() { mDevice.removeUsbDeviceListener(this); try { - if(camInpipe!=null) + if (camInpipe != null) camInpipe.close(); - camInpipe=null; - if(camOutpipe!=null) + camInpipe = null; + if (camOutpipe != null) camOutpipe.close(); - camOutpipe=null; - } catch (UsbDisconnectedException e) { + camOutpipe = null; + } catch (UsbDisconnectedException e) { // Auto-generated catch block e.printStackTrace(); } catch (UsbException e) { // Auto-generated catch block e.printStackTrace(); } - if(dataInterface!=null){ - if (dataInterface.isClaimed()){ + if (dataInterface != null) { + if (dataInterface.isClaimed()) { try { dataInterface.release(); - dataInterface=null; - } catch (UsbDisconnectedException e) { + dataInterface = null; + } catch (UsbDisconnectedException e) { // Auto-generated catch block e.printStackTrace(); } catch (UsbException e) { @@ -627,24 +618,23 @@ private void localDisconnect(){ } } } - //if(!OsInfoUtil.isWindows()){ + // if(!OsInfoUtil.isWindows()){ if (deviceHandle != null) { - //LibUsb.attachKernelDriver(deviceHandle, interfaceNumber); - try{ + // LibUsb.attachKernelDriver(deviceHandle, interfaceNumber); + try { LibUsb.close(deviceHandle); - deviceHandle=null; - }catch(IllegalStateException e){ + deviceHandle = null; + } catch (IllegalStateException e) { e.printStackTrace(); } } - //} - + // } } /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#disconnect() */ @Override @@ -657,8 +647,10 @@ public void disconnect() { /** * Prep irp. * - * @param irp the irp - * @param data the data + * @param irp + * the irp + * @param data + * the data */ private void prepIrp(UsbIrp irp, byte[] data) { irp.complete(); @@ -673,8 +665,10 @@ private void prepIrp(UsbIrp irp, byte[] data) { /** * Write. * - * @param src the src - * @throws IOException Signals that an I/O exception has occurred. + * @param src + * the src + * @throws IOException + * Signals that an I/O exception has occurred. */ // private ByteList outgoing = new ByteList(); public void write(byte[] src) throws IOException { @@ -700,99 +694,96 @@ public void write(byte[] src) throws IOException { } } catch (Exception e) {// Auto-generated catch block - //e.printStackTrace(); + // e.printStackTrace(); disconnect(); - throw new BowlerRuntimeException( - "Connection is no longer available " + e.getLocalizedMessage()); + throw new BowlerRuntimeException("Connection is no longer available " + e.getLocalizedMessage()); } return; } - + /** * The Enum usbControlState. */ - enum usbControlState{ - + enum usbControlState { + /** The init. */ init, - + /** The submitted. */ submitted, - + /** The done. */ done - } ; - + }; + /** The usb read state. */ usbControlState usbReadState = usbControlState.init; - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#loadPacketFromPhy(com.neuronrobotics.sdk.common.ByteList) + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.BowlerAbstractConnection#loadPacketFromPhy(com. + * neuronrobotics.sdk.common.ByteList) */ @Override - public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) - throws NullPointerException, IOException { + public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) throws NullPointerException, IOException { if (dataInEndpoint == null) return null; int got = 0; - - - switch (usbReadState){ - case init: - try { - if (camInpipe == null) { - camInpipe = dataInEndpoint.getUsbPipe(); - + switch (usbReadState) { + + case init : + try { + if (camInpipe == null) { + camInpipe = dataInEndpoint.getUsbPipe(); + + } + if (!camInpipe.isOpen()) + camInpipe.open(); + + prepIrp(read, data); + + camInpipe.asyncSubmit(read); + + read.waitUntilComplete(); + + usbReadState = usbControlState.submitted; + + } catch (IllegalArgumentException e) { + // e.printStackTrace(); + disconnect(); + return null; + } catch (UsbNotActiveException e) { + // Auto-generated catch block + e.printStackTrace(); + } catch (UsbNotOpenException e) { + // Auto-generated catch block + e.printStackTrace(); + } catch (UsbDisconnectedException e) { + // Auto-generated catch block + e.printStackTrace(); + } catch (UsbException e) { + // Auto-generated catch block + e.printStackTrace(); } - if (!camInpipe.isOpen()) - camInpipe.open(); - - prepIrp(read, data); - - camInpipe.asyncSubmit(read); - - - read.waitUntilComplete(); - - usbReadState = usbControlState.submitted; - - } catch ( IllegalArgumentException - e) { - //e.printStackTrace(); - disconnect(); - return null; - } catch (UsbNotActiveException e) { - // Auto-generated catch block - e.printStackTrace(); - } catch (UsbNotOpenException e) { - // Auto-generated catch block - e.printStackTrace(); - } catch (UsbDisconnectedException e) { - // Auto-generated catch block - e.printStackTrace(); - } catch (UsbException e) { - // Auto-generated catch block - e.printStackTrace(); - } - break; - case submitted: - if(read.isComplete()){ - got = read.getActualLength(); - if (got > 0) { - bytesToPacketBuffer.add(Arrays.copyOfRange(data, 0, got)); + break; + case submitted : + if (read.isComplete()) { + got = read.getActualLength(); + if (got > 0) { + bytesToPacketBuffer.add(Arrays.copyOfRange(data, 0, got)); + } + usbReadState = usbControlState.init; } - usbReadState = usbControlState.init; - } - default: - break; + default : + break; } - - return BowlerDatagramFactory - .build(bytesToPacketBuffer); + return BowlerDatagramFactory.build(bytesToPacketBuffer); } // /* (non-Javadoc) @@ -808,7 +799,7 @@ public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) /* * (non-Javadoc) - * + * * @see * com.neuronrobotics.sdk.common.BowlerAbstractConnection#waitingForConnection * () @@ -819,8 +810,11 @@ public boolean waitingForConnection() { return false; } - /* (non-Javadoc) - * @see javax.usb.event.UsbDeviceListener#dataEventOccurred(javax.usb.event.UsbDeviceDataEvent) + /* + * (non-Javadoc) + * + * @see javax.usb.event.UsbDeviceListener#dataEventOccurred(javax.usb.event. + * UsbDeviceDataEvent) */ @Override public void dataEventOccurred(UsbDeviceDataEvent arg0) { @@ -828,33 +822,43 @@ public void dataEventOccurred(UsbDeviceDataEvent arg0) { } - /* (non-Javadoc) - * @see javax.usb.event.UsbDeviceListener#errorEventOccurred(javax.usb.event.UsbDeviceErrorEvent) + /* + * (non-Javadoc) + * + * @see javax.usb.event.UsbDeviceListener#errorEventOccurred(javax.usb.event. + * UsbDeviceErrorEvent) */ @Override public void errorEventOccurred(UsbDeviceErrorEvent arg0) { - if(arg0.getUsbDevice() == mDevice){ + if (arg0.getUsbDevice() == mDevice) { new RuntimeException("Disconnect in USB called").printStackTrace(); disconnect(); - //connect() ; + // connect() ; } } - /* (non-Javadoc) - * @see javax.usb.event.UsbDeviceListener#usbDeviceDetached(javax.usb.event.UsbDeviceEvent) + /* + * (non-Javadoc) + * + * @see javax.usb.event.UsbDeviceListener#usbDeviceDetached(javax.usb.event. + * UsbDeviceEvent) */ @Override public void usbDeviceDetached(UsbDeviceEvent arg0) { - - if(arg0.getUsbDevice() == mDevice){ - //new RuntimeException("Disconnect in USB called").printStackTrace(); + + if (arg0.getUsbDevice() == mDevice) { + // new RuntimeException("Disconnect in USB called").printStackTrace(); disconnect(); - //connect() ; + // connect() ; } } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.javaxusb.IUsbDeviceEventListener#onDeviceEvent(javax.usb.UsbDevice) + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.javaxusb.IUsbDeviceEventListener#onDeviceEvent(javax. + * usb.UsbDevice) */ @Override public void onDeviceEvent(UsbDevice device) { diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/AbstractPidNamespaceImp.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/AbstractPidNamespaceImp.java index 8f1db444..e0e4fa22 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/AbstractPidNamespaceImp.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/AbstractPidNamespaceImp.java @@ -19,40 +19,43 @@ public abstract class AbstractPidNamespaceImp implements IExtendedPIDControl { /** The PID event listeners. */ private ArrayList PIDEventListeners = new ArrayList(); - + /** The channels. */ protected ArrayList channels = null; - + /** The last packet time. */ - protected long [] lastPacketTime = null; - + protected long[] lastPacketTime = null; + /** The device. */ private BowlerAbstractDevice device; - + /** The channel count. */ - private Integer channelCount=null; - + private Integer channelCount = null; + /** * Instantiates a new abstract pid namespace imp. * - * @param device the device + * @param device + * the device */ - public AbstractPidNamespaceImp(BowlerAbstractDevice device){ + public AbstractPidNamespaceImp(BowlerAbstractDevice device) { this.setDevice(device); addPIDEventListener(new IPIDEventListener() { - public void onPIDReset(int group, float currentValue) {} - public void onPIDLimitEvent(PIDLimitEvent e) {} + public void onPIDReset(int group, float currentValue) { + } + public void onPIDLimitEvent(PIDLimitEvent e) { + } public void onPIDEvent(PIDEvent e) { getPIDChannel(e.getGroup()).setCurrentCachedPosition(e.getValue()); } }); } - /** * Gets the cached position. * - * @param group the group + * @param group + * the group * @return the int */ public float GetCachedPosition(int group) { @@ -62,99 +65,115 @@ public float GetCachedPosition(int group) { /** * Sets the cached position. * - * @param group the group - * @param value the value + * @param group + * the group + * @param value + * the value */ public void SetCachedPosition(int group, float value) { getPIDChannel(group).setCurrentCachedPosition(value); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#flushPIDChannels + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * flushPIDChannels */ @Override public void flushPIDChannels(double time) { - float [] data = new float[getNumberOfChannels()]; - for(int i=0;i2147483646 || delt<-2147483646){ - throw new PIDCommandException("(Current Position) - (Velocity * Time) too large: "+delt+"\nTry resetting the encoders"); + public boolean SetPIDInterpolatedVelocity(int group, int unitsPerSecond, double seconds) + throws PIDCommandException { + long dist = (long) unitsPerSecond * (long) seconds; + long delt = ((long) (GetCachedPosition(group)) - dist); + if (delt > 2147483646 || delt < -2147483646) { + throw new PIDCommandException( + "(Current Position) - (Velocity * Time) too large: " + delt + "\nTry resetting the encoders"); } return SetPIDSetPoint(group, (int) delt, seconds); } /** - * Gets the number of PID channels available to the system. It is determined by how many PID channels the device reports - * back after a calling GetAllPIDPosition(); + * Gets the number of PID channels available to the system. It is determined by + * how many PID channels the device reports back after a calling + * GetAllPIDPosition(); * * @return the number of channels */ - public int getNumberOfChannels(){ + public int getNumberOfChannels() { return getChannels().size(); } - - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#addPIDEventListener + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * addPIDEventListener */ public void addPIDEventListener(IPIDEventListener l) { - synchronized(PIDEventListeners){ - if(!PIDEventListeners.contains(l)) + synchronized (PIDEventListeners) { + if (!PIDEventListeners.contains(l)) PIDEventListeners.add(l); } } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#removePIDEventListener + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * removePIDEventListener */ public void removePIDEventListener(IPIDEventListener l) { - synchronized(PIDEventListeners){ - if(PIDEventListeners.contains(l)) + synchronized (PIDEventListeners) { + if (PIDEventListeners.contains(l)) PIDEventListeners.remove(l); } } - + /** * Fire pid limit event. * - * @param e the e + * @param e + * the e */ - public void firePIDLimitEvent(PIDLimitEvent e){ - synchronized(PIDEventListeners){ - for(IPIDEventListener l: PIDEventListeners) + public void firePIDLimitEvent(PIDLimitEvent e) { + synchronized (PIDEventListeners) { + for (IPIDEventListener l : PIDEventListeners) l.onPIDLimitEvent(e); } - //channels.get(e.getGroup()).firePIDLimitEvent(e); + // channels.get(e.getGroup()).firePIDLimitEvent(e); } - + /** * Fire pid event. * - * @param e the e + * @param e + * the e */ - public void firePIDEvent(PIDEvent e){ - if(lastPacketTime != null){ - if(lastPacketTime[e.getGroup()]>e.getTimeStamp()){ - Log.error("This event timestamp is out of date, aborting"+e); + public void firePIDEvent(PIDEvent e) { + if (lastPacketTime != null) { + if (lastPacketTime[e.getGroup()] > e.getTimeStamp()) { + Log.error("This event timestamp is out of date, aborting" + e); return; - }else{ - //Log.info("Pid event "+e); - lastPacketTime[e.getGroup()]=e.getTimeStamp(); + } else { + // Log.info("Pid event "+e); + lastPacketTime[e.getGroup()] = e.getTimeStamp(); } } - SetCachedPosition(e.getGroup(), e.getValue()); for (int i = 0; i < PIDEventListeners.size(); i++) { @@ -162,18 +181,20 @@ public void firePIDEvent(PIDEvent e){ l.onPIDEvent(e); } } - + /** * Fire pid reset event. * - * @param group the group - * @param value the value + * @param group + * the group + * @param value + * the value */ - public void firePIDResetEvent(int group,float value){ + public void firePIDResetEvent(int group, float value) { SetCachedPosition(group, value); - for(IPIDEventListener l: PIDEventListeners) - l.onPIDReset(group,value); - //channels.get(group).firePIDResetEvent(group, value); + for (IPIDEventListener l : PIDEventListeners) + l.onPIDReset(group, value); + // channels.get(group).firePIDResetEvent(group, value); } /** @@ -188,28 +209,35 @@ public BowlerAbstractDevice getDevice() { /** * Sets the device. * - * @param device the new device + * @param device + * the new device */ public void setDevice(BowlerAbstractDevice device) { this.device = device; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDChannel + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDChannel */ @Override public PIDChannel getPIDChannel(int group) { - if(getNumberOfChannels()==0) { + if (getNumberOfChannels() == 0) { getChannels(); } - while(!(group < getNumberOfChannels() )){ - PIDChannel c =new PIDChannel(this,group); + while (!(group < getNumberOfChannels())) { + PIDChannel c = new PIDChannel(this, group); getChannels().add(c); } return getChannels().get(group); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#isAvailable() + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#isAvailable() */ @Override public boolean isAvailable() { @@ -219,37 +247,36 @@ public boolean isAvailable() { /** * On async response. * - * @param data the data + * @param data + * the data */ public abstract void onAsyncResponse(BowlerDatagram data); - /** * Gets the channels. * * @return the channels */ public ArrayList getChannels() { - if(channels==null){ - channels=new ArrayList(); - for(int i=0;i(); + for (int i = 0; i < getPIDChannelCount(); i++) { getPIDChannel(i); } } return channels; } - /** * Sets the channels. * - * @param channels the new channels + * @param channels + * the new channels */ public void setChannels(ArrayList channels) { this.channels = channels; } - /** * Gets the channel count. * @@ -259,17 +286,16 @@ public Integer getChannelCount() { return channelCount; } - /** * Sets the channel count. * - * @param channelCount the new channel count + * @param channelCount + * the new channel count */ public void setChannelCount(Integer channelCount) { - if(channelCount == null) + if (channelCount == null) throw new RuntimeException("Must be set to a real value"); this.channelCount = channelCount; } - } diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IExtendedPIDControl.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IExtendedPIDControl.java index 3e813ad9..d303df3a 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IExtendedPIDControl.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IExtendedPIDControl.java @@ -1,16 +1,16 @@ package com.neuronrobotics.sdk.namespace.bcs.pid; - // Auto-generated Javadoc /** * The Interface IExtendedPIDControl. */ -public interface IExtendedPIDControl extends IPidControlNamespace{ +public interface IExtendedPIDControl extends IPidControlNamespace { /** * Run output hysteresis calibration. * - * @param group the group + * @param group + * the group * @return true, if successful */ boolean runOutputHysteresisCalibration(int group); diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IPidControlNamespace.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IPidControlNamespace.java index e10966ae..70a96363 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IPidControlNamespace.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/IPidControlNamespace.java @@ -12,43 +12,59 @@ */ public interface IPidControlNamespace { /** - * This method calls a reset of the PID group. This will set the current value of the controllers input to the given value (if possible) - * and will set the setpoint of the PID group to the current value (stopping the output) - * @param group the index of the PID group - * @param valueToSetCurrentTo the target value that the controller should be set to. + * This method calls a reset of the PID group. This will set the current value + * of the controllers input to the given value (if possible) and will set the + * setpoint of the PID group to the current value (stopping the output) + * + * @param group + * the index of the PID group + * @param valueToSetCurrentTo + * the target value that the controller should be set to. * @return true if success */ - public boolean ResetPIDChannel(int group,float valueToSetCurrentTo); + public boolean ResetPIDChannel(int group, float valueToSetCurrentTo); /** - * This method sends a PID configuration object to the device. THe controller can be enabled/disabled with this method - * All PID parameters are stored in the PIDConfiguration ojbect prior to calling this method will be sent to the device. - * @param config the configuration wrapper object + * This method sends a PID configuration object to the device. THe controller + * can be enabled/disabled with this method All PID parameters are stored in the + * PIDConfiguration ojbect prior to calling this method will be sent to the + * device. + * + * @param config + * the configuration wrapper object * @return true if success */ public boolean ConfigurePIDController(PIDConfiguration config); /** - * Gets the current state of the PID group. The PIDConfiguration object will contain the current configuration state of the requested - * PID controller. - * @param group the index of the PID group + * Gets the current state of the PID group. The PIDConfiguration object will + * contain the current configuration state of the requested PID controller. + * + * @param group + * the index of the PID group * @return the configuration object */ public PIDConfiguration getPIDConfiguration(int group); - + /** - * This method sends a PID configuration object to the device. THe controller can be enabled/disabled with this method - * All PID parameters are stored in the PIDConfiguration ojbect prior to calling this method will be sent to the device. - * @param config the configuration wrapper object + * This method sends a PID configuration object to the device. THe controller + * can be enabled/disabled with this method All PID parameters are stored in the + * PIDConfiguration ojbect prior to calling this method will be sent to the + * device. + * + * @param config + * the configuration wrapper object * @return true if success */ public boolean ConfigurePDVelovityController(PDVelocityConfiguration config); /** - * Gets the current state of the PID group. The PIDConfiguration object will contain the current configuration state of the requested - * PID controller. - * @param group the index of the PID group + * Gets the current state of the PID group. The PIDConfiguration object will + * contain the current configuration state of the requested PID controller. + * + * @param group + * the index of the PID group * @return the configuration object */ public PDVelocityConfiguration getPDVelocityConfiguration(int group); - + /** * Requests the current number of PID channels. * @@ -56,95 +72,135 @@ public interface IPidControlNamespace { */ public int getPIDChannelCount(); /** - * This method sets the target setpoint for the specified PID controller group. - * This method will set up a linear interpolation from current position to target position which will take the specified number of seconds to make that transition - * @param group the index of the PID group - * @param setpoint the target position for the controller - * @param seconds units in Seconds, the time it takes to make the transition from current to target. Zero will tell the controller to go as fast as possible. - * @return true if no errors occur - */ - public boolean SetPIDSetPoint(int group,float setpoint,double seconds); - /** - * Same as SetPIDSetPoint, but will set all setpoints at once. This can be used for co-ordinated motion of independant PID control groups. - * @param setpoints and array of setpoint values (must match the number of available PID control groups) - * @param seconds units in Seconds, the time it takes to make the transition from current to target. Zero will tell the controllers to go as fast as possible. - * @return true if no errors occur - */ - public boolean SetAllPIDSetPoint(float []setpoints,double seconds); - /** - * This method requests a single PID controller group value. The value returned represents the current state of the PID controller's input sensor in raw units - * @param group the index of the PID group - * @return The current value of the sensor input + * This method sets the target setpoint for the specified PID controller group. + * This method will set up a linear interpolation from current position to + * target position which will take the specified number of seconds to make that + * transition + * + * @param group + * the index of the PID group + * @param setpoint + * the target position for the controller + * @param seconds + * units in Seconds, the time it takes to make the transition from + * current to target. Zero will tell the controller to go as fast as + * possible. + * @return true if no errors occur + */ + public boolean SetPIDSetPoint(int group, float setpoint, double seconds); + /** + * Same as SetPIDSetPoint, but will set all setpoints at once. This can be used + * for co-ordinated motion of independant PID control groups. + * + * @param setpoints + * and array of setpoint values (must match the number of available + * PID control groups) + * @param seconds + * units in Seconds, the time it takes to make the transition from + * current to target. Zero will tell the controllers to go as fast as + * possible. + * @return true if no errors occur + */ + public boolean SetAllPIDSetPoint(float[] setpoints, double seconds); + /** + * This method requests a single PID controller group value. The value returned + * represents the current state of the PID controller's input sensor in raw + * units + * + * @param group + * the index of the PID group + * @return The current value of the sensor input */ public float GetPIDPosition(int group); /** - * This method requests all PID controllers to report back their current value of their input sensors. - * This method is also used to determine dynamically how many PID control groups are available on a device. - * @return and array of values representing the current state of the given cntrollers input + * This method requests all PID controllers to report back their current value + * of their input sensors. This method is also used to determine dynamically how + * many PID control groups are available on a device. + * + * @return and array of values representing the current state of the given + * cntrollers input */ - public float [] GetAllPIDPosition(); - + public float[] GetAllPIDPosition(); + /** * Allows a user to attach a listener to the device to listen for PID events - * Events include: - * PID reset, where the user is notified if the controllers input is reset from software - * PID limit, if the device generates a Home, Upper limit, or Lower limit event from a hardware event - * PID position, if the current position of the PID controllers sensor input changes. + * Events include: PID reset, where the user is notified if the controllers + * input is reset from software PID limit, if the device generates a Home, Upper + * limit, or Lower limit event from a hardware event PID position, if the + * current position of the PID controllers sensor input changes. * - * @param l the l + * @param l + * the l */ public void addPIDEventListener(IPIDEventListener l); - + /** * Removes a specific IPIDEventListener. * - * @param l the l + * @param l + * the l */ public void removePIDEventListener(IPIDEventListener l); - + /** - * This method will read all of the cached or current setpoints for all PID controllers and calls SetAllPIDSetPoint with its internal data. + * This method will read all of the cached or current setpoints for all PID + * controllers and calls SetAllPIDSetPoint with its internal data. * - * @param time the time + * @param time + * the time */ public void flushPIDChannels(double time); /** - * This method will use the linear interpolation system to set an output velocity of the PID controller. This method can be bounded by the - * maximum value representable by the sensor and can fail if that value is out of range. - * @param group the index of the PID group - * @param unitsPerSecond a velocity in raw units per second - * @param seconds the amount of time to run at this velocity + * This method will use the linear interpolation system to set an output + * velocity of the PID controller. This method can be bounded by the maximum + * value representable by the sensor and can fail if that value is out of range. + * + * @param group + * the index of the PID group + * @param unitsPerSecond + * a velocity in raw units per second + * @param seconds + * the amount of time to run at this velocity * @return true if successful - * @throws PIDCommandException If the values are out of range with the given data + * @throws PIDCommandException + * If the values are out of range with the given data */ - public boolean SetPIDInterpolatedVelocity(int group,int unitsPerSecond,double seconds) throws PIDCommandException; - + public boolean SetPIDInterpolatedVelocity(int group, int unitsPerSecond, double seconds) throws PIDCommandException; + /** - * This method will use the internal PD velocity controller to run a PID controller at a constant velocity. Since this is not using the linear interpolation, - * it can run forever by giving Zero as the 'seconds' parameter. + * This method will use the internal PD velocity controller to run a PID + * controller at a constant velocity. Since this is not using the linear + * interpolation, it can run forever by giving Zero as the 'seconds' parameter. * - * @param group the index of the PID group - * @param unitsPerSecond a velocity in raw units per second - * @param seconds the amount of time to run at this velocity, or Zero to run forever + * @param group + * the index of the PID group + * @param unitsPerSecond + * a velocity in raw units per second + * @param seconds + * the amount of time to run at this velocity, or Zero to run forever * @return true, if successful - * @throws PIDCommandException If the values are out of range with the given data + * @throws PIDCommandException + * If the values are out of range with the given data */ - public boolean SetPDVelocity(int group,int unitsPerSecond,double seconds) throws PIDCommandException; + public boolean SetPDVelocity(int group, int unitsPerSecond, double seconds) throws PIDCommandException; /** - * Gets the PID channel wrapper for a specific channel. The channel wrappers can be used to cache values for use with the cache/flush system. - * This wrapper will encapsulate a specific PID channel. - * @param group the index of the PID group + * Gets the PID channel wrapper for a specific channel. The channel wrappers can + * be used to cache values for use with the cache/flush system. This wrapper + * will encapsulate a specific PID channel. + * + * @param group + * the index of the PID group * @return a PIDChannel encapsulation object */ public PIDChannel getPIDChannel(int group); - + /** * Sends a single packet to stop all PID groups at once. * * @return true, if successful */ public boolean killAllPidGroups(); - + /** * Checks to see if the PID controller object is connected with its device. * diff --git a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/LegacyPidNamespaceImp.java b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/LegacyPidNamespaceImp.java index 2978cabd..a08fcdae 100644 --- a/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/LegacyPidNamespaceImp.java +++ b/src/main/java/com/neuronrobotics/sdk/namespace/bcs/pid/LegacyPidNamespaceImp.java @@ -25,84 +25,101 @@ */ public class LegacyPidNamespaceImp extends AbstractPidNamespaceImp { - /** * Instantiates a new legacy pid namespace imp. * - * @param device the device + * @param device + * the device */ public LegacyPidNamespaceImp(BowlerAbstractDevice device) { super(device); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp#onAsyncResponse(com.neuronrobotics.sdk.common.BowlerDatagram) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.AbstractPidNamespaceImp# + * onAsyncResponse(com.neuronrobotics.sdk.common.BowlerDatagram) */ public void onAsyncResponse(BowlerDatagram data) { - //Log.debug("\nPID ASYNC<<"+data); - if(data.getRPC().contains("_pid")){ - - PIDEvent e =new PIDEvent(data,getDevice().currentTimeMillis()); - + // Log.debug("\nPID ASYNC<<"+data); + if (data.getRPC().contains("_pid")) { + + PIDEvent e = new PIDEvent(data, getDevice().currentTimeMillis()); + firePIDEvent(e); } - if(data.getRPC().contains("apid")){ - int [] pos = new int[getNumberOfChannels()]; - for(int i=0;i namespaces; - + /** * Instantiates a new abstract network device server. * - * @param device the device - * @param useAsync the use async - * @param serverConnection the server connection + * @param device + * the device + * @param useAsync + * the use async + * @param serverConnection + * the server connection */ - public AbstractNetworkDeviceServer(GenericDevice device,boolean useAsync,BowlerAbstractConnection serverConnection) { + public AbstractNetworkDeviceServer(GenericDevice device, boolean useAsync, + BowlerAbstractConnection serverConnection) { super(device.getAddress()); gen = device; namespaces = gen.getNamespaces(); - for(int i=0;i0)&&(port<0xffff)) - throw new IOException("Connection Info Invalid: "+":"+port); + if (tcpAddr == null && (port > 0) && (port < 0xffff)) + throw new IOException("Connection Info Invalid: " + ":" + port); setTCPSocket(new Socket(tcpAddr, port)); } - + /** * Sets the TCP socket. * - * @param sock the new TCP socket + * @param sock + * the new TCP socket */ - public void setTCPSocket(Socket sock){ - if(isConnected()) + public void setTCPSocket(Socket sock) { + if (isConnected()) return; Log.info("Setting TCP socket"); - while(!sock.isBound()); + while (!sock.isBound()); tcpSock = sock; try { tcpSock.setSoTimeout(1000); @@ -141,15 +146,17 @@ public void setTCPSocket(Socket sock){ } connect(); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#connect() */ @Override public boolean connect() { if (tcpSock == null) throw new RuntimeException("Can't connect before setting up the socket information"); - if(!isConnected()){ + if (!isConnected()) { try { setDataIns(new DataInputStream(tcpSock.getInputStream())); setDataOuts(new DataOutputStream(tcpSock.getOutputStream())); @@ -159,10 +166,12 @@ public boolean connect() { setConnected(false); } } - return isConnected(); + return isConnected(); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#disconnect() */ @Override @@ -171,10 +180,10 @@ public void disconnect() { Log.warning("Disconnecting Tcp Client.."); super.disconnect(); try { - if(!tcpSock.isClosed()){ + if (!tcpSock.isClosed()) { tcpSock.shutdownOutput(); // Sends the 'FIN' on the network - while (getDataIns().read() >= 0) ; // "read()" returns '-1' when the 'FIN' is reached - tcpSock.close(); // Now we can close the Socket + while (getDataIns().read() >= 0); // "read()" returns '-1' when the 'FIN' is reached + tcpSock.close(); // Now we can close the Socket } } catch (Exception e) { e.printStackTrace(); @@ -182,32 +191,32 @@ public void disconnect() { tcpSock = null; setDataIns(null); setDataOuts(null); - + } - + /** - * This will broadcast out 1 packet on UDP socket 1865. - * It will wait for devices to respond and makes a list of - * the available TCP sockets - * @return list of devices that responded + * This will broadcast out 1 packet on UDP socket 1865. It will wait for devices + * to respond and makes a list of the available TCP sockets + * + * @return list of devices that responded */ public static ArrayList getAvailableSockets() { - ArrayList available = new ArrayList (); - UDPBowlerConnection udp; - try { + ArrayList available = new ArrayList(); + UDPBowlerConnection udp; + try { udp = new UDPBowlerConnection(); - available= udp.getAllAddresses(); - udp.disconnect(); + available = udp.getAllAddresses(); + udp.disconnect(); } catch (Exception e) { // Auto-generated catch block e.printStackTrace(); } return available; - } - - + } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#reconnect() */ /** @@ -215,31 +224,34 @@ public static ArrayList getAvailableSockets() { * * @return true, if successful */ - //@Override + // @Override public boolean reconnect() { Log.warning("Reconnecting TCP Socket.."); disconnect(); ThreadUtil.wait(getSleepTime()); - for(int i=0;i= 0) ; // "read()" returns '-1' when the 'FIN' is reached - socket.close(); // Now we can close the Socket + while (getDataIns().read() >= 0); // "read()" returns '-1' when the 'FIN' is reached + socket.close(); // Now we can close the Socket } - + } catch (IOException e) { // Auto-generated catch block e.printStackTrace(); } - + } - - - -// /* (non-Javadoc) -// * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#reconnect() -// */ -// @Override -// public boolean reconnect() { -// Log.warning("TCP Server Reconnect, just disconnecting"); -// disconnect(); -// return false; -// } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#waitingForConnection() + + // /* (non-Javadoc) + // * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#reconnect() + // */ + // @Override + // public boolean reconnect() { + // Log.warning("TCP Server Reconnect, just disconnecting"); + // disconnect(); + // return false; + // } + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.BowlerAbstractConnection#waitingForConnection() */ @Override public boolean waitingForConnection() { @@ -141,11 +143,9 @@ public boolean waitingForConnection() { * @return true, if is client connected */ public boolean isClientConnected() { - if(out==null) + if (out == null) return true; return !out.checkError(); } - - } diff --git a/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPClient.java b/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPClient.java index a57585df..1567e6c6 100644 --- a/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPClient.java +++ b/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPClient.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -18,6 +18,6 @@ * The Class BowlerUDPClient. */ @Deprecated -public class BowlerUDPClient extends UDPBowlerConnection{ +public class BowlerUDPClient extends UDPBowlerConnection { } diff --git a/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPServer.java b/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPServer.java index 70e3b312..9bc5efd9 100644 --- a/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPServer.java +++ b/src/main/java/com/neuronrobotics/sdk/network/BowlerUDPServer.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -14,7 +14,6 @@ ******************************************************************************/ package com.neuronrobotics.sdk.network; - import java.io.DataInputStream; import java.io.DataOutputStream; import java.io.IOException; @@ -29,186 +28,201 @@ import com.neuronrobotics.sdk.common.ByteList; import com.neuronrobotics.sdk.common.Log; - // Auto-generated Javadoc /** * The Class BowlerUDPServer. */ public class BowlerUDPServer extends BowlerAbstractConnection { - + /** The sleep time. */ private int sleepTime = 1000; - + /** The IP address set. */ - private InetAddress IPAddressSet=null; - + private InetAddress IPAddressSet = null; + /** The internal receive buffer. */ - private ByteList internalReceiveBuffer= new ByteList(); - + private ByteList internalReceiveBuffer = new ByteList(); + /** The udp sock. */ private DatagramSocket udpSock = null; - - //private UDPStream udp = null; + + // private UDPStream udp = null; /** The port. */ private int port = 1865; - + /** The destination port. */ - private int destinationPort=port; - + private int destinationPort = port; + /** * Instantiates a new bowler udp server. */ - public BowlerUDPServer(){ + public BowlerUDPServer() { setSynchronusPacketTimeoutTime(sleepTime); setChunkSize(5210); } - + /** * Instantiates a new bowler udp server. * - * @param port the port + * @param port + * the port */ - public BowlerUDPServer(int port){ + public BowlerUDPServer(int port) { setSynchronusPacketTimeoutTime(sleepTime); setChunkSize(5210); - this.port=port; + this.port = port; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#disconnect() */ - public void disconnect(){ - if(udpSock != null) + public void disconnect() { + if (udpSock != null) udpSock.close(); - udpSock=null; + udpSock = null; setConnected(false); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#connect() */ @Override public boolean connect() { - if(isConnected()) + if (isConnected()) return true; try { udpSock = new DatagramSocket(port); setConnected(true); - + } catch (SocketException e) { // Auto-generated catch block e.printStackTrace(); } - return isConnected(); + return isConnected(); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#reconnect() */ /** * Reconnect. * * @return true, if successful - * @throws IOException Signals that an I/O exception has occurred. + * @throws IOException + * Signals that an I/O exception has occurred. */ - //@Override + // @Override public boolean reconnect() throws IOException { disconnect(); connect(); return true; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#waitingForConnection() + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.BowlerAbstractConnection#waitingForConnection() */ @Override public boolean waitingForConnection() { return false; } - - - + /** * Gets the data ins. * * @return the data ins - * @throws NullPointerException the null pointer exception + * @throws NullPointerException + * the null pointer exception */ @Override - public DataInputStream getDataIns() throws NullPointerException{ + public DataInputStream getDataIns() throws NullPointerException { new RuntimeException("This method should not be called").printStackTrace(); - while(true); + while (true); } /** * Gets the data outs. * * @return the data outs - * @throws NullPointerException the null pointer exception + * @throws NullPointerException + * the null pointer exception */ @Override - public DataOutputStream getDataOuts() throws NullPointerException{ + public DataOutputStream getDataOuts() throws NullPointerException { new RuntimeException("This method should not be called").printStackTrace(); - while(true); + while (true); } - + /** * Write. * - * @param data the data - * @throws IOException Signals that an I/O exception has occurred. + * @param data + * the data + * @throws IOException + * Signals that an I/O exception has occurred. */ - //private ByteList outgoing = new ByteList(); + // private ByteList outgoing = new ByteList(); public void write(byte[] data) throws IOException { waitForConnectioToBeReady(); setLastWrite(System.currentTimeMillis()); - + DatagramPacket sendPacket = new DatagramPacket(data, data.length, IPAddressSet, destinationPort); - Log.info("Sending UDP packet: "+sendPacket); + Log.info("Sending UDP packet: " + sendPacket); udpSock.send(sendPacket); - + } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#loadPacketFromPhy(com.neuronrobotics.sdk.common.ByteList) + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.BowlerAbstractConnection#loadPacketFromPhy(com. + * neuronrobotics.sdk.common.ByteList) */ @Override - public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) throws NullPointerException, IOException{ - byte[] receiveData=new byte[4096]; - + public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) throws NullPointerException, IOException { + byte[] receiveData = new byte[4096]; + DatagramPacket receivePacket = new DatagramPacket(receiveData, receiveData.length); - //Log.info("Waiting for UDP packet"); - - try{ + // Log.info("Waiting for UDP packet"); + + try { udpSock.receive(receivePacket); - }catch(SocketException ex){ + } catch (SocketException ex) { // disconnect called - Log. warning("Receive bailed out because of close"); + Log.warning("Receive bailed out because of close"); return null; } - - IPAddressSet=(receivePacket.getAddress()); + + IPAddressSet = (receivePacket.getAddress()); destinationPort = receivePacket.getPort(); - - Log.info("Got UDP packet from "+IPAddressSet+" : "+destinationPort); - - byte [] data = receivePacket.getData(); - - for (int i=0;i0){ + BowlerDatagram bd = null; + + while (internalReceiveBuffer.size() > 0) { bytesToPacketBuffer.add(internalReceiveBuffer.pop()); - if (bd==null) { + if (bd == null) { bd = BowlerDatagramFactory.build(bytesToPacketBuffer); } } - + return bd; } - } diff --git a/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java b/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java index 2478ef35..2a13c1f2 100644 --- a/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java +++ b/src/main/java/com/neuronrobotics/sdk/network/UDPBowlerConnection.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -20,7 +20,6 @@ import java.net.DatagramPacket; import java.net.DatagramSocket; import java.net.InetAddress; -import java.net.SocketException; import java.net.SocketTimeoutException; import java.net.UnknownHostException; import java.util.ArrayList; @@ -37,264 +36,287 @@ /** * The Class UDPBowlerConnection. */ -public class UDPBowlerConnection extends BowlerAbstractConnection{ - +public class UDPBowlerConnection extends BowlerAbstractConnection { + /** The sleep time. */ private int sleepTime = 5000; /** The port. */ private int port = 1865; - /** The IP address set. */ - private InetAddress IPAddressSet=null; - + private InetAddress IPAddressSet = null; + /** The addrs. */ - private ArrayList addrs=null; - + private ArrayList addrs = null; + /** The udp sock. */ - //private ByteList internalReceiveBuffer= new ByteList(); + // private ByteList internalReceiveBuffer= new ByteList(); private DatagramSocket udpSock = null; - + /** * Instantiates a new UDP bowler connection. */ - public UDPBowlerConnection(){ + public UDPBowlerConnection() { init(); } - + /** * Instantiates a new UDP bowler connection. * - * @param set the set + * @param set + * the set */ - public UDPBowlerConnection(InetAddress set){ + public UDPBowlerConnection(InetAddress set) { init(); setAddress(set); } - + /** * Instantiates a new UDP bowler connection. * - * @param set the set - * @param port the port + * @param set + * the set + * @param port + * the port */ - public UDPBowlerConnection(InetAddress set,int port){ - this.port=port; + public UDPBowlerConnection(InetAddress set, int port) { + this.port = port; init(); setAddress(set); } - + /** * Sets the address. * - * @param set the new address + * @param set + * the new address */ - public void setAddress(InetAddress set){ - IPAddressSet=set; - } - + public void setAddress(InetAddress set) { + IPAddressSet = set; + } + /** * Instantiates a new UDP bowler connection. * - * @param port the port + * @param port + * the port */ - public UDPBowlerConnection(int port){ - this.port=port; + public UDPBowlerConnection(int port) { + this.port = port; init(); } - - + /** * Gets the data ins. * * @return the data ins - * @throws NullPointerException the null pointer exception + * @throws NullPointerException + * the null pointer exception */ @Override - public DataInputStream getDataIns() throws NullPointerException{ + public DataInputStream getDataIns() throws NullPointerException { new RuntimeException("This method should not be called").printStackTrace(); - while(true); + while (true); } /** * Gets the data outs. * * @return the data outs - * @throws NullPointerException the null pointer exception + * @throws NullPointerException + * the null pointer exception */ @Override - public DataOutputStream getDataOuts() throws NullPointerException{ + public DataOutputStream getDataOuts() throws NullPointerException { new RuntimeException("This method should not be called").printStackTrace(); - while(true); + while (true); } - + /** * Write. * - * @param data the data - * @throws IOException Signals that an I/O exception has occurred. + * @param data + * the data + * @throws IOException + * Signals that an I/O exception has occurred. */ - //private ByteList outgoing = new ByteList(); + // private ByteList outgoing = new ByteList(); public void write(byte[] data) throws IOException { - //waitForConnectioToBeReady(); + // waitForConnectioToBeReady(); setLastWrite(System.currentTimeMillis()); - + DatagramPacket sendPacket = new DatagramPacket(data, data.length, IPAddressSet, port); - //Log.info("Sending UDP packet: "+sendPacket); + // Log.info("Sending UDP packet: "+sendPacket); udpSock.send(sendPacket); - + } - + /** The receive data. */ - byte[] receiveData=new byte[4096]; - + byte[] receiveData = new byte[4096]; + /** The receive packet. */ DatagramPacket receivePacket = new DatagramPacket(receiveData, receiveData.length); - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#loadPacketFromPhy(com.neuronrobotics.sdk.common.ByteList) + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.BowlerAbstractConnection#loadPacketFromPhy(com. + * neuronrobotics.sdk.common.ByteList) */ @Override - public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) throws NullPointerException, IOException{ - + public BowlerDatagram loadPacketFromPhy(ByteList bytesToPacketBuffer) throws NullPointerException, IOException { + long start = System.currentTimeMillis(); - //Log.info("Waiting for UDP packet"); + // Log.info("Waiting for UDP packet"); udpSock.setSoTimeout(1);// Timeout the socket after 1 ms - //com.neuronrobotics.sdk.common.Log.error("Timeout set "+(System.currentTimeMillis()-start)); + // com.neuronrobotics.sdk.common.Log.error("Timeout set + // "+(System.currentTimeMillis()-start)); start = System.currentTimeMillis(); - try{ + try { udpSock.receive(receivePacket); - - }catch(SocketTimeoutException ste){ + + } catch (SocketTimeoutException ste) { return null; - }catch(Exception ex){ + } catch (Exception ex) { // disconnect called - //Log. warning("Receive bailed out because of close"); + // Log. warning("Receive bailed out because of close"); ex.printStackTrace(); return null; } - //com.neuronrobotics.sdk.common.Log.error("Recv "+(System.currentTimeMillis()-start)); + // com.neuronrobotics.sdk.common.Log.error("Recv + // "+(System.currentTimeMillis()-start)); start = System.currentTimeMillis(); Log.info("Got UDP packet"); - if(addrs== null) - addrs=new ArrayList(); + if (addrs == null) + addrs = new ArrayList(); getAllAddresses().add(receivePacket.getAddress()); - - byte [] data = receivePacket.getData(); - - for (int i=0;i getAllAddresses(){ - if(addrs== null){ - addrs=new ArrayList(); + public ArrayList getAllAddresses() { + if (addrs == null) { + addrs = new ArrayList(); try { - - //Generate a ping command + + // Generate a ping command BowlerDatagram ping = BowlerDatagramFactory.build(new MACAddress(), new PingCommand()); ping.setUpstream(false); - Log.info("Sending synchronization ping: \n"+ping); - //send it to the UDP socket + Log.info("Sending synchronization ping: \n" + ping); + // send it to the UDP socket write(ping.getBytes()); - //wait for all devices to report back - try {Thread.sleep(3000);} catch (InterruptedException e) {} + // wait for all devices to report back + try { + Thread.sleep(3000); + } catch (InterruptedException e) { + } } catch (IOException e) { // Auto-generated catch block e.printStackTrace(); @@ -306,15 +328,16 @@ public ArrayList getAllAddresses(){ /** * Sets the address. * - * @param address the new address + * @param address + * the new address */ public void setAddress(String address) { - for (InetAddress in: getAllAddresses()) { - if(in.getHostAddress().contains(address)) { - setAddress(in); - return; + for (InetAddress in : getAllAddresses()) { + if (in.getHostAddress().contains(address)) { + setAddress(in); + return; } - + } throw new RuntimeException("Unknown address"); } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/GenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/GenericPIDDevice.java index 23a7969e..8de21449 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/GenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/GenericPIDDevice.java @@ -15,246 +15,317 @@ // Auto-generated Javadoc /** - * This class is a generic implementation of the PID system. This can be used as a template, superclass or internal object class for - * use with and device that implements the IPIDControl interface. + * This class is a generic implementation of the PID system. This can be used as + * a template, superclass or internal object class for use with and device that + * implements the IPIDControl interface. + * * @author hephaestus * */ -public class GenericPIDDevice extends BowlerAbstractDevice implements IExtendedPIDControl,IFlushable{ - +public class GenericPIDDevice extends BowlerAbstractDevice implements IExtendedPIDControl, IFlushable { + /** The is init. */ - private boolean isInit=false; - + private boolean isInit = false; + /** The implementation. */ private AbstractPidNamespaceImp implementation; - + /** * Instantiates a new generic pid device. */ public GenericPIDDevice() { setAddress(new MACAddress(MACAddress.BROADCAST)); } - + /** * Instantiates a new generic pid device. * - * @param connection the connection + * @param connection + * the connection */ public GenericPIDDevice(BowlerAbstractConnection connection) { setAddress(new MACAddress(MACAddress.BROADCAST)); setConnection(connection); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#setConnection(com.neuronrobotics.sdk.common.BowlerAbstractConnection) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#setConnection(com. + * neuronrobotics.sdk.common.BowlerAbstractConnection) */ @Override public void setConnection(BowlerAbstractConnection connection) { super.setConnection(connection); - if(connection.isConnected()) + if (connection.isConnected()) init(); } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#connect() */ @Override - public boolean connect(){ - if(super.connect()){ + public boolean connect() { + if (super.connect()) { init(); return true; } return false; } - + /** * Inits the. */ - private void init(){ - if(isInit){ + private void init() { + if (isInit) { return; } - if(getImplementation() == null){ - + if (getImplementation() == null) { + } isInit = true; } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#ResetPIDChannel(int, int) + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#ResetPIDChannel + * (int, int) */ @Override public boolean ResetPIDChannel(int group, float valueToSetCurrentTo) { return getImplementation().ResetPIDChannel(group, valueToSetCurrentTo); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#ConfigurePIDController(com.neuronrobotics.sdk.pid.PIDConfiguration) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * ConfigurePIDController(com.neuronrobotics.sdk.pid.PIDConfiguration) */ @Override public boolean ConfigurePIDController(PIDConfiguration config) { return getImplementation().ConfigurePIDController(config); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDConfiguration(int) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * getPIDConfiguration(int) */ @Override public PIDConfiguration getPIDConfiguration(int group) { return getImplementation().getPIDConfiguration(group); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#ConfigurePDVelovityController(com.neuronrobotics.sdk.pid.PDVelocityConfiguration) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * ConfigurePDVelovityController(com.neuronrobotics.sdk.pid. + * PDVelocityConfiguration) */ @Override public boolean ConfigurePDVelovityController(PDVelocityConfiguration config) { return getImplementation().ConfigurePDVelovityController(config); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPDVelocityConfiguration(int) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * getPDVelocityConfiguration(int) */ @Override public PDVelocityConfiguration getPDVelocityConfiguration(int group) { return getImplementation().getPDVelocityConfiguration(group); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDChannelCount() + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * getPIDChannelCount() */ @Override public int getPIDChannelCount() { return getImplementation().getNumberOfChannels(); } - + /** * Gets the number of channels. * * @return the number of channels */ - //This is added for backward compatibility - public int getNumberOfChannels(){ + // This is added for backward compatibility + public int getNumberOfChannels() { return getPIDChannelCount(); } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetPIDSetPoint(int, int, double) + + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetPIDSetPoint( + * int, int, double) */ @Override public boolean SetPIDSetPoint(int group, float setpoint, double seconds) { return getImplementation().SetPIDSetPoint(group, setpoint, seconds); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetAllPIDSetPoint(int[], double) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * SetAllPIDSetPoint(int[], double) */ @Override public boolean SetAllPIDSetPoint(float[] setpoints, double seconds) { return getImplementation().SetAllPIDSetPoint(setpoints, seconds); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#GetPIDPosition(int) + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#GetPIDPosition( + * int) */ @Override public float GetPIDPosition(int group) { return getImplementation().GetPIDPosition(group); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#GetAllPIDPosition() + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * GetAllPIDPosition() */ @Override public float[] GetAllPIDPosition() { return getImplementation().GetAllPIDPosition(); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#addPIDEventListener(com.neuronrobotics.sdk.pid.IPIDEventListener) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * addPIDEventListener(com.neuronrobotics.sdk.pid.IPIDEventListener) */ @Override public void addPIDEventListener(IPIDEventListener l) { getImplementation().addPIDEventListener(l); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#removePIDEventListener(com.neuronrobotics.sdk.pid.IPIDEventListener) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * removePIDEventListener(com.neuronrobotics.sdk.pid.IPIDEventListener) */ @Override public void removePIDEventListener(IPIDEventListener l) { getImplementation().removePIDEventListener(l); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#flushPIDChannels(double) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * flushPIDChannels(double) */ @Override public void flushPIDChannels(double time) { getImplementation().flushPIDChannels(time); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetPIDInterpolatedVelocity(int, int, double) + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * SetPIDInterpolatedVelocity(int, int, double) */ @Override - public boolean SetPIDInterpolatedVelocity(int group, int unitsPerSecond, - double seconds) throws PIDCommandException { + public boolean SetPIDInterpolatedVelocity(int group, int unitsPerSecond, double seconds) + throws PIDCommandException { return getImplementation().SetPIDInterpolatedVelocity(group, unitsPerSecond, seconds); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetPDVelocity(int, int, double) + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#SetPDVelocity( + * int, int, double) */ @Override - public boolean SetPDVelocity(int group, int unitsPerSecond, double seconds) - throws PIDCommandException { + public boolean SetPDVelocity(int group, int unitsPerSecond, double seconds) throws PIDCommandException { return getImplementation().SetPDVelocity(group, unitsPerSecond, seconds); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDChannel(int) + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#getPIDChannel( + * int) */ @Override public PIDChannel getPIDChannel(int group) { return getImplementation().getPIDChannel(group); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace#killAllPidGroups() + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# + * killAllPidGroups() */ @Override public boolean killAllPidGroups() { return getImplementation().killAllPidGroups(); } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com.neuronrobotics.sdk.common.BowlerDatagram) + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.IBowlerDatagramListener#onAsyncResponse(com. + * neuronrobotics.sdk.common.BowlerDatagram) */ @Override public void onAsyncResponse(BowlerDatagram data) { getImplementation().onAsyncResponse(data); } - + /** * Fire pid reset event. * - * @param group the group - * @param val the val + * @param group + * the group + * @param val + * the val */ protected void firePIDResetEvent(int group, float val) { getImplementation().firePIDResetEvent(group, val); } - + /** * Fire pid event. * - * @param pidEvent the pid event + * @param pidEvent + * the pid event */ protected void firePIDEvent(PIDEvent pidEvent) { getImplementation().firePIDEvent(pidEvent); } - + /** * Gets the channels. * @@ -263,68 +334,71 @@ protected void firePIDEvent(PIDEvent pidEvent) { public ArrayList getChannels() { return getImplementation().getChannels(); } - + /** * Sets the channels. * - * @param channels the new channels + * @param channels + * the new channels */ public void setChannels(ArrayList channels) { getImplementation().setChannels(channels); } - + /** * Gets the implementation. * * @return the implementation */ public AbstractPidNamespaceImp getImplementation() { - - if(implementation==null){ - if(this instanceof VirtualGenericPIDDevice){ + if (implementation == null) { + if (this instanceof VirtualGenericPIDDevice) { setImplementation(new LegacyPidNamespaceImp(this)); return implementation; - }else{ - if(hasNamespace("bcs.pid.*;0.3;;")){ - //Log.info("Using legacy PID namespace"); + } else { + if (hasNamespace("bcs.pid.*;0.3;;")) { + // Log.info("Using legacy PID namespace"); setImplementation(new LegacyPidNamespaceImp(this)); - } - else{ - //Log.info("Using new PID namespace"); + } else { + // Log.info("Using new PID namespace"); setImplementation(new PidNamespaceImp(this)); } } } return implementation; } - + /** * Sets the implementation. * - * @param implementation the new implementation + * @param implementation + * the new implementation */ public void setImplementation(AbstractPidNamespaceImp implementation) { this.implementation = implementation; } - - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.namespace.bcs.pid.IExtendedPIDControl#runOutputHysteresisCalibration(int) + + /* + * (non-Javadoc) + * + * @see com.neuronrobotics.sdk.namespace.bcs.pid.IExtendedPIDControl# + * runOutputHysteresisCalibration(int) */ @Override public boolean runOutputHysteresisCalibration(int group) { - try{ + try { return getImplementation().runOutputHysteresisCalibration(group); - }catch(RuntimeException e){ + } catch (RuntimeException e) { Log.error(e.getMessage()); return false; } - + } @Override public void flush(double seconds) { flushPIDChannels(seconds); } - + } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/ILinkFactoryProvider.java b/src/main/java/com/neuronrobotics/sdk/pid/ILinkFactoryProvider.java index 2d8073c5..3e074273 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/ILinkFactoryProvider.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/ILinkFactoryProvider.java @@ -8,51 +8,60 @@ * The Interface ILinkFactoryProvider. */ public interface ILinkFactoryProvider { - + /** * Request link configuration. * - * @param index the index + * @param index + * the index * @return the link configuration */ LinkConfiguration requestLinkConfiguration(int index); - + /** * This calculates the target pose . * - * @param taskSpaceTransform the task space transform - * @param seconds the time for the transition to take from current position to target, unit seconds + * @param taskSpaceTransform + * the task space transform + * @param seconds + * the time for the transition to take from current position to + * target, unit seconds * @return The joint space vector is returned for target arrival referance */ public double[] setDesiredTaskSpaceTransform(TransformNR taskSpaceTransform, double seconds); - + /** - * This takes a reading of the robots position and converts it to a joint space vector - * This vector is converted to task space and returned . + * This takes a reading of the robots position and converts it to a joint space + * vector This vector is converted to task space and returned . * * @return taskSpaceVector in mm,radians [x,y,z,rotx,rotY,rotZ] */ public TransformNR getCurrentTaskSpaceTransform(); - - + /** * This calculates the target pose . * - * @param jointSpaceVect the joint space vect - * @param seconds the time for the transition to take from current position to target, unit seconds + * @param jointSpaceVect + * the joint space vect + * @param seconds + * the time for the transition to take from current position to + * target, unit seconds * @return The joint space vector is returned for target arrival referance */ public TransformNR setDesiredJointSpaceVector(double[] jointSpaceVect, double seconds); - + /** * Sets an individual target joint position . * - * @param axis the joint index to set - * @param value the value to set it to - * @param seconds the time for the transition to take from current position to target, unit seconds + * @param axis + * the joint index to set + * @param value + * the value to set it to + * @param seconds + * the time for the transition to take from current position to + * target, unit seconds */ - public void setDesiredJointAxisValue(int axis, double value, double seconds) ; - + public void setDesiredJointAxisValue(int axis, double value, double seconds); } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/IPIDControl.java b/src/main/java/com/neuronrobotics/sdk/pid/IPIDControl.java index e68ae9f5..b951ffec 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/IPIDControl.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/IPIDControl.java @@ -1,10 +1,10 @@ -package com.neuronrobotics.sdk.pid; - -import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; - -/** - * The Interface IPIDControl. - */ -public interface IPIDControl extends IPidControlNamespace { - -} +package com.neuronrobotics.sdk.pid; + +import com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace; + +/** + * The Interface IPIDControl. + */ +public interface IPIDControl extends IPidControlNamespace { + +} diff --git a/src/main/java/com/neuronrobotics/sdk/pid/IPIDEventListener.java b/src/main/java/com/neuronrobotics/sdk/pid/IPIDEventListener.java index 1402f463..bc0b8057 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/IPIDEventListener.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/IPIDEventListener.java @@ -2,38 +2,40 @@ // Auto-generated Javadoc /** - * The listener interface for receiving IPIDEvent events. - * The class that is interested in processing a IPIDEvent - * event implements this interface, and the object created - * with that class is registered with a component using the - * component's addIPIDEventListener method. When - * the IPIDEvent event occurs, that object's appropriate - * method is invoked. + * The listener interface for receiving IPIDEvent events. The class that is + * interested in processing a IPIDEvent event implements this interface, and the + * object created with that class is registered with a component using the + * component's addIPIDEventListener method. When the IPIDEvent event occurs, + * that object's appropriate method is invoked. * * @see PIDEvent - * @see PIDLimitEvent + * @see PIDLimitEvent */ public interface IPIDEventListener { - + /** * On pid event. * - * @param e the e + * @param e + * the e */ public void onPIDEvent(PIDEvent e); - + /** * On pid limit event. * - * @param e the e + * @param e + * the e */ public void onPIDLimitEvent(PIDLimitEvent e); - + /** * On pid reset. * - * @param group the group - * @param currentValue the current value + * @param group + * the group + * @param currentValue + * the current value */ - public void onPIDReset(int group,float currentValue); + public void onPIDReset(int group, float currentValue); } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/IPauseTimeListener.java b/src/main/java/com/neuronrobotics/sdk/pid/IPauseTimeListener.java index 4d62dd19..9acffe54 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/IPauseTimeListener.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/IPauseTimeListener.java @@ -1,6 +1,6 @@ package com.neuronrobotics.sdk.pid; public interface IPauseTimeListener { - - public void pause(boolean val); + + public void pause(boolean val); } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java index 61e27133..4332bbe8 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationEngine.java @@ -7,31 +7,31 @@ /** * The Class LinearInterpolationEngine. */ -public class InterpolationEngine extends TimeKeeper{ +public class InterpolationEngine extends TimeKeeper { private InterpolationType type = InterpolationType.LINEAR; /** The ticks. */ - private double ticks=0; - + private double ticks = 0; + /** The last tick. */ - private double lastTick=getTicks(); - + private double lastTick = getTicks(); + /** The set point. */ - private double endSetpoint=0; - + private double endSetpoint = 0; + /** The duration. */ private double duration; - + /** The start time. */ private double startTime; - + /** The start point. */ private double startSetpoint; - + /** The pause. */ private boolean pause = false; - + private double unitDuration; - private double TRAPEZOIDAL_time=0; + private double TRAPEZOIDAL_time = 0; private double BEZIER_P0; private double BEZIER_P1; private double interpElapsed; @@ -51,129 +51,136 @@ public class InterpolationEngine extends TimeKeeper{ private double p3; private double setpointDiff; private double newSetpoint; - + public InterpolationEngine(ITimeProvider t) { setTimeProvider(t); } - /** * Sets the velocity. * - * @param unitsPerSecond the units per second + * @param unitsPerSecond + * the units per second */ public void SetVelocity(double unitsPerSecond) { } - + /** * Gets the position. * * @return the position */ public double getPosition() { - return getTicks(); + return getTicks(); } - - - + /** * Sets the pid set point. * - * @param setpoint the setpoint - * @param seconds the seconds + * @param setpoint + * the setpoint + * @param seconds + * the seconds */ - public void StartLinearMotion(double setpoint,double seconds,long startTimeMs){ - setSetpointWithTime(startTimeMs,setpoint, seconds, InterpolationType.LINEAR); + public void StartLinearMotion(double setpoint, double seconds, long startTimeMs) { + setSetpointWithTime(startTimeMs, setpoint, seconds, InterpolationType.LINEAR); } /** * Sets the pid set point. * - * @param setpoint the setpoint - * @param seconds the seconds + * @param setpoint + * the setpoint + * @param seconds + * the seconds */ - public void StartSinusoidalMotion(double setpoint,double seconds,long startTimeMs){ - setSetpointWithTime(startTimeMs,setpoint, seconds, InterpolationType.SINUSOIDAL); + public void StartSinusoidalMotion(double setpoint, double seconds, long startTimeMs) { + setSetpointWithTime(startTimeMs, setpoint, seconds, InterpolationType.SINUSOIDAL); } - public void setSetpointWithTime(long startTimeMs ,double setpoint,double seconds, InterpolationType mode,double ...conf) { - if(InterpolationType.TRAPEZOIDAL==mode) { - TRAPEZOIDAL_time =conf[0]; + public void setSetpointWithTime(long startTimeMs, double setpoint, double seconds, InterpolationType mode, + double... conf) { + if (InterpolationType.TRAPEZOIDAL == mode) { + TRAPEZOIDAL_time = conf[0]; } - if(InterpolationType.BEZIER==mode) { + if (InterpolationType.BEZIER == mode) { BEZIER_P0 = conf[0]; BEZIER_P1 = conf[1]; } type = mode; - if(seconds<0.001) + if (seconds < 0.001) seconds = 0.001;// one ms garunteed - //setPause(true); + // setPause(true); - duration = (long) (seconds*1000); - startTime=startTimeMs; - if(new Double(setpoint).isNaN()) { + duration = (long) (seconds * 1000); + startTime = startTimeMs; + if (new Double(setpoint).isNaN()) { new RuntimeException("Setpopint in virtual device can not be set to nan").printStackTrace(); - - }else - endSetpoint=setpoint; + + } else + endSetpoint = setpoint; startSetpoint = getTicks(); - - //setPause(false); + + // setPause(false); } - public void StartTrapezoidalMotion(double setpoint,double seconds, double trapazoidalTime,long startTimeMs) { + public void StartTrapezoidalMotion(double setpoint, double seconds, double trapazoidalTime, long startTimeMs) { if (trapazoidalTime * 2 > seconds) { - StartSinusoidalMotion(setpoint, seconds,startTimeMs); + StartSinusoidalMotion(setpoint, seconds, startTimeMs); return; } - setSetpointWithTime(startTimeMs,setpoint, seconds, InterpolationType.TRAPEZOIDAL,trapazoidalTime); + setSetpointWithTime(startTimeMs, setpoint, seconds, InterpolationType.TRAPEZOIDAL, trapazoidalTime); } /** - * SetSetpoint in degrees with time - * Set the setpoint for the motor in degrees - * @param newTargetInDegrees the new setpoint for the closed loop controller - * @param miliseconds the number of miliseconds to get from current position to the new setpoint - * @param Control_0 On a scale of 0 to 1, where should the first control point in the equation go default= 0.5 - * @param Control_1 On a scale of 0 to 1, where should the second control point in the equation go default= 1.0 - * use Bezier interpolation + * SetSetpoint in degrees with time Set the setpoint for the motor in degrees + * + * @param newTargetInDegrees + * the new setpoint for the closed loop controller + * @param miliseconds + * the number of miliseconds to get from current position to the new + * setpoint + * @param Control_0 + * On a scale of 0 to 1, where should the first control point in the + * equation go default= 0.5 + * @param Control_1 + * On a scale of 0 to 1, where should the second control point in the + * equation go default= 1.0 use Bezier interpolation */ - void StartBezierMotion(double setpoint,double seconds, double Control_0 , double Control_1,long startTimeMs) - { - setSetpointWithTime(startTimeMs,setpoint, seconds, InterpolationType.BEZIER,Control_0,Control_1); + void StartBezierMotion(double setpoint, double seconds, double Control_0, double Control_1, long startTimeMs) { + setSetpointWithTime(startTimeMs, setpoint, seconds, InterpolationType.BEZIER, Control_0, Control_1); } - - + /** * Update. * * @return true, if successful */ - public boolean update(long time){ - interpolate( time); - if((getTicks()!=lastTick)) { - lastTick=getTicks(); + public boolean update(long time) { + interpolate(time); + if ((getTicks() != lastTick)) { + lastTick = getTicks(); return true; - } + } return false; } /** * Reset encoder. * - * @param value the value + * @param value + * the value */ - public synchronized void ResetEncoder(double value) { - //setPause(true); - //ThreadUtil.wait((int)(threadTime*2)); + public synchronized void ResetEncoder(double value) { + // setPause(true); + // ThreadUtil.wait((int)(threadTime*2)); setTicks(value); - lastTick=value; - endSetpoint=value; - duration=0; - startTime=currentTimeMillis(); - startSetpoint=value; - //setPause(false); + lastTick = value; + endSetpoint = value; + duration = 0; + startTime = currentTimeMillis(); + startSetpoint = value; + // setPause(false); } - double myFmapBounded(double x, double in_min, double in_max, double out_min, double out_max) { @@ -183,62 +190,53 @@ public synchronized void ResetEncoder(double value) { return out_min; return ((x - in_min) * (out_max - out_min) / (in_max - in_min)) + out_min; } - - public double getInterpolationUnitIncrement(long time) { - interpElapsed = (double)(time - startTime); - if (interpElapsed < duration && duration > 0) - { - + + public double getInterpolationUnitIncrement(long time) { + interpElapsed = (double) (time - startTime); + if (interpElapsed < duration && duration > 0) { + setUnitDuration(interpElapsed / duration); - if(type==InterpolationType.SINUSOIDAL) { + if (type == InterpolationType.SINUSOIDAL) { sinPortion = (Math.cos(-Math.PI * getUnitDuration()) / 2) + 0.5; setUnitDuration(1 - sinPortion); } - if (type == InterpolationType.TRAPEZOIDAL) - { + if (type == InterpolationType.TRAPEZOIDAL) { lengthOfLinearMode = duration - (TRAPEZOIDAL_time * 2); unitLienear = lengthOfLinearMode / duration; - unitRamp = ((double)TRAPEZOIDAL_time) / duration; + unitRamp = ((double) TRAPEZOIDAL_time) / duration; unitStartRampDown = unitLienear + unitRamp; - if (getUnitDuration() < unitRamp) - { + if (getUnitDuration() < unitRamp) { increment = 1 - (getUnitDuration()) / (unitRamp * 2); sinPortion2 = 1 + Math.cos(-Math.PI * increment); setUnitDuration(sinPortion2 * unitRamp); - } - else if (getUnitDuration() > unitRamp && getUnitDuration() < unitStartRampDown) - { + } else if (getUnitDuration() > unitRamp && getUnitDuration() < unitStartRampDown) { // constant speed - } - else if (getUnitDuration() > unitStartRampDown) - { + } else if (getUnitDuration() > unitStartRampDown) { increment2 = (getUnitDuration() - unitStartRampDown) / (unitRamp * 2) + 0.5; sinPortion3 = 0.5 - ((Math.cos(-Math.PI * increment2) / 2) + 0.5); setUnitDuration((sinPortion3 * 2) * unitRamp + unitStartRampDown); } } - if (type == InterpolationType.BEZIER) - { - if (getUnitDuration() > 0 && getUnitDuration() < 1) - { + if (type == InterpolationType.BEZIER) { + if (getUnitDuration() > 0 && getUnitDuration() < 1) { t = getUnitDuration(); p0 = 0; p1 = BEZIER_P0; p2 = BEZIER_P1; p3 = 1; - setUnitDuration(Math.pow((1 - t), 3) * p0 + 3 * t * Math.pow((1 - t), 2) * p1 + 3 * Math.pow(t, 2) * (1 - t) * p2 + Math.pow(t, 3) * p3); + setUnitDuration(Math.pow((1 - t), 3) * p0 + 3 * t * Math.pow((1 - t), 2) * p1 + + 3 * Math.pow(t, 2) * (1 - t) * p2 + Math.pow(t, 3) * p3); } } return getUnitDuration(); } return 1; } - - - + /** * Interpolate. - * @param time + * + * @param time */ private void interpolate(long time) { setUnitDuration(getInterpolationUnitIncrement(time)); @@ -251,25 +249,25 @@ private void interpolate(long time) { setTicks(endSetpoint); } } - -// /** -// * Checks if is pause. -// * -// * @return true, if is pause -// */ -// public boolean isPause() { -// return pause; -// } -// -// /** -// * Sets the pause. -// * -// * @param pause the new pause -// */ -// private void setPause(boolean pause) { -// this.pause = pause; -// } - + + // /** + // * Checks if is pause. + // * + // * @return true, if is pause + // */ + // public boolean isPause() { + // return pause; + // } + // + // /** + // * Sets the pause. + // * + // * @param pause the new pause + // */ + // private void setPause(boolean pause) { + // this.pause = pause; + // } + /** * Gets the ticks. * @@ -278,20 +276,22 @@ private void interpolate(long time) { public double getTicks() { return ticks; } - + /** * Sets the ticks. * - * @param ticks the new ticks + * @param ticks + * the new ticks */ public void setTicks(double ticks) { -// if(new Double(ticks).isNaN()) { -// new RuntimeException("Ticks in virtual device can not be set to nan").printStackTrace(); -// return; -// } + // if(new Double(ticks).isNaN()) { + // new RuntimeException("Ticks in virtual device can not be set to + // nan").printStackTrace(); + // return; + // } this.ticks = ticks; } - + public InterpolationType getType() { return type; } @@ -305,10 +305,10 @@ public double getUnitDuration() { } public void setUnitDuration(double unitDuration) { - if(unitDuration>1) - unitDuration=1; - if(unitDuration<0) - unitDuration=0; + if (unitDuration > 1) + unitDuration = 1; + if (unitDuration < 0) + unitDuration = 0; this.unitDuration = unitDuration; } } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationType.java b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationType.java index bf41e04c..02ad46d9 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/InterpolationType.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/InterpolationType.java @@ -1,5 +1,5 @@ package com.neuronrobotics.sdk.pid; public enum InterpolationType { - LINEAR,SINUSOIDAL,TRAPEZOIDAL,BEZIER + LINEAR, SINUSOIDAL, TRAPEZOIDAL, BEZIER } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PDVelocityConfiguration.java b/src/main/java/com/neuronrobotics/sdk/pid/PDVelocityConfiguration.java index c9ad56d6..be034ed1 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PDVelocityConfiguration.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PDVelocityConfiguration.java @@ -8,59 +8,75 @@ * The Class PDVelocityConfiguration. */ public class PDVelocityConfiguration { - + /** The group. */ - private int group=0; - + private int group = 0; + /** The kp. */ - private double KP=1; - + private double KP = 1; + /** The kd. */ - private double KD=0; + private double KD = 0; /** * Instantiates a new PD velocity configuration. */ - public PDVelocityConfiguration(){ - + public PDVelocityConfiguration() { + } /** * Instantiates a new PD velocity configuration. * - * @param group This is the PID group this configuration object represents - * @param enabled True if the controller is running, false otherwise - * @param inverted This inverts the output value. Set true if the controller diverges - * @param async sets the flag to send this channels async values upstream - * @param KP Proportional constant - * @param KI Integral constant - * @param KD Derivative constant - * @param latch The value to latch into the PID controller if the home switch is hit (encoder only, not used in analog PID) - * @param useLatch Use the value to latch into the PID controller if the home switch is hit (encoder only, not used in analog PID) - * @param stopOnLatch Set the setpoint of the controller to current if home switch is hit (encoder only, not used in analog PID) + * @param group + * This is the PID group this configuration object represents + * @param enabled + * True if the controller is running, false otherwise + * @param inverted + * This inverts the output value. Set true if the controller diverges + * @param async + * sets the flag to send this channels async values upstream + * @param KP + * Proportional constant + * @param KI + * Integral constant + * @param KD + * Derivative constant + * @param latch + * The value to latch into the PID controller if the home switch is + * hit (encoder only, not used in analog PID) + * @param useLatch + * Use the value to latch into the PID controller if the home switch + * is hit (encoder only, not used in analog PID) + * @param stopOnLatch + * Set the setpoint of the controller to current if home switch is + * hit (encoder only, not used in analog PID) */ - public PDVelocityConfiguration(int group,boolean enabled,boolean inverted,boolean async,double KP,double KI,double KD, double latch, boolean useLatch, boolean stopOnLatch){ + public PDVelocityConfiguration(int group, boolean enabled, boolean inverted, boolean async, double KP, double KI, + double KD, double latch, boolean useLatch, boolean stopOnLatch) { setGroup(group); setKP(KP); setKD(KD); } - + /** * Used to parse a PID configuration out of a PID packet. * - * @param conf the conf + * @param conf + * the conf */ public PDVelocityConfiguration(BowlerDatagram conf) { - setGroup( conf.getData().get(0)); - setKP(((double)ByteList.convertToInt(conf.getData().getBytes(1, 4),false))/100); - setKD(((double)ByteList.convertToInt(conf.getData().getBytes(5, 4),false))/100); + setGroup(conf.getData().get(0)); + setKP(((double) ByteList.convertToInt(conf.getData().getBytes(1, 4), false)) / 100); + setKD(((double) ByteList.convertToInt(conf.getData().getBytes(5, 4), false)) / 100); } - + /** * Instantiates a new PD velocity configuration. * - * @param args the args + * @param args + * the args */ public PDVelocityConfiguration(Object[] args) { setGroup((Integer) args[0]); @@ -68,25 +84,28 @@ public PDVelocityConfiguration(Object[] args) { setKD((Double) args[2]); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ @Override - public String toString(){ - String s="PD Velocity configuration group #"+getGroup(); - s+="\n\tConstants: P="+getKP()+" D="+getKD(); + public String toString() { + String s = "PD Velocity configuration group #" + getGroup(); + s += "\n\tConstants: P=" + getKP() + " D=" + getKD(); return s; } - + /** * Sets the group. * - * @param group the new group + * @param group + * the new group */ public void setGroup(int group) { this.group = group; } - + /** * Gets the group. * @@ -99,12 +118,13 @@ public int getGroup() { /** * Sets the kp. * - * @param kP the new kp + * @param kP + * the new kp */ public void setKP(double kP) { KP = kP; } - + /** * Gets the kp. * @@ -117,12 +137,13 @@ public double getKP() { /** * Sets the kd. * - * @param kD the new kd + * @param kD + * the new kd */ public void setKD(double kD) { KD = kD; } - + /** * Gets the kd. * @@ -138,10 +159,6 @@ public double getKD() { * @return the args */ public Object[] getArgs() { - return new Object[]{ - group, - KP, - KD, - }; + return new Object[]{group, KP, KD,}; } } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java index ac472793..6c85c5bb 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDChannel.java @@ -10,69 +10,79 @@ * The Class PIDChannel. */ public class PIDChannel { - + /** The pid. */ private IPidControlNamespace pid; - + /** The index. */ private int index; - + /** The target value. */ private float targetValue; - + /** The current cached position. */ private float currentCachedPosition; - + /** The PID event listeners. */ private ArrayList PIDEventListeners = new ArrayList(); - + /** * Instantiates a new PID channel. * - * @param p the p - * @param i the i + * @param p + * the p + * @param i + * the i */ public PIDChannel(IPidControlNamespace p, int i) { setPid(p); - index=i; + index = i; } /** * Sets the pid set point. * - * @param setpoint the setpoint - * @param seconds the seconds + * @param setpoint + * the setpoint + * @param seconds + * the seconds * @return true, if successful */ - public boolean SetPIDSetPoint(float setpoint,double seconds){ - + public boolean SetPIDSetPoint(float setpoint, double seconds) { + return getPid().SetPIDSetPoint(index, setpoint, seconds); } - + /** * Sets the pid interpolated velocity. * - * @param unitsPerSecond the units per second - * @param seconds the seconds + * @param unitsPerSecond + * the units per second + * @param seconds + * the seconds * @return true, if successful - * @throws PIDCommandException the PID command exception + * @throws PIDCommandException + * the PID command exception */ - public boolean SetPIDInterpolatedVelocity( int unitsPerSecond, double seconds) throws PIDCommandException { + public boolean SetPIDInterpolatedVelocity(int unitsPerSecond, double seconds) throws PIDCommandException { return getPid().SetPIDInterpolatedVelocity(index, unitsPerSecond, seconds); } - + /** * Sets the pd velocity. * - * @param unitsPerSecond the units per second - * @param seconds the seconds + * @param unitsPerSecond + * the units per second + * @param seconds + * the seconds * @return true, if successful - * @throws PIDCommandException the PID command exception + * @throws PIDCommandException + * the PID command exception */ - public boolean SetPDVelocity( int unitsPerSecond, double seconds) throws PIDCommandException { + public boolean SetPDVelocity(int unitsPerSecond, double seconds) throws PIDCommandException { return getPid().SetPDVelocity(index, unitsPerSecond, seconds); } - + /** * Gets the pid position. * @@ -81,11 +91,12 @@ public boolean SetPDVelocity( int unitsPerSecond, double seconds) throws PIDComm public float GetPIDPosition() { return getPid().GetPIDPosition(index); } - + /** * Configure pid controller. * - * @param config the config + * @param config + * the config * @return true, if successful */ public boolean ConfigurePIDController(PIDConfiguration config) { @@ -93,7 +104,6 @@ public boolean ConfigurePIDController(PIDConfiguration config) { return getPid().ConfigurePIDController(config); } - /** * Gets the PID configuration. * @@ -102,59 +112,59 @@ public boolean ConfigurePIDController(PIDConfiguration config) { public PIDConfiguration getPIDConfiguration() { return getPid().getPIDConfiguration(index); } - + /** * Reset pid channel. * * @return true, if successful */ public boolean ResetPIDChannel() { - return getPid().ResetPIDChannel(index,0); + return getPid().ResetPIDChannel(index, 0); } - /** * Reset pid channel. * - * @param valueToSetCurrentTo the value to set current to + * @param valueToSetCurrentTo + * the value to set current to * @return true, if successful */ - public boolean ResetPIDChannel( int valueToSetCurrentTo) { - return getPid().ResetPIDChannel(index,valueToSetCurrentTo); + public boolean ResetPIDChannel(int valueToSetCurrentTo) { + return getPid().ResetPIDChannel(index, valueToSetCurrentTo); } /** * Sets the pid. * - * @param p the new pid + * @param p + * the new pid */ public void setPid(IPidControlNamespace p) { pid = p; pid.addPIDEventListener(new IPIDEventListener() { @Override public void onPIDReset(int group, float currentValue) { - if(group==index){ + if (group == index) { firePIDResetEvent(index, currentValue); } } - + @Override public void onPIDLimitEvent(PIDLimitEvent e) { - if(e.getGroup()==index){ + if (e.getGroup() == index) { firePIDLimitEvent(e); } } - + @Override public void onPIDEvent(PIDEvent e) { - if(e.getGroup()==index){ + if (e.getGroup() == index) { firePIDEvent(e); } } }); } - /** * Gets the pid. * @@ -163,87 +173,95 @@ public void onPIDEvent(PIDEvent e) { public IPidControlNamespace getPid() { return pid; } - + /** * Removes the pid event listener. * - * @param l the l + * @param l + * the l */ public void removePIDEventListener(IPIDEventListener l) { - if(PIDEventListeners.contains(l)) - PIDEventListeners.remove(l); - + if (PIDEventListeners.contains(l)) + PIDEventListeners.remove(l); + } - + /** * Adds the pid event listener. * - * @param l the l + * @param l + * the l */ public void addPIDEventListener(IPIDEventListener l) { - if(!PIDEventListeners.contains(l)) - PIDEventListeners.add(l); - + if (!PIDEventListeners.contains(l)) + PIDEventListeners.add(l); + } - + /** * Fire pid limit event. * - * @param e the e + * @param e + * the e */ - public void firePIDLimitEvent(PIDLimitEvent e){ - for (int i=0;i0); - setInverted(conf.getData().get(2)>0); - setAsync( conf.getData().get(3)>0); - setKP(((double)ByteList.convertToInt(conf.getData().getBytes(4, 4),false))/100); - setKI(((double)ByteList.convertToInt(conf.getData().getBytes(8, 4),false))/100); - setKD(((double)ByteList.convertToInt(conf.getData().getBytes(12, 4),false))/100); - try{ - setIndexLatch(((int)ByteList.convertToInt(conf.getData().getBytes(16, 4),true))); - setUseLatch(conf.getData().getBytes(20, 1)[0]>0); - setStopOnIndex(conf.getData().getBytes(21, 1)[0]>0); - - setHystersysStop(((double)ByteList.convertToInt(conf.getData().getBytes(22, 4),true))/1000); - setUpperHystersys(((double)ByteList.convertToInt(conf.getData().getBytes(26, 4),true))/1000); - setLowerHystersys(((double)ByteList.convertToInt(conf.getData().getBytes(30, 4),true))/1000); - - }catch(Exception e){ + setGroup(conf.getData().get(0)); + setEnabled(conf.getData().get(1) > 0); + setInverted(conf.getData().get(2) > 0); + setAsync(conf.getData().get(3) > 0); + setKP(((double) ByteList.convertToInt(conf.getData().getBytes(4, 4), false)) / 100); + setKI(((double) ByteList.convertToInt(conf.getData().getBytes(8, 4), false)) / 100); + setKD(((double) ByteList.convertToInt(conf.getData().getBytes(12, 4), false)) / 100); + try { + setIndexLatch(((int) ByteList.convertToInt(conf.getData().getBytes(16, 4), true))); + setUseLatch(conf.getData().getBytes(20, 1)[0] > 0); + setStopOnIndex(conf.getData().getBytes(21, 1)[0] > 0); + + setHystersysStop(((double) ByteList.convertToInt(conf.getData().getBytes(22, 4), true)) / 1000); + setUpperHystersys(((double) ByteList.convertToInt(conf.getData().getBytes(26, 4), true)) / 1000); + setLowerHystersys(((double) ByteList.convertToInt(conf.getData().getBytes(30, 4), true)) / 1000); + + } catch (Exception e) { com.neuronrobotics.sdk.common.Log.error("No latch value sent"); } } - - + /** * Used to parse a PID configuration out of a PID packet. * - * @param args the args + * @param args + * the args */ - public PIDConfiguration(Object [] args) { + public PIDConfiguration(Object[] args) { setGroup((Integer) args[0]); - setEnabled((Integer) args[1]==1?true:false); - setInverted((Integer) args[2]==1?true:false); - setAsync((Integer) args[3]==1?true:false); + setEnabled((Integer) args[1] == 1 ? true : false); + setInverted((Integer) args[2] == 1 ? true : false); + setAsync((Integer) args[3] == 1 ? true : false); setKP((Double) args[4]); setKI((Double) args[5]); setKD((Double) args[6]); setIndexLatch((Integer) args[7]); - setUseLatch((Integer) args[8]==1?true:false); - setStopOnIndex((Integer) args[9]==1?true:false); + setUseLatch((Integer) args[8] == 1 ? true : false); + setStopOnIndex((Integer) args[9] == 1 ? true : false); setHystersysStop((Double) args[10]); setUpperHystersys((Double) args[11]); setLowerHystersys((Double) args[12]); } - - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ @Override - public String toString(){ - String s="PID configuration group #"+getGroup(); - s+="\n\tConstants: P="+getKP()+" I="+getKI()+" D="+getKD(); - s+="\n\tEnabled = "+isEnabled(); - s+="\n\tAsync = "+isAsync(); - s+="\n\tInverted = "+isInverted(); - s+="\n\tUse Latch "+ isUseLatch(); - s+="\n\tStop on Index "+ isStopOnIndex(); - s+="\n\tLatch value "+getIndexLatch(); - s+="\n\tCenter Stop "+getHystersysStop(); - s+="\n\tUpper Hysterysys "+getUpperHystersys(); - s+="\n\tLower Hysterysys "+getLowerHystersys(); + public String toString() { + String s = "PID configuration group #" + getGroup(); + s += "\n\tConstants: P=" + getKP() + " I=" + getKI() + " D=" + getKD(); + s += "\n\tEnabled = " + isEnabled(); + s += "\n\tAsync = " + isAsync(); + s += "\n\tInverted = " + isInverted(); + s += "\n\tUse Latch " + isUseLatch(); + s += "\n\tStop on Index " + isStopOnIndex(); + s += "\n\tLatch value " + getIndexLatch(); + s += "\n\tCenter Stop " + getHystersysStop(); + s += "\n\tUpper Hysterysys " + getUpperHystersys(); + s += "\n\tLower Hysterysys " + getLowerHystersys(); return s; } - + /** * Sets the group. * - * @param group the new group + * @param group + * the new group */ public void setGroup(int group) { this.group = group; } - + /** * Gets the group. * @@ -211,16 +238,17 @@ public void setGroup(int group) { public int getGroup() { return group; } - + /** * Sets the enabled. * - * @param enabled the new enabled + * @param enabled + * the new enabled */ public void setEnabled(boolean enabled) { this.enabled = enabled; } - + /** * Checks if is enabled. * @@ -229,16 +257,17 @@ public void setEnabled(boolean enabled) { public boolean isEnabled() { return enabled; } - + /** * Sets the inverted. * - * @param inverted the new inverted + * @param inverted + * the new inverted */ public void setInverted(boolean inverted) { this.inverted = inverted; } - + /** * Checks if is inverted. * @@ -247,16 +276,17 @@ public void setInverted(boolean inverted) { public boolean isInverted() { return inverted; } - + /** * Sets the async. * - * @param async the new async + * @param async + * the new async */ public void setAsync(boolean async) { this.async = async; } - + /** * Checks if is async. * @@ -265,16 +295,17 @@ public void setAsync(boolean async) { public boolean isAsync() { return async; } - + /** * Sets the kp. * - * @param kP the new kp + * @param kP + * the new kp */ public void setKP(double kP) { KP = kP; } - + /** * Gets the kp. * @@ -283,16 +314,17 @@ public void setKP(double kP) { public double getKP() { return KP; } - + /** * Sets the ki. * - * @param kI the new ki + * @param kI + * the new ki */ public void setKI(double kI) { KI = kI; } - + /** * Gets the ki. * @@ -301,16 +333,17 @@ public void setKI(double kI) { public double getKI() { return KI; } - + /** * Sets the kd. * - * @param kD the new kd + * @param kD + * the new kd */ public void setKD(double kD) { KD = kD; } - + /** * Gets the kd. * @@ -319,7 +352,7 @@ public void setKD(double kD) { public double getKD() { return KD; } - + /** * Gets the index latch. * @@ -328,25 +361,27 @@ public double getKD() { public double getIndexLatch() { return latch; } - + /** * Sets the index latch. * - * @param latch the new index latch + * @param latch + * the new index latch */ public void setIndexLatch(double latch) { - this.latch=(int) latch; + this.latch = (int) latch; } - + /** * Sets the use latch. * - * @param useLatch the new use latch + * @param useLatch + * the new use latch */ public void setUseLatch(boolean useLatch) { this.useLatch = useLatch; } - + /** * Checks if is use latch. * @@ -355,16 +390,17 @@ public void setUseLatch(boolean useLatch) { public boolean isUseLatch() { return useLatch; } - + /** * Sets the stop on index. * - * @param stopOnIndex the new stop on index + * @param stopOnIndex + * the new stop on index */ public void setStopOnIndex(boolean stopOnIndex) { this.stopOnIndex = stopOnIndex; } - + /** * Checks if is stop on index. * @@ -373,82 +409,72 @@ public void setStopOnIndex(boolean stopOnIndex) { public boolean isStopOnIndex() { return stopOnIndex; } - + /** * Gets the args. * * @return the args */ public Object[] getArgs() { - Object[] args = new Object[]{ - group, - enabled?1:0, - inverted?1:0, - async?1:0, - KP, - KI, - KD, - latch, - useLatch?1:0, - stopOnIndex?1:0, - hStop, - up, - low - }; + Object[] args = new Object[]{group, enabled ? 1 : 0, inverted ? 1 : 0, async ? 1 : 0, KP, KI, KD, latch, + useLatch ? 1 : 0, stopOnIndex ? 1 : 0, hStop, up, low}; return args; } - + /** * Gets the upper hystersys. * * @return the upper hystersys */ - public double getUpperHystersys(){ + public double getUpperHystersys() { return up; } /** * Sets the upper hystersys. * - * @param up the new upper hystersys + * @param up + * the new upper hystersys */ public void setUpperHystersys(double up) { - this.up = up; + this.up = up; } - + /** * Gets the lower hystersys. * * @return the lower hystersys */ - public double getLowerHystersys(){ + public double getLowerHystersys() { return low; } /** * Sets the lower hystersys. * - * @param low the new lower hystersys + * @param low + * the new lower hystersys */ public void setLowerHystersys(double low) { - this.low = low; + this.low = low; } - + /** * Gets the hystersys stop. * * @return the hystersys stop */ - public double getHystersysStop(){ + public double getHystersysStop() { return hStop; } /** * Sets the hystersys stop. * - * @param hStop the new hystersys stop + * @param hStop + * the new hystersys stop */ public void setHystersysStop(double hStop) { - this.hStop = hStop; + this.hStop = hStop; } } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDEvent.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDEvent.java index 19f0e858..a349f5c2 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDEvent.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDEvent.java @@ -8,32 +8,36 @@ * The Class PIDEvent. */ public class PIDEvent { - + /** The channel. */ private int channel; - + /** The ticks. */ - private float ticks; - + private float ticks; + /** The time stamp. */ private long timeStamp; - + /** The velocity. */ private int velocity; - - public PIDEvent(){ - + + public PIDEvent() { + } - + /** * Instantiates a new PID event. * - * @param chan the chan - * @param tick the tick - * @param time the time - * @param velocity the velocity + * @param chan + * the chan + * @param tick + * the tick + * @param time + * the time + * @param velocity + * the velocity */ - public PIDEvent(int chan,float tick,long time,int velocity){ + public PIDEvent(int chan, float tick, long time, int velocity) { setGroup(chan); setValue(tick); setTimeStamp(time); @@ -42,12 +46,16 @@ public PIDEvent(int chan,float tick,long time,int velocity){ /** * Sets new PID event. * - * @param chan the chan - * @param tick the tick - * @param time the time - * @param velocity the velocity + * @param chan + * the chan + * @param tick + * the tick + * @param time + * the time + * @param velocity + * the velocity */ - public void set(int chan,float tick,long time,int velocity){ + public void set(int chan, float tick, long time, int velocity) { setGroup(chan); setValue(tick); setTimeStamp(time); @@ -56,27 +64,28 @@ public void set(int chan,float tick,long time,int velocity){ /** * Instantiates a new PID event. * - * @param data the data + * @param data + * the data */ - public PIDEvent(BowlerDatagram data, long timestamp){ - if(!data.getRPC().contains("_pid")) + public PIDEvent(BowlerDatagram data, long timestamp) { + if (!data.getRPC().contains("_pid")) throw new RuntimeException("Datagram is not a PID event"); setGroup(data.getData().getByte(0)); - setValue(ByteList.convertToInt(data.getData().getBytes(1, 4),true)); + setValue(ByteList.convertToInt(data.getData().getBytes(1, 4), true)); setTimeStamp(timestamp); - setVelocity(ByteList.convertToInt(data.getData().getBytes(9, 4),true)); + setVelocity(ByteList.convertToInt(data.getData().getBytes(9, 4), true)); } - - + /** * Sets the group. * - * @param channel the new group + * @param channel + * the new group */ public void setGroup(int channel) { this.channel = channel; } - + /** * Gets the group. * @@ -85,16 +94,17 @@ public void setGroup(int channel) { public int getGroup() { return channel; } - + /** * Sets the value. * - * @param ticks the new value + * @param ticks + * the new value */ public void setValue(float ticks) { this.ticks = ticks; } - + /** * Gets the value. * @@ -103,16 +113,17 @@ public void setValue(float ticks) { public float getValue() { return ticks; } - + /** * Sets the time stamp. * - * @param timeStamp the new time stamp + * @param timeStamp + * the new time stamp */ public void setTimeStamp(long timeStamp) { this.timeStamp = timeStamp; } - + /** * Gets the time stamp. * @@ -121,24 +132,28 @@ public void setTimeStamp(long timeStamp) { public long getTimeStamp() { return timeStamp; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ - @Override - public String toString(){ - return "PID Event: \n\tchan = "+channel+"\n\tvalue = "+ticks+"\n\ttime = "+timeStamp+"\n\tvelocity since last packet= "+velocity; + @Override + public String toString() { + return "PID Event: \n\tchan = " + channel + "\n\tvalue = " + ticks + "\n\ttime = " + timeStamp + + "\n\tvelocity since last packet= " + velocity; } - + /** * Sets the velocity. * - * @param vel the new velocity + * @param vel + * the new velocity */ public void setVelocity(int vel) { this.velocity = vel; } - + /** * Gets the velocity. * diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java index 3a14b842..90ac619d 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEvent.java @@ -8,59 +8,65 @@ * The Class PIDLimitEvent. */ public class PIDLimitEvent { - + /** The channel. */ private int channel; - + /** The ticks. */ - private double ticks; - + private double ticks; + /** The time stamp. */ private long timeStamp; - + /** The limit type. */ private PIDLimitEventType limitType; - + /** * Instantiates a new PID limit event. * - * @param chan the chan - * @param tick the tick - * @param type the type - * @param time the time + * @param chan + * the chan + * @param tick + * the tick + * @param type + * the type + * @param time + * the time */ - public PIDLimitEvent(int chan,double tick,PIDLimitEventType type,long time){ + public PIDLimitEvent(int chan, double tick, PIDLimitEventType type, long time) { setGroup(chan); setLimitType(type); setValue(tick); setTimeStamp(time); - + } - + /** * Instantiates a new PID limit event. * - * @param data the data + * @param data + * the data */ - public PIDLimitEvent(BowlerDatagram data){ - if(!data.getRPC().contains("pidl")) + public PIDLimitEvent(BowlerDatagram data) { + if (!data.getRPC().contains("pidl")) throw new RuntimeException("Datagram is not a PID event"); setGroup(data.getData().getByte(0)); setLimitType(PIDLimitEventType.get(data.getData().getBytes(1, 1)[0])); - setValue(ByteList.convertToInt(data.getData().getBytes(2, 4),true)); - setTimeStamp(ByteList.convertToInt(data.getData().getBytes(6, 4),false)); - + setValue(ByteList.convertToInt(data.getData().getBytes(2, 4), true)); + setTimeStamp(ByteList.convertToInt(data.getData().getBytes(6, 4), false)); + } - + /** * Sets the group. * - * @param channel the new group + * @param channel + * the new group */ public void setGroup(int channel) { this.channel = channel; } - + /** * Gets the group. * @@ -69,16 +75,17 @@ public void setGroup(int channel) { public int getGroup() { return channel; } - + /** * Sets the value. * - * @param ticks the new value + * @param ticks + * the new value */ public void setValue(double ticks) { this.ticks = ticks; } - + /** * Gets the value. * @@ -87,16 +94,17 @@ public void setValue(double ticks) { public double getValue() { return ticks; } - + /** * Sets the time stamp. * - * @param timeStamp the new time stamp + * @param timeStamp + * the new time stamp */ public void setTimeStamp(long timeStamp) { this.timeStamp = timeStamp; } - + /** * Gets the time stamp. * @@ -105,24 +113,27 @@ public void setTimeStamp(long timeStamp) { public long getTimeStamp() { return timeStamp; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ - @Override - public String toString(){ - return "chan="+channel+", Type="+limitType+", value="+ticks+", time="+timeStamp; + @Override + public String toString() { + return "chan=" + channel + ", Type=" + limitType + ", value=" + ticks + ", time=" + timeStamp; } - + /** * Sets the limit type. * - * @param limitIndex the new limit type + * @param limitIndex + * the new limit type */ public void setLimitType(PIDLimitEventType limitIndex) { this.limitType = limitIndex; } - + /** * Gets the limit type. * diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEventType.java b/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEventType.java index baa705e8..6e71357f 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEventType.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PIDLimitEventType.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -26,102 +26,106 @@ * The Enum PIDLimitEventType. */ public enum PIDLimitEventType { - + /** - * + * */ NO_LIMIT(0x00), /** The lowerlimit. */ LOWERLIMIT(0x01), - + /** The indexevent. */ INDEXEVENT(0x02), - + /** The upperlimit. */ UPPERLIMIT(0x04), - + /** The overcurrent. */ OVERCURRENT(0x08), /** - * + * */ CONTROLLER_ERROR(0x10), /** * a home event */ - HOME_EVENT(0x20) - ; + HOME_EVENT(0x20); ; - + /** The Constant lookup. */ - private static final Map lookup = new HashMap(); - + private static final Map lookup = new HashMap(); + static { - for(PIDLimitEventType cm : EnumSet.allOf(PIDLimitEventType.class)) { + for (PIDLimitEventType cm : EnumSet.allOf(PIDLimitEventType.class)) { lookup.put(cm.getValue(), cm); } } - + /** The value. */ private byte value; - + /** * Instantiates a new bowler method. * - * @param val the val + * @param val + * the val */ private PIDLimitEventType(int val) { value = (byte) val; } - + /** * Gets the value. * * @return the value */ public byte getValue() { - return value; + return value; + } + + /** + * Gets the. + * + * @param code + * the code + * @return the bowler method + */ + public static PIDLimitEventType get(byte code) { + + return lookup.get(code); } - /** - * Gets the. - * - * @param code the code - * @return the bowler method - */ - public static PIDLimitEventType get(byte code) { - - return lookup.get(code); - } - - /** - * Gets the. - * - * @param code the code - * @return the bowler method - */ - public static List getAllLimitMasks(byte code) { - ArrayList ret = new ArrayList(); - - for(PIDLimitEventType s:PIDLimitEventType.values()){ - if((s.value&code)>0){ - ret.add(s); - } - } - return ret; - } + /** + * Gets the. + * + * @param code + * the code + * @return the bowler method + */ + public static List getAllLimitMasks(byte code) { + ArrayList ret = new ArrayList(); + + for (PIDLimitEventType s : PIDLimitEventType.values()) { + if ((s.value & code) > 0) { + ret.add(s); + } + } + return ret; + } /** * Gets the bytes. * * @return the bytes */ - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.ISendable#getBytes() */ public byte[] getBytes() { - byte [] b = {getValue()}; + byte[] b = {getValue()}; return b; } - + } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/PausableTime.java b/src/main/java/com/neuronrobotics/sdk/pid/PausableTime.java index 09d06162..cec53274 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/PausableTime.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/PausableTime.java @@ -8,45 +8,44 @@ public class PausableTime extends TimeKeeper { private static long timePaused = 0; private static long durationPaused = 0; - private static boolean paused =false; + private static boolean paused = false; private static ArrayList listeners = new ArrayList(); public PausableTime(ITimeProvider t) { setTimeProvider(t); } - public long currentTimeMillis() { - if(!paused) - return super.currentTimeMillis()-durationPaused; + public long currentTimeMillis() { + if (!paused) + return super.currentTimeMillis() - durationPaused; return timePaused; } - - public void pause(boolean val) { - if(val) - timePaused=super.currentTimeMillis(); - else - durationPaused+=(super.currentTimeMillis()-timePaused); - - paused=val; - for(int i=0;i{ + + public void step(long ms) { + new Thread(() -> { boolean start = paused; pause(false); sleep(ms); pause(start); }).start(); } - + public void sleep(long durationMS) { try { super.sleep(durationMS); } catch (InterruptedException e) { throw new RuntimeException(e); } - while(paused) { + while (paused) { try { super.sleep(1); } catch (InterruptedException e) { @@ -54,14 +53,14 @@ public void sleep(long durationMS) { } } } - + public void addIPauseTimeListener(IPauseTimeListener l) { - if(listeners.contains(l)) + if (listeners.contains(l)) return; listeners.add(l); } public void removeIPauseTimeListener(IPauseTimeListener l) { - if(listeners.contains(l)) + if (listeners.contains(l)) listeners.remove(l); } } diff --git a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java index 89c15b1b..88b84096 100644 --- a/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java +++ b/src/main/java/com/neuronrobotics/sdk/pid/VirtualGenericPIDDevice.java @@ -4,15 +4,12 @@ import java.util.HashMap; import com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseProvider; -import com.neuronrobotics.sdk.addons.kinematics.IHardwareSyncPulseReciver; import com.neuronrobotics.sdk.addons.kinematics.time.ITimeProvider; import com.neuronrobotics.sdk.common.BowlerAbstractCommand; import com.neuronrobotics.sdk.common.BowlerDatagram; -import com.neuronrobotics.sdk.common.InvalidConnectionException; import com.neuronrobotics.sdk.common.InvalidResponseException; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.common.NoConnectionAvailableException; -import com.neuronrobotics.sdk.util.ThreadUtil; // Auto-generated Javadoc /** @@ -34,7 +31,7 @@ public class VirtualGenericPIDDevice extends GenericPIDDevice implements IHardwa /** The sync. */ private SyncThread sync = new SyncThread(); - private boolean runSync =true; + private boolean runSync = true; /** The max ticks per second. */ private double maxTicksPerSecond; @@ -48,7 +45,7 @@ public class VirtualGenericPIDDevice extends GenericPIDDevice implements IHardwa /** * Instantiates a new virtual generic pid device. - * + * * @param myVirtualDevName */ public VirtualGenericPIDDevice(String myVirtualDevName) { @@ -58,7 +55,8 @@ public VirtualGenericPIDDevice(String myVirtualDevName) { /** * Instantiates a new virtual generic pid device. * - * @param maxTicksPerSecond the max ticks per second + * @param maxTicksPerSecond + * the max ticks per second * @param myVirtualDevName2 */ public VirtualGenericPIDDevice(double maxTicksPerSecond, String myVirtualDevName) { @@ -81,7 +79,7 @@ public VirtualGenericPIDDevice(double maxTicksPerSecond, String myVirtualDevName /* * (non-Javadoc) - * + * * @see * com.neuronrobotics.sdk.pid.GenericPIDDevice#ConfigurePDVelovityController(com * .neuronrobotics.sdk.pid.PDVelocityConfiguration) @@ -95,7 +93,7 @@ public boolean ConfigurePDVelovityController(PDVelocityConfiguration config) { /* * (non-Javadoc) - * + * * @see * com.neuronrobotics.sdk.pid.GenericPIDDevice#getPDVelocityConfiguration(int) */ @@ -106,7 +104,7 @@ public PDVelocityConfiguration getPDVelocityConfiguration(int group) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#ConfigurePIDController(com. * neuronrobotics.sdk.pid.PIDConfiguration) */ @@ -118,7 +116,7 @@ public boolean ConfigurePIDController(PIDConfiguration config) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#getPIDConfiguration(int) */ public PIDConfiguration getPIDConfiguration(int group) { @@ -127,7 +125,7 @@ public PIDConfiguration getPIDConfiguration(int group) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#getNamespaces() */ @Override @@ -139,7 +137,7 @@ public ArrayList getNamespaces() { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#killAllPidGroups() */ @Override @@ -152,10 +150,13 @@ public boolean killAllPidGroups() { /** * since there is no connection, this is an easy to nip off com functionality. * - * @param command the command + * @param command + * the command * @return the bowler datagram - * @throws NoConnectionAvailableException the no connection available exception - * @throws InvalidResponseException the invalid response exception + * @throws NoConnectionAvailableException + * the no connection available exception + * @throws InvalidResponseException + * the invalid response exception */ @Override public BowlerDatagram send(BowlerAbstractCommand command) @@ -167,14 +168,14 @@ public BowlerDatagram send(BowlerAbstractCommand command) /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#ResetPIDChannel(int, int) */ @Override public boolean ResetPIDChannel(int group, float valueToSetCurrentTo) { sync.setPause(true); - synchronized(interpolationEngines) { - getDriveThread(group).ResetEncoder(valueToSetCurrentTo); + synchronized (interpolationEngines) { + getDriveThread(group).ResetEncoder(valueToSetCurrentTo); } float val = GetPIDPosition(group); firePIDResetEvent(group, val); @@ -184,7 +185,7 @@ public boolean ResetPIDChannel(int group, float valueToSetCurrentTo) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#SetPIDSetPoint(int, int, * double) */ @@ -192,8 +193,8 @@ public boolean ResetPIDChannel(int group, float valueToSetCurrentTo) { public boolean SetPIDSetPoint(int group, float setpoint, double seconds) { long currentTimeMillis = currentTimeMillis(); sync.setPause(true); - synchronized(interpolationEngines) { - getDriveThread(group).StartLinearMotion(setpoint, seconds,currentTimeMillis); + synchronized (interpolationEngines) { + getDriveThread(group).StartLinearMotion(setpoint, seconds, currentTimeMillis); } sync.setPause(false); return true; @@ -201,7 +202,7 @@ public boolean SetPIDSetPoint(int group, float setpoint, double seconds) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#SetPDVelocity(int, int, * double) */ @@ -216,7 +217,8 @@ public boolean SetPDVelocity(int group, int unitsPerSecond, double seconds) thro + unitsPerSecond + ", when max is" + getMaxTicksPerSecond() + " set: " + getMaxTicksPerSecond() + " sec: " + seconds); if (seconds < 0.1 && seconds > -0.1) { - // com.neuronrobotics.sdk.common.Log.error("Setting virtual velocity="+unitsPerSecond); + // com.neuronrobotics.sdk.common.Log.error("Setting virtual + // velocity="+unitsPerSecond); getDriveThread(group).SetVelocity(unitsPerSecond); } else { SetPIDInterpolatedVelocity(group, unitsPerSecond, seconds); @@ -226,7 +228,7 @@ public boolean SetPDVelocity(int group, int unitsPerSecond, double seconds) thro /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.namespace.bcs.pid.IPidControlNamespace# * flushPIDChannels */ @@ -242,7 +244,7 @@ public void flushPIDChannels(double time) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#SetAllPIDSetPoint(int[], * double) */ @@ -250,9 +252,9 @@ public void flushPIDChannels(double time) { public boolean SetAllPIDSetPoint(float[] setpoints, double seconds) { long start = currentTimeMillis(); sync.setPause(true); - synchronized(interpolationEngines) { + synchronized (interpolationEngines) { for (int i = 0; i < setpoints.length; i++) { - getDriveThread(i).StartLinearMotion(setpoints[i], seconds,start); + getDriveThread(i).StartLinearMotion(setpoints[i], seconds, start); } } sync.setPause(false); @@ -274,7 +276,7 @@ private InterpolationEngine getDriveThread(int i) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#GetPIDPosition(int) */ @Override @@ -285,7 +287,7 @@ public float GetPIDPosition(int group) { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.common.BowlerAbstractDevice#isAvailable() */ @Override @@ -295,7 +297,7 @@ public boolean isAvailable() { /* * (non-Javadoc) - * + * * @see com.neuronrobotics.sdk.pid.GenericPIDDevice#GetAllPIDPosition() */ @Override @@ -305,7 +307,7 @@ public float[] GetAllPIDPosition() { setChannels(new ArrayList()); // lastPacketTime = new long[back.length]; - synchronized(interpolationEngines) { + synchronized (interpolationEngines) { for (int i = 0; i < backs.length; i++) { backs[i] = 0; PIDChannel c = new PIDChannel(this, i); @@ -320,16 +322,16 @@ public float[] GetAllPIDPosition() { } } } - synchronized(interpolationEngines) { + synchronized (interpolationEngines) { for (int i = 0; i < backs.length; i++) backs[i] = GetPIDPosition(i); } return backs; } @Override - public void setTimeProvider(ITimeProvider t) { + public void setTimeProvider(ITimeProvider t) { super.setTimeProvider(t); - for(InterpolationEngine e:interpolationEngines.values()) { + for (InterpolationEngine e : interpolationEngines.values()) { e.setTimeProvider(getTimeProvider()); } } @@ -337,7 +339,8 @@ public void setTimeProvider(ITimeProvider t) { /** * Sets the max ticks per second. * - * @param maxTicksPerSecond the new max ticks per second + * @param maxTicksPerSecond + * the new max ticks per second */ public void setMaxTicksPerSecond(double maxTicksPerSecond) { this.maxTicksPerSecond = maxTicksPerSecond; @@ -366,14 +369,14 @@ private class SyncThread extends Thread { /* * (non-Javadoc) - * + * * @see java.lang.Thread#run() */ public void run() { setName("Bowler Platform Virtual PID sync thread"); PIDEvent e = new PIDEvent(); - PIDConfiguration[] toUpdate = new PIDConfiguration[numChannels] ; - int updateIndex=0; + PIDConfiguration[] toUpdate = new PIDConfiguration[numChannels]; + int updateIndex = 0; long time; while (runSync) { try { @@ -381,37 +384,38 @@ public void run() { } catch (InterruptedException ex) { return; } - if(!pause) { + if (!pause) { sync = false; time = currentTimeMillis(); - synchronized(interpolationEngines) { - for (PIDConfiguration key : interpolationEngines.keySet()) { - InterpolationEngine dr = interpolationEngines.get(key); - if (key.isEnabled()) { - if (dr.update(time)) { - toUpdate[updateIndex++]=key; - } - } else { - //com.neuronrobotics.sdk.common.Log.error("Virtual Device " + key.getGroup() + " is disabled"); + synchronized (interpolationEngines) { + for (PIDConfiguration key : interpolationEngines.keySet()) { + InterpolationEngine dr = interpolationEngines.get(key); + if (key.isEnabled()) { + if (dr.update(time)) { + toUpdate[updateIndex++] = key; } + } else { + // com.neuronrobotics.sdk.common.Log.error("Virtual Device " + key.getGroup() + + // " is disabled"); } } - for(int i=0;i *
  • opening and closing a connection
    • *
  • setting the baudrate
    • *
  • sending data and reading data both syncronously and asyncronously
    • * - * - * SerialConnection extends SerialPortEventListener to use the RXTX framework for receiving serial - * communications efficiently. Remember to disconnect whenever reading and writing to the connection is not - * necessary as a this class will continue to run a thread to wait for incoming data. - * - * + * + * SerialConnection extends SerialPortEventListener to use the RXTX framework + * for receiving serial communications efficiently. Remember to disconnect + * whenever reading and writing to the connection is not necessary as a this + * class will continue to run a thread to wait for incoming data. + * + * */ public class SerialConnection extends BowlerAbstractConnection { - + /** The sleep time. */ private int sleepTime = 1000; - + /** The poll timeout time. */ private int pollTimeoutTime = 5; - - + /** The port. */ - private String port=null; - + private String port = null; + /** The baud. */ private int baud = 115200; - + /** The serial. */ private NRSerialPort serial; - + /** * Default Constructor. - * - * Using this constructor will require that at least the port be set later on. - * + * + * Using this constructor will require that at least the port be set later on. + * * The baudrate will default to 115200bps. */ public SerialConnection() { setSynchronusPacketTimeoutTime(sleepTime); } - + /** * Class Constructor for a SerialConnection with a given port. - * + * * The baudrate will default to 115200bps. - * - * @param port the port to connect to (i.e. COM6 or /dev/ttyUSB0) + * + * @param port + * the port to connect to (i.e. COM6 or /dev/ttyUSB0) */ public SerialConnection(String port) { - setPort(port); + setPort(port); setSynchronusPacketTimeoutTime(sleepTime); } - + /** * Class Constructor for a SerialConnection with a given port and baudrate. - * - * @param port the port to connect to (i.e. COM6 or /dev/ttyUSB0) - * @param baud the baudrate to use (i.e. 9600 or 115200) + * + * @param port + * the port to connect to (i.e. COM6 or /dev/ttyUSB0) + * @param baud + * the baudrate to use (i.e. 9600 or 115200) */ public SerialConnection(String port, int baud) { setPort(port); setBaud(baud); setSynchronusPacketTimeoutTime(sleepTime); } - + /** * Set the port to use (i.e. COM6 or /dev/ttyUSB0) - * - * @param port the serial port to use + * + * @param port + * the serial port to use */ public void setPort(String port) { this.port = port; } - + /** * Get the port to use (i.e. COM6 or /dev/ttyUSB0) * @@ -114,11 +118,12 @@ public void setPort(String port) { public String getPort() { return port; } - + /** - * Set the baudrate for communications with the serial port. Standard baudrates should be used typically - * unless otherwise specififed by the device. The default system baudrate is 115200 - * + * Set the baudrate for communications with the serial port. Standard baudrates + * should be used typically unless otherwise specififed by the device. The + * default system baudrate is 115200 + * * Typical baudrates *
      *
    • 110
      • @@ -137,147 +142,156 @@ public String getPort() { *
    • 115200
      • *
    * - * @param baud the new baud + * @param baud + * the new baud */ public void setBaud(int baud) { this.baud = baud; } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#connect() */ @Override public boolean connect() { - if(isConnected()) { + if (isConnected()) { Log.error(port + " is already connected."); return true; } - - try - { - if(serial != null) + + try { + if (serial != null) serial.disconnect(); serial = new NRSerialPort(getPort(), baud); - serial.connect(); + serial.connect(); setDataIns(new DataInputStream(serial.getInputStream())); setDataOuts(new DataOutputStream(serial.getOutputStream())); setConnected(true); - }catch(UnsatisfiedLinkError e){ + } catch (UnsatisfiedLinkError e) { throw new MissingNativeLibraryException(e.getMessage()); - }catch (Exception e) { - Log.error("Failed to connect on port: "+port+" exception: "); + } catch (Exception e) { + Log.error("Failed to connect on port: " + port + " exception: "); e.printStackTrace(); setConnected(false); } - - if(isConnected()) { + + if (isConnected()) { serial.notifyOnDataAvailable(true); } - return isConnected(); + return isConnected(); } - - - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#disconnect() */ @Override public void disconnect() { - if(isConnected()) - //new RuntimeException().printStackTrace(); + if (isConnected()) + // new RuntimeException().printStackTrace(); Log.warning("Disconnecting Serial Connection"); - try{ - try{ + try { + try { serial.disconnect(); - }catch(Exception e){ - //e.printStackTrace(); - //throw new RuntimeException(e); + } catch (Exception e) { + // e.printStackTrace(); + // throw new RuntimeException(e); } serial = null; setConnected(false); - } catch(UnsatisfiedLinkError e) { + } catch (UnsatisfiedLinkError e) { throw new MissingNativeLibraryException(e.getMessage()); - } + } } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see java.lang.Object#toString() */ @Override public String toString() { return port; } - + /** * Gets the connection by mac address. * - * @param mac the mac + * @param mac + * the mac * @return the connection by mac address */ - public static SerialConnection getConnectionByMacAddress(MACAddress mac){ - - List ports = SerialConnection.getAvailableSerialPorts(); - //Start by searching through all available serial connections for DyIOs connected to the system - for(String s: ports){ - com.neuronrobotics.sdk.common.Log.error("Searching "+s); + public static SerialConnection getConnectionByMacAddress(MACAddress mac) { + + List ports = SerialConnection.getAvailableSerialPorts(); + // Start by searching through all available serial connections for DyIOs + // connected to the system + for (String s : ports) { + com.neuronrobotics.sdk.common.Log.error("Searching " + s); } - for(String s: ports){ - try{ - SerialConnection connection = new SerialConnection(s); - GenericDevice d = new GenericDevice(connection); - d.connect(); - com.neuronrobotics.sdk.common.Log.error("Pinging port: "+connection+" "); - if(d.ping()){ - String addr = d.getAddress().toString(); - if(addr.equalsIgnoreCase(mac.toString())){ - connection.disconnect(); - com.neuronrobotics.sdk.common.Log.error("Device FOUND on port: "+connection+" "+addr); - return connection; - } - com.neuronrobotics.sdk.common.Log.error("Device not on port: "+connection+" "+addr); + for (String s : ports) { + try { + SerialConnection connection = new SerialConnection(s); + GenericDevice d = new GenericDevice(connection); + d.connect(); + com.neuronrobotics.sdk.common.Log.error("Pinging port: " + connection + " "); + if (d.ping()) { + String addr = d.getAddress().toString(); + if (addr.equalsIgnoreCase(mac.toString())) { + connection.disconnect(); + com.neuronrobotics.sdk.common.Log.error("Device FOUND on port: " + connection + " " + addr); + return connection; } - connection.disconnect(); - }catch(Exception EX){ - EX.printStackTrace(); - com.neuronrobotics.sdk.common.Log.error("Serial port "+s+" is not a DyIO"); + com.neuronrobotics.sdk.common.Log.error("Device not on port: " + connection + " " + addr); } + connection.disconnect(); + } catch (Exception EX) { + EX.printStackTrace(); + com.neuronrobotics.sdk.common.Log.error("Serial port " + s + " is not a DyIO"); + } } - + return null; } - + /** * Gets the available serial ports. * * @return the available serial ports */ public static List getAvailableSerialPorts() { - ArrayList back = new ArrayList(); - for(String s:NRSerialPort.getAvailableSerialPorts()){ + ArrayList back = new ArrayList(); + for (String s : NRSerialPort.getAvailableSerialPorts()) { back.add(s); } - return back; - } + return back; + } -// /* (non-Javadoc) -// * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#reconnect() -// */ -// @Override -// public boolean reconnect() { -// Log.warning("Reconnecting in serial"); -// disconnect(); -// ThreadUtil.wait(sleepTime); -// return connect(); -// } + // /* (non-Javadoc) + // * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#reconnect() + // */ + // @Override + // public boolean reconnect() { + // Log.warning("Reconnecting in serial"); + // disconnect(); + // ThreadUtil.wait(sleepTime); + // return connect(); + // } - /* (non-Javadoc) - * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#waitingForConnection() + /* + * (non-Javadoc) + * + * @see + * com.neuronrobotics.sdk.common.BowlerAbstractConnection#waitingForConnection() */ @Override public boolean waitingForConnection() { // Auto-generated method stub return false; } - + } diff --git a/src/main/java/com/neuronrobotics/sdk/ui/AbstractConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/AbstractConnectionPanel.java index 4a75735b..17942864 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/AbstractConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/AbstractConnectionPanel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -24,54 +24,57 @@ * The Class AbstractConnectionPanel. */ public abstract class AbstractConnectionPanel extends JPanel { - + /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** The title. */ private String title; - + /** The icon. */ private ImageIcon icon; - + /** The connection dialog. */ private ConnectionDialog connectionDialog; - + /** * Gets the connection. * * @return the connection */ public abstract BowlerAbstractConnection getConnection(); - + /** * Refresh. */ public abstract void refresh(); - - /** * Instantiates a new abstract connection panel. * - * @param title the title - * @param icon the icon - * @param connectionDialog the connection dialog + * @param title + * the title + * @param icon + * the icon + * @param connectionDialog + * the connection dialog */ - public AbstractConnectionPanel(String title, ImageIcon icon,ConnectionDialog connectionDialog) { + public AbstractConnectionPanel(String title, ImageIcon icon, ConnectionDialog connectionDialog) { setTitle(title); - + setIcon(icon); this.setConnectionDialog(connectionDialog); } - + /** * Instantiates a new abstract connection panel. * - * @param title the title - * @param connectionDialog the connection dialog + * @param title + * the title + * @param connectionDialog + * the connection dialog */ - public AbstractConnectionPanel(String title,ConnectionDialog connectionDialog) { + public AbstractConnectionPanel(String title, ConnectionDialog connectionDialog) { setTitle(title); setIcon(ConnectionImageIconFactory.getIcon("images/connection-icon.png")); this.setConnectionDialog(connectionDialog); @@ -80,12 +83,13 @@ public AbstractConnectionPanel(String title,ConnectionDialog connectionDialog) { /** * Sets the title. * - * @param title the new title + * @param title + * the new title */ public void setTitle(String title) { this.title = title; } - + /** * Gets the title. * @@ -94,28 +98,29 @@ public void setTitle(String title) { public String getTitle() { return title; } - + /** * Sets the icon. * - * @param icon the new icon + * @param icon + * the new icon */ public void setIcon(ImageIcon icon) { this.icon = icon; } - + /** * Gets the icon. * * @return the icon */ - public ImageIcon getIcon(){ - - if(icon == null) + public ImageIcon getIcon() { + + if (icon == null) return new ImageIcon(); return icon; } - + /** * Gets the connection dialog. * @@ -124,11 +129,12 @@ public ImageIcon getIcon(){ public ConnectionDialog getConnectionDialog() { return connectionDialog; } - + /** * Sets the connection dialog. * - * @param connectionDialog the new connection dialog + * @param connectionDialog + * the new connection dialog */ public void setConnectionDialog(ConnectionDialog connectionDialog) { this.connectionDialog = connectionDialog; diff --git a/src/main/java/com/neuronrobotics/sdk/ui/BluetoothConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/BluetoothConnectionPanel.java index 139c6e25..0ee2ca60 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/BluetoothConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/BluetoothConnectionPanel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -44,52 +44,53 @@ public class BluetoothConnectionPanel extends AbstractConnectionPanel { /** The connection. */ private BluetoothSerialConnection connection; - + /** The blue. */ private BlueCoveManager blue = null; - + /** The display warning. */ private boolean displayWarning = false; - + /** The connection cbo. */ private JComboBox connectionCbo; - + /** The search. */ private JButton search; - + /** The progress. */ private JProgressBar progress = new JProgressBar(); - + /** The message. */ private JLabel message = new JLabel(); - + /** * Instantiates a new bluetooth connection panel. * - * @param connectionDialog the connection dialog + * @param connectionDialog + * the connection dialog */ public BluetoothConnectionPanel(ConnectionDialog connectionDialog) { - super("Bluetooth", ConnectionImageIconFactory.getIcon("images/bluetooth-icon.png"),connectionDialog); + super("Bluetooth", ConnectionImageIconFactory.getIcon("images/bluetooth-icon.png"), connectionDialog); - if(displayWarning) { + if (displayWarning) { return; } - + search = new JButton("Search for Devices"); search.addActionListener(new ActionListener() { - + public void actionPerformed(ActionEvent arg0) { refresh(); } }); - - setLayout(new MigLayout("", // Layout Constraints - "[right][left]", // Column constraints with default align - "[center][center]" // Row constraints with default align - )); - + + setLayout(new MigLayout("", // Layout Constraints + "[right][left]", // Column constraints with default align + "[center][center]" // Row constraints with default align + )); + connectionCbo = new JComboBox(); - + add(new JLabel("Connection:"), "cell 0 0"); add(connectionCbo); add(search, "wrap"); @@ -97,52 +98,50 @@ public void actionPerformed(ActionEvent arg0) { add(message, "spanx, growx"); } - - - - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.ui.AbstractConnectionPanel#getConnection() */ public BluetoothSerialConnection getConnection() { try { String port = connectionCbo.getSelectedItem().toString(); RemoteDevice dev = blue.getDevice(port); - connection = new BluetoothSerialConnection(blue,dev.getBluetoothAddress()); - Log.info("Using device:"+port+"\n"); - } catch(Exception e) { + connection = new BluetoothSerialConnection(blue, dev.getBluetoothAddress()); + Log.info("Using device:" + port + "\n"); + } catch (Exception e) { Log.warning("Unable to connect with bluetooth connection"); } return connection; } - - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.ui.AbstractConnectionPanel#refresh() */ public void refresh() { Log.info("Searching for devices over bluetooth..."); - + search.setEnabled(false); - + connectionCbo.removeAllItems(); connectionCbo.setEnabled(false); progress.setIndeterminate(true); - + message.setText("Searching..."); - + BluetoothSearchProcess bsp = new BluetoothSearchProcess(); - + ProcessMonitor pm = new ProcessMonitor(bsp); pm.addProcessMonitorListener(new IProgressMonitorListener() { - - + public void onUpdate(double value) { // Auto-generated method stub - + } - - + public void onComplete() { progress.setIndeterminate(false); search.setEnabled(true); @@ -153,16 +152,18 @@ public void onComplete() { bsp.start(); getConnectionDialog().pack(); } - + /** * The Class BluetoothSearchProcess. */ private class BluetoothSearchProcess extends Thread implements IMonitorable { - + /** The is running. */ private boolean isRunning = false; - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Thread#run() */ public void run() { @@ -172,20 +173,20 @@ public void run() { if (blue == null) blue = new BlueCoveManager(); message.setText("Searching for bluetooth devices, please wait..."); - String [] devices = blue.getAvailableSerialDevices(true); + String[] devices = blue.getAvailableSerialDevices(true); connectionCbo.removeAllItems(); - for(String s: devices) { - Log.info("Adding: "+s); + for (String s : devices) { + Log.info("Adding: " + s); message.setText("Adding " + s); connectionCbo.addItem(s); } - if(devices.length == 0) { + if (devices.length == 0) { message.setText("No devices found"); } - } catch(Exception e) { + } catch (Exception e) { e.printStackTrace(); displayWarning = true; - String m = "BlueCove not installed properly, native library not found or missing dependancy\n\n"; + String m = "BlueCove not installed properly, native library not found or missing dependancy\n\n"; JTextArea tx = new JTextArea(); tx.setBorder(null); tx.setLineWrap(true); @@ -193,33 +194,36 @@ public void run() { tx.setText(m); tx.setColumns(20); removeAll(); - add(new JLabel(ConnectionImageIconFactory.getIcon("images/dialog-error.png")), "cell 0 0,ax center, ay center"); + add(new JLabel(ConnectionImageIconFactory.getIcon("images/dialog-error.png")), + "cell 0 0,ax center, ay center"); add(tx, "cell 1 0"); } finally { - if (connection!=null) { + if (connection != null) { connection.disconnect(); } - + connection = null; isRunning = false; } } - - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.util.IMonitorable#getPercentage() */ public double getPercentage() { return 0; } - - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.util.IMonitorable#isComplete() */ public boolean isComplete() { return !isRunning; } - + } } diff --git a/src/main/java/com/neuronrobotics/sdk/ui/ConnectionDialog.java b/src/main/java/com/neuronrobotics/sdk/ui/ConnectionDialog.java index 4309938e..731b67ca 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/ConnectionDialog.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/ConnectionDialog.java @@ -1,7 +1,5 @@ package com.neuronrobotics.sdk.ui; -import gnu.io.NativeResource; - import java.awt.GraphicsEnvironment; import java.awt.event.ActionEvent; import java.awt.event.ActionListener; @@ -23,7 +21,6 @@ import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.dyio.DyIOCommunicationException; import com.neuronrobotics.sdk.serial.SerialConnection; -import com.neuronrobotics.sdk.util.OsInfoUtil; // Auto-generated Javadoc /** @@ -33,192 +30,198 @@ public class ConnectionDialog extends JDialog { /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** The connection. */ private SerialConnection connection = null; - + /** The is cancled. */ private boolean isCancled = true; - + /** The panel. */ private JPanel panel; - + /** The connect btn. */ private JButton connectBtn; - + /** The refresh. */ private JButton refresh; - + /** The cancel btn. */ private JButton cancelBtn; - + /** The connection panels. */ private JTabbedPane connectionPanels; /** The laf. */ - private LookAndFeel laf; - + private LookAndFeel laf; + /** * Instantiates a new connection dialog. */ public ConnectionDialog() { - setIconImage( ConnectionImageIconFactory.getIcon("images/hat.png").getImage()); - - - setModal(true); - + setIconImage(ConnectionImageIconFactory.getIcon("images/hat.png").getImage()); + + setModal(true); + connectionPanels = new JTabbedPane(); - + loadDefaultConnections(); - + connectBtn = new JButton("Connect"); connectBtn.addActionListener(new ActionListener() { - + public void actionPerformed(ActionEvent arg0) { try { Log.info("Using connection" + getConnection() + "\n"); isCancled = false; - } catch(Exception e) { - JOptionPane.showMessageDialog(null, "Error connecting with the given connection.", "Connection Error", JOptionPane.ERROR_MESSAGE); + } catch (Exception e) { + JOptionPane.showMessageDialog(null, "Error connecting with the given connection.", + "Connection Error", JOptionPane.ERROR_MESSAGE); } finally { setVisible(false); } } }); - + cancelBtn = new JButton("Cancel"); cancelBtn.addActionListener(new ActionListener() { - + public void actionPerformed(ActionEvent arg0) { isCancled = true; setVisible(false); } }); - + refresh = new JButton("Refresh"); refresh.addActionListener(new ActionListener() { - + public void actionPerformed(ActionEvent arg0) { - for(int i = 0; i < connectionPanels.getTabCount(); i++) { + for (int i = 0; i < connectionPanels.getTabCount(); i++) { ((AbstractConnectionPanel) connectionPanels.getComponentAt(i)).refresh(); } } }); - panel = new JPanel(new MigLayout("", // Layout Constraints - "[right][left]", // Column constraints with default align - "[center][center]" // Row constraints with default align - )); - + panel = new JPanel(new MigLayout("", // Layout Constraints + "[right][left]", // Column constraints with default align + "[center][center]" // Row constraints with default align + )); + panel.add(connectionPanels); panel.add(connectBtn, "cell 0 2 2 1"); panel.add(cancelBtn, "cell 0 2 2 2"); - + add(panel); - //setResizable(false); + // setResizable(false); setTitle("Connection Information"); - //pack(); - + // pack(); + if (connection != null) { connection.disconnect(); } connection = null; - + addWindowFocusListener(new WindowAdapter() { - public void windowGainedFocus(WindowEvent e) { - connectBtn.requestFocusInWindow(); - } + public void windowGainedFocus(WindowEvent e) { + connectBtn.requestFocusInWindow(); + } }); pack(); setAlwaysOnTop(true); - + } - + /** * Load default connections. */ private void loadDefaultConnections() { - try{ - try{ -// if(OsInfoUtil.isLinux()) -// addConnectionPanel(new UsbConnectionPanel(this)); + try { + try { + // if(OsInfoUtil.isLinux()) + // addConnectionPanel(new UsbConnectionPanel(this)); addConnectionPanel(new SerialConnectionPanel(this)); addConnectionPanel(new BluetoothConnectionPanel(this)); - //addConnectionPanel(new SerialConnectionPanel(this)); - }catch(Exception ex){ + // addConnectionPanel(new SerialConnectionPanel(this)); + } catch (Exception ex) { addConnectionPanel(new SerialConnectionPanel(this)); addConnectionPanel(new BluetoothConnectionPanel(this)); } - }catch(Error e){ + } catch (Error e) { e.printStackTrace(); Log.error("This is not a java 8 compliant system, removing the serial, bluetooth and usb connections"); } addConnectionPanel(new UDPConnectionPanel(this)); addConnectionPanel(new TCPConnectionPanel(this)); - + } /** * Adds the connection panel. * - * @param panel the panel + * @param panel + * the panel */ public void addConnectionPanel(AbstractConnectionPanel panel) { connectionPanels.addTab(panel.getTitle(), panel.getIcon(), panel, panel.getToolTipText()); connectionPanels.invalidate(); connectionPanels.repaint(); } - + /** - * Displays the dialog and blocks until the user has chosen 'Set', 'Cancel', - * or 'No Connection' Returns true if the user set a connection, returns - * false otherwise. - * + * Displays the dialog and blocks until the user has chosen 'Set', 'Cancel', or + * 'No Connection' Returns true if the user set a connection, returns false + * otherwise. + * * @return - Did the user cancel */ public boolean showDialog() { - setLocationRelativeTo(null); - setVisible(true); - return !isCancled; + setLocationRelativeTo(null); + setVisible(true); + return !isCancled; } - + /** * Gets the connection. * * @return the connection */ public BowlerAbstractConnection getConnection() { - - BowlerAbstractConnection c = ((AbstractConnectionPanel) connectionPanels.getSelectedComponent()).getConnection(); - if(c == null) { - JOptionPane.showMessageDialog(null, "Unable to create connection.", "Invalid Connection", JOptionPane.ERROR_MESSAGE); + + BowlerAbstractConnection c = ((AbstractConnectionPanel) connectionPanels.getSelectedComponent()) + .getConnection(); + if (c == null) { + JOptionPane.showMessageDialog(null, "Unable to create connection.", "Invalid Connection", + JOptionPane.ERROR_MESSAGE); } - + return c; } - + /** * Gets the bowler device. * - * @param dev the dev + * @param dev + * the dev * @return the bowler device */ public static boolean getBowlerDevice(BowlerAbstractDevice dev) { return getBowlerDevice(dev, null); } - + /** * Gets the bowler device. * - * @param dev the dev - * @param panel the panel + * @param dev + * the dev + * @param panel + * the panel * @return Returns if the device has been found */ - public static boolean getBowlerDevice(BowlerAbstractDevice dev, AbstractConnectionPanel panel){ + public static boolean getBowlerDevice(BowlerAbstractDevice dev, AbstractConnectionPanel panel) { if (dev == null) { return false; } BowlerAbstractConnection connection = null; - while(connection == null) { + while (connection == null) { Log.info("Select connection:"); connection = ConnectionDialog.promptConnection(panel); if (connection == null) { @@ -230,20 +233,22 @@ public static boolean getBowlerDevice(BowlerAbstractDevice dev, AbstractConnecti dev.setConnection(connection); dev.connect(); Log.info("Connected"); - } catch(DyIOCommunicationException e1) { + } catch (DyIOCommunicationException e1) { String m = "The DyIO has not reported back to the library. \nCheck your connection and ensure you are attempting to talk to a DyIO, not another Bowler Device\nThis program will now exit."; - JOptionPane.showMessageDialog(null, m, "DyIO Not Responding"+e1.getMessage(), JOptionPane.ERROR_MESSAGE); + JOptionPane.showMessageDialog(null, m, "DyIO Not Responding" + e1.getMessage(), + JOptionPane.ERROR_MESSAGE); continue; - } catch(Exception e) { + } catch (Exception e) { e.printStackTrace(); - JOptionPane.showMessageDialog(null, e.getMessage(), "DyIO Connection problem ", JOptionPane.ERROR_MESSAGE); + JOptionPane.showMessageDialog(null, e.getMessage(), "DyIO Connection problem ", + JOptionPane.ERROR_MESSAGE); return false; } Log.info("Attempting to ping"); - if(dev.ping() ){ + if (dev.ping()) { Log.info("Ping OK!"); break; - }else{ + } else { connection = null; JOptionPane.showMessageDialog(null, "No device on that port", "", JOptionPane.ERROR_MESSAGE); } @@ -251,55 +256,60 @@ public static boolean getBowlerDevice(BowlerAbstractDevice dev, AbstractConnecti return true; } - /** - * Displays a serial connection dialog to the user and returns the connection or null. + * Displays a serial connection dialog to the user and returns the connection or + * null. * - * @return the connection if one is selected, null if canceled or no connection is selected. + * @return the connection if one is selected, null if canceled or no connection + * is selected. */ public static BowlerAbstractConnection promptConnection() { - if(!GraphicsEnvironment.isHeadless()) { + if (!GraphicsEnvironment.isHeadless()) { ConnectionDialog cd = new ConnectionDialog(); cd.showDialog(); - - return cd.isCancled?null:cd.getConnection(); + + return cd.isCancled ? null : cd.getConnection(); } - if(System.getProperty("nrdk.config.file") == null) { + if (System.getProperty("nrdk.config.file") == null) { return null; } return getHeadlessConnection(System.getProperty("nrdk.config.file")); } - + /** * Gets the headless connection. * - * @param config the config + * @param config + * the config * @return the headless connection */ - public static BowlerAbstractConnection getHeadlessConnection(String config){ + public static BowlerAbstractConnection getHeadlessConnection(String config) { return ConfigManager.loadDefaultConnection(config); } - + /** - * Displays a serial connection dialog to the user and returns the connection or null. + * Displays a serial connection dialog to the user and returns the connection or + * null. * - * @param panel the panel - * @return the connection if one is selected, null if canceled or no connection is selected. + * @param panel + * the panel + * @return the connection if one is selected, null if canceled or no connection + * is selected. */ public static BowlerAbstractConnection promptConnection(AbstractConnectionPanel panel) { - if(System.getProperty("nrdk.config.file") == null) { + if (System.getProperty("nrdk.config.file") == null) { ConnectionDialog cd = new ConnectionDialog(); - if(panel != null) { + if (panel != null) { cd.addConnectionPanel(panel); } cd.showDialog(); - - return cd.isCancled?null:cd.getConnection(); + + return cd.isCancled ? null : cd.getConnection(); } - if(System.getProperty("nrdk.config.file") == null) { + if (System.getProperty("nrdk.config.file") == null) { return null; } return getHeadlessConnection(System.getProperty("nrdk.config.file")); } - + } diff --git a/src/main/java/com/neuronrobotics/sdk/ui/ConnectionImageIconFactory.java b/src/main/java/com/neuronrobotics/sdk/ui/ConnectionImageIconFactory.java index 6df30487..d27eb035 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/ConnectionImageIconFactory.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/ConnectionImageIconFactory.java @@ -7,18 +7,19 @@ * A factory for creating ConnectionImageIcon objects. */ public class ConnectionImageIconFactory { - + /** * Gets the icon. * - * @param path the path + * @param path + * the path * @return the icon */ - public static ImageIcon getIcon(String path){ - try{ + public static ImageIcon getIcon(String path) { + try { return new ImageIcon(AbstractConnectionPanel.class.getResource(path)); - }catch (Exception e){ - + } catch (Exception e) { + } return new ImageIcon(); } diff --git a/src/main/java/com/neuronrobotics/sdk/ui/SerialConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/SerialConnectionPanel.java index 979344ac..f68f7ec7 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/SerialConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/SerialConnectionPanel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -39,120 +39,122 @@ public class SerialConnectionPanel extends AbstractConnectionPanel { /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** The baudrate txt. */ private JTextField baudrateTxt = new JTextField(8); - + /** The connection cbo. */ private JComboBox connectionCbo = null; - + /** The refresh. */ private JButton refresh; - + /** The connection. */ private SerialConnection connection = null; - + /** * Instantiates a new serial connection panel. * - * @param connectionDialog the connection dialog + * @param connectionDialog + * the connection dialog */ public SerialConnectionPanel(ConnectionDialog connectionDialog) { - super("Serial", ConnectionImageIconFactory.getIcon("images/usb-icon.png"),connectionDialog); - + super("Serial", ConnectionImageIconFactory.getIcon("images/usb-icon.png"), connectionDialog); + baudrateTxt.setText("115200"); connectionCbo = new JComboBox(); connectionCbo.setEditable(true); - + refresh = new JButton("Refresh"); refresh.addActionListener(new ActionListener() { - + public void actionPerformed(ActionEvent arg0) { refresh(); } }); - - setLayout(new MigLayout("", // Layout Constraints - "[right][left]", // Column constraints with default align - "[center][center]" // Row constraints with default align - )); + + setLayout(new MigLayout("", // Layout Constraints + "[right][left]", // Column constraints with default align + "[center][center]" // Row constraints with default align + )); add(new JLabel("Connection:"), "cell 0 0"); add(connectionCbo); add(refresh); - + add(new JLabel("Baudrate:"), "cell 0 1"); add(baudrateTxt, "cell 1 1"); - + refresh(); } - - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.ui.AbstractConnectionPanel#getConnection() */ public BowlerAbstractConnection getConnection() { try { int baud = Integer.parseInt(baudrateTxt.getText()); - if(baud < 0) { + if (baud < 0) { throw new NumberFormatException(); } - String port =connectionCbo.getSelectedItem().toString(); + String port = connectionCbo.getSelectedItem().toString(); connection = new SerialConnection(port, baud); - Log.info("Using port:"+port+"\n"); - } catch(NumberFormatException e) { - JOptionPane.showMessageDialog(null, "Invalid baudrate given. Please review the list of valid baudrates.", "Invalid Baudrate", JOptionPane.ERROR_MESSAGE); - } catch(Exception e) { + Log.info("Using port:" + port + "\n"); + } catch (NumberFormatException e) { + JOptionPane.showMessageDialog(null, "Invalid baudrate given. Please review the list of valid baudrates.", + "Invalid Baudrate", JOptionPane.ERROR_MESSAGE); + } catch (Exception e) { } finally { setVisible(false); } return connection; } - - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.ui.AbstractConnectionPanel#refresh() */ - public void refresh() { + public void refresh() { connectionCbo.removeAllItems(); - String m = "NRSDK not installed properly, native library not found\n\n" + - "librxtxSerial.so in Linux\n" + - "librxtxSerial.jnilib in OSX\n" + - "rxtxSerial.dll in Windows\n\n"+ - "This must be in your JVM or system library path. See:\n"+ - "http://neuronrobotics.com/wiki/Installing_The_Native_Serial_Library"; + String m = "NRSDK not installed properly, native library not found\n\n" + "librxtxSerial.so in Linux\n" + + "librxtxSerial.jnilib in OSX\n" + "rxtxSerial.dll in Windows\n\n" + + "This must be in your JVM or system library path. See:\n" + + "http://neuronrobotics.com/wiki/Installing_The_Native_Serial_Library"; try { - List prts= SerialConnection.getAvailableSerialPorts(); - for(int i=0;i prts = SerialConnection.getAvailableSerialPorts(); + for (int i = 0; i < prts.size(); i++) { + String s = prts.get(i); + if (s.contains("DyIO") || s.contains("Bootloader")) + connectionCbo.addItem(prts.remove(i)); + } + for (String s : prts) { + if (!(s.contains("ttyS") || s.equals("COM1") || s.equals("COM2") || s.contains("ttyACM"))) + connectionCbo.addItem(s); + else { + // TODO maybe add the others if you can change the color? + } } - for(String s:prts){ - if(!(s.contains("ttyS") || s.equals("COM1") || s.equals("COM2") || s.contains("ttyACM"))) - connectionCbo.addItem(s); - else{ - // TODO maybe add the others if you can change the color? - } - } connectionCbo.addItem(null); - for(String s:prts){ - if((s.contains("ttyS") || s.equals("COM1") || s.equals("COM2") || s.contains("ttyACM"))) - connectionCbo.addItem(s); - } - - } catch(MissingNativeLibraryException e) { - JOptionPane.showMessageDialog(this, m,"NRSDK not installed properly", JOptionPane.ERROR_MESSAGE); + for (String s : prts) { + if ((s.contains("ttyS") || s.equals("COM1") || s.equals("COM2") || s.contains("ttyACM"))) + connectionCbo.addItem(s); + } + + } catch (MissingNativeLibraryException e) { + JOptionPane.showMessageDialog(this, m, "NRSDK not installed properly", JOptionPane.ERROR_MESSAGE); throw new MissingNativeLibraryException(m); - }catch (Exception e){ + } catch (Exception e) { e.printStackTrace(); - JOptionPane.showMessageDialog(this, m,"NRSDK not installed properly", JOptionPane.ERROR_MESSAGE); - throw new MissingNativeLibraryException(m); - }catch (Error e){ + JOptionPane.showMessageDialog(this, m, "NRSDK not installed properly", JOptionPane.ERROR_MESSAGE); + throw new MissingNativeLibraryException(m); + } catch (Error e) { e.printStackTrace(); - JOptionPane.showMessageDialog(this, m,"NRSDK not installed properly", JOptionPane.ERROR_MESSAGE); - throw new MissingNativeLibraryException(m); + JOptionPane.showMessageDialog(this, m, "NRSDK not installed properly", JOptionPane.ERROR_MESSAGE); + throw new MissingNativeLibraryException(m); } getConnectionDialog().pack(); } diff --git a/src/main/java/com/neuronrobotics/sdk/ui/TCPConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/TCPConnectionPanel.java index b5728151..ed71388f 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/TCPConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/TCPConnectionPanel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -25,7 +25,6 @@ import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.network.BowlerTCPClient; - // Auto-generated Javadoc /** * The Class TCPConnectionPanel. @@ -34,97 +33,101 @@ public class TCPConnectionPanel extends AbstractConnectionPanel { /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** The default port num. */ private static int defaultPortNum = 1866; - + /** The default server. */ private static String defaultServer = "localhost"; - + /** The connection cbo. */ private JComboBox connectionCbo = null; - + /** The port. */ private JTextField port = new JTextField(8); - + /** The clnt. */ - BowlerTCPClient clnt=null; - - + BowlerTCPClient clnt = null; + /** * Instantiates a new TCP connection panel. * - * @param connectionDialog the connection dialog + * @param connectionDialog + * the connection dialog */ public TCPConnectionPanel(ConnectionDialog connectionDialog) { - super("TCP", ConnectionImageIconFactory.getIcon("images/ethernet-icon.png"),connectionDialog); - - + super("TCP", ConnectionImageIconFactory.getIcon("images/ethernet-icon.png"), connectionDialog); + port.setText(new Integer(defaultPortNum).toString()); - - setLayout(new MigLayout("", // Layout Constraints - "[right][left]", // Column constraints with default align - "[center][center]" // Row constraints with default align - )); + + setLayout(new MigLayout("", // Layout Constraints + "[right][left]", // Column constraints with default align + "[center][center]" // Row constraints with default align + )); add(new JLabel("Server:"), "cell 0 0"); connectionCbo = new JComboBox(); connectionCbo.setEditable(true); - -// Socket s; -// try { -// s = new Socket("google.com", 80); -// connectionCbo.addItem(s.getLocalAddress().getHostAddress()); -// //com.neuronrobotics.sdk.common.Log.error(s.getLocalAddress().getHostAddress()); -// s.close(); -// } catch (UnknownHostException e) { -// // Auto-generated catch block -// //e.printStackTrace(); -// } catch (IOException e) { -// // Auto-generated catch block -// //e.printStackTrace(); -// } - + + // Socket s; + // try { + // s = new Socket("google.com", 80); + // connectionCbo.addItem(s.getLocalAddress().getHostAddress()); + // //com.neuronrobotics.sdk.common.Log.error(s.getLocalAddress().getHostAddress()); + // s.close(); + // } catch (UnknownHostException e) { + // // Auto-generated catch block + // //e.printStackTrace(); + // } catch (IOException e) { + // // Auto-generated catch block + // //e.printStackTrace(); + // } + add(connectionCbo, "cell 1 0"); - + add(new JLabel("Port:"), "cell 0 1"); add(port, "cell 1 1"); - + } - + /** * Sets the default server. * - * @param server the new default server + * @param server + * the new default server */ - public static void setDefaultServer(String server){ + public static void setDefaultServer(String server) { defaultServer = server; } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.ui.AbstractConnectionPanel#getConnection() */ @Override public BowlerAbstractConnection getConnection() { - if(clnt == null){ + if (clnt == null) { try { int thePort = Integer.parseInt(port.getText()); - if(thePort < 0) { + if (thePort < 0) { throw new NumberFormatException(); } - String address =connectionCbo.getSelectedItem().toString(); - Log.info("Connecting on: "+address+":"+thePort); - clnt = new BowlerTCPClient(address,thePort); + String address = connectionCbo.getSelectedItem().toString(); + Log.info("Connecting on: " + address + ":" + thePort); + clnt = new BowlerTCPClient(address, thePort); setVisible(false); return clnt; - } catch(NumberFormatException e) { + } catch (NumberFormatException e) { JOptionPane.showMessageDialog(null, "Invalid port given.", "Invalid port", JOptionPane.ERROR_MESSAGE); - } catch(RuntimeException e) { + } catch (RuntimeException e) { e.printStackTrace(); - JOptionPane.showMessageDialog(null, "Invalid address given.", "Invalid address", JOptionPane.ERROR_MESSAGE); + JOptionPane.showMessageDialog(null, "Invalid address given.", "Invalid address", + JOptionPane.ERROR_MESSAGE); } catch (Exception e) { e.printStackTrace(); - JOptionPane.showMessageDialog(null, "Invalid address given.", "Invalid address", JOptionPane.ERROR_MESSAGE); + JOptionPane.showMessageDialog(null, "Invalid address given.", "Invalid address", + JOptionPane.ERROR_MESSAGE); } finally { setVisible(false); } @@ -133,7 +136,9 @@ public BowlerAbstractConnection getConnection() { return clnt; } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.ui.AbstractConnectionPanel#refresh() */ @Override diff --git a/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java index df626429..33c46b29 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/UDPConnectionPanel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -41,38 +41,37 @@ public class UDPConnectionPanel extends AbstractConnectionPanel { /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - + /** The Constant defaultPortNum. */ private static final int defaultPortNum = 1865; - + /** The connection cbo. */ private JComboBox connectionCbo = null; - + /** The refresh. */ private JButton refresh; - + /** The port. */ private JTextField port = new JTextField(8); - + /** The clnt. */ - UDPBowlerConnection clnt=null; - - + UDPBowlerConnection clnt = null; + /** * Instantiates a new UDP connection panel. * - * @param connectionDialog the connection dialog + * @param connectionDialog + * the connection dialog */ public UDPConnectionPanel(ConnectionDialog connectionDialog) { - super("UDP",ConnectionImageIconFactory.getIcon("images/ethernet-icon.png"),connectionDialog); - - + super("UDP", ConnectionImageIconFactory.getIcon("images/ethernet-icon.png"), connectionDialog); + port.setText(new Integer(defaultPortNum).toString()); - - setLayout(new MigLayout("", // Layout Constraints - "[right][left]", // Column constraints with default align - "[center][center]" // Row constraints with default align - )); + + setLayout(new MigLayout("", // Layout Constraints + "[right][left]", // Column constraints with default align + "[center][center]" // Row constraints with default align + )); add(new JLabel("Server:"), "cell 0 0"); connectionCbo = new JComboBox(); @@ -81,36 +80,37 @@ public UDPConnectionPanel(ConnectionDialog connectionDialog) { add(connectionCbo); refresh = new JButton("Refresh"); refresh.addActionListener(new ActionListener() { - + public void actionPerformed(ActionEvent arg0) { refresh(); } }); add(refresh); - + add(new JLabel("Port:"), "cell 0 1"); add(port, "cell 1 1"); - - //refresh(); + + // refresh(); } - - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.ui.AbstractConnectionPanel#getConnection() */ public BowlerAbstractConnection getConnection() { try { int baud = Integer.parseInt(port.getText()); - if(baud < 0) { + if (baud < 0) { throw new NumberFormatException(); } - String address =connectionCbo.getSelectedItem().toString().trim(); + String address = connectionCbo.getSelectedItem().toString().trim(); clnt.setAddress(address); setVisible(false); return clnt; - } catch(NumberFormatException e) { + } catch (NumberFormatException e) { JOptionPane.showMessageDialog(null, "Invalid port given.", "Invalid port", JOptionPane.ERROR_MESSAGE); - } catch(RuntimeException e) { + } catch (RuntimeException e) { JOptionPane.showMessageDialog(null, "Invalid address given.", "Invalid address", JOptionPane.ERROR_MESSAGE); } finally { setVisible(false); @@ -118,87 +118,93 @@ public BowlerAbstractConnection getConnection() { return null; } - - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.ui.AbstractConnectionPanel#refresh() */ public void refresh() { connectionCbo.removeAllItems(); connectionCbo.addItem("Searching..."); connectionCbo.setEnabled(false); - + port.setEnabled(false); - + refresh.setEnabled(false); - + NetworkSearchProcess nsp = new NetworkSearchProcess(); - + ProcessMonitor pm = new ProcessMonitor(nsp); pm.addProcessMonitorListener(new IProgressMonitorListener() { - - + public void onUpdate(double value) { // Auto-generated method stub - + } - - + public void onComplete() { connectionCbo.setEnabled(true); port.setEnabled(true); refresh.setEnabled(true); } }); - + pm.start(); - nsp.start(); + nsp.start(); getConnectionDialog().pack(); } - + /** * The Class NetworkSearchProcess. */ private class NetworkSearchProcess extends Thread implements IMonitorable { - + /** The is running. */ private boolean isRunning = false; - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see java.lang.Thread#run() */ public void run() { setName("Bowler Platform UDP searcher"); isRunning = true; - //com.neuronrobotics.sdk.common.Log.error("Searching for UDP devices, please wait..."); + // com.neuronrobotics.sdk.common.Log.error("Searching for UDP devices, please + // wait..."); int prt; try { - prt=new Integer(port.getText()); - }catch (NumberFormatException e) { - prt=defaultPortNum; + prt = new Integer(port.getText()); + } catch (NumberFormatException e) { + prt = defaultPortNum; port.setText(new Integer(defaultPortNum).toString()); } - clnt=new UDPBowlerConnection(prt); - ArrayList addrs = clnt.getAllAddresses(); -// if (addrs.size()>0) -// com.neuronrobotics.sdk.common.Log.error("Bowler servers: "+addrs); + clnt = new UDPBowlerConnection(prt); + ArrayList addrs = clnt.getAllAddresses(); + // if (addrs.size()>0) + // com.neuronrobotics.sdk.common.Log.error("Bowler servers: "+addrs); connectionCbo.removeAllItems(); - for (InetAddress i:addrs) { + for (InetAddress i : addrs) { connectionCbo.addItem(i.getHostAddress()); } - if(addrs.size() ==0 ) + if (addrs.size() == 0) connectionCbo.addItem("No Servers Found"); - + isRunning = false; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.util.IMonitorable#getPercentage() */ public double getPercentage() { return 0; } - - /* (non-Javadoc) + + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.util.IMonitorable#isComplete() */ public boolean isComplete() { diff --git a/src/main/java/com/neuronrobotics/sdk/ui/UsbConnectionPanel.java b/src/main/java/com/neuronrobotics/sdk/ui/UsbConnectionPanel.java index d44869bb..e20ff084 100644 --- a/src/main/java/com/neuronrobotics/sdk/ui/UsbConnectionPanel.java +++ b/src/main/java/com/neuronrobotics/sdk/ui/UsbConnectionPanel.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -22,20 +22,11 @@ import javax.swing.JButton; import javax.swing.JComboBox; import javax.swing.JLabel; -import javax.swing.JOptionPane; import javax.swing.SwingUtilities; import javax.usb.UsbDevice; import javax.usb.UsbDisconnectedException; import javax.usb.UsbException; -import org.usb4java.Context; -import org.usb4java.Device; -import org.usb4java.DeviceDescriptor; -import org.usb4java.HotplugCallback; -import org.usb4java.HotplugCallbackHandle; -import org.usb4java.LibUsb; -import org.usb4java.LibUsbException; - import net.miginfocom.swing.MigLayout; import com.neuronrobotics.sdk.common.BowlerAbstractConnection; @@ -48,124 +39,125 @@ /** * The Class UsbConnectionPanel. */ -public class UsbConnectionPanel extends AbstractConnectionPanel implements IUsbDeviceEventListener{ +public class UsbConnectionPanel extends AbstractConnectionPanel implements IUsbDeviceEventListener { /** The Constant serialVersionUID. */ private static final long serialVersionUID = 1L; - /** The connection cbo. */ private JComboBox connectionCbo = null; - + /** The refresh. */ private JButton refresh; - + /** The connection. */ private UsbCDCSerialConnection connection = null; /** * Instantiates a new usb connection panel. * - * @param connectionDialog the connection dialog + * @param connectionDialog + * the connection dialog */ public UsbConnectionPanel(ConnectionDialog connectionDialog) { - super("USB", ConnectionImageIconFactory.getIcon("images/usb-icon.png"),connectionDialog); - + super("USB", ConnectionImageIconFactory.getIcon("images/usb-icon.png"), connectionDialog); connectionCbo = new JComboBox(); connectionCbo.setEditable(true); - + refresh = new JButton("Refresh"); refresh.addActionListener(new ActionListener() { - + public void actionPerformed(ActionEvent arg0) { refresh(); } }); - - setLayout(new MigLayout("", // Layout Constraints - "[right][left]", // Column constraints with default align - "[center][center]" // Row constraints with default align - )); + + setLayout(new MigLayout("", // Layout Constraints + "[right][left]", // Column constraints with default align + "[center][center]" // Row constraints with default align + )); add(new JLabel("Connection:"), "cell 0 0"); add(connectionCbo); add(refresh); - + refresh(); - - UsbCDCSerialConnection.addUsbDeviceEventListener(this); + UsbCDCSerialConnection.addUsbDeviceEventListener(this); } - - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.ui.AbstractConnectionPanel#getConnection() */ public BowlerAbstractConnection getConnection() { - String port =connectionCbo.getSelectedItem().toString(); + String port = connectionCbo.getSelectedItem().toString(); connection = new UsbCDCSerialConnection(port); - Log.info("Using port:"+port+"\n"); - + Log.info("Using port:" + port + "\n"); - setVisible(false); - + return connection; } - - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see com.neuronrobotics.sdk.ui.AbstractConnectionPanel#refresh() */ - public void refresh() { - //com.neuronrobotics.sdk.common.Log.error("Refreshing USB"); + public void refresh() { + // com.neuronrobotics.sdk.common.Log.error("Refreshing USB"); connectionCbo.removeAllItems(); - List prts=null; - + List prts = null; + + try { + prts = UsbCDCSerialConnection.getAllUsbBowlerDevices(); + } catch (UsbException e1) { + e1.printStackTrace(); + throw new RuntimeException(e1); + } catch (UnsupportedEncodingException e) { + // Auto-generated catch block + e.printStackTrace(); + } catch (UsbDisconnectedException e) { + // Auto-generated catch block + e.printStackTrace(); + } catch (SecurityException e) { + // Auto-generated catch block + e.printStackTrace(); + } + for (int i = 0; i < prts.size(); i++) { try { - prts = UsbCDCSerialConnection.getAllUsbBowlerDevices(); - } catch ( UsbException e1) { - e1.printStackTrace(); - throw new RuntimeException(e1); - } catch (UnsupportedEncodingException e) { - // Auto-generated catch block - e.printStackTrace(); - } catch (UsbDisconnectedException e) { - // Auto-generated catch block + String s = UsbCDCSerialConnection.getUniqueID(prts.get(i)); + connectionCbo.addItem(s); + } catch (Exception e) { e.printStackTrace(); - } catch (SecurityException e) { - // Auto-generated catch block - e.printStackTrace(); - } - for(int i=0;i listeners = new ArrayList(); - + /** * Instantiates a new process monitor. * - * @param process the process + * @param process + * the process */ public ProcessMonitor(IMonitorable process) { this.process = process; @@ -32,36 +33,39 @@ public ProcessMonitor(IMonitorable process) { /** * Adds the process monitor listener. * - * @param listener the listener + * @param listener + * the listener */ public void addProcessMonitorListener(IProgressMonitorListener listener) { listeners.add(listener); } - + /** * Start. */ public void start() { timer.start(); } - - - /* (non-Javadoc) - * @see java.awt.event.ActionListener#actionPerformed(java.awt.event.ActionEvent) + + /* + * (non-Javadoc) + * + * @see + * java.awt.event.ActionListener#actionPerformed(java.awt.event.ActionEvent) */ public void actionPerformed(ActionEvent arg0) { double value = process.getPercentage(); boolean isComplete = process.isComplete(); - - if(isComplete) { + + if (isComplete) { timer.stop(); } - - for(IProgressMonitorListener l : listeners) { + + for (IProgressMonitorListener l : listeners) { l.onUpdate(value); - if(isComplete) { + if (isComplete) { l.onComplete(); } } } -} \ No newline at end of file +} diff --git a/src/main/java/com/neuronrobotics/sdk/util/RollingAverageFilter.java b/src/main/java/com/neuronrobotics/sdk/util/RollingAverageFilter.java index 3e98cdba..42c506c1 100644 --- a/src/main/java/com/neuronrobotics/sdk/util/RollingAverageFilter.java +++ b/src/main/java/com/neuronrobotics/sdk/util/RollingAverageFilter.java @@ -5,55 +5,58 @@ * The Class RollingAverageFilter. */ public class RollingAverageFilter { - + /** The data. */ - double [] data; - + double[] data; + /** The index. */ int index = 0; - + /** The average. */ double average = 0; - + /** * Instantiates a new rolling average filter. * - * @param size the size - * @param startingValue the starting value + * @param size + * the size + * @param startingValue + * the starting value */ - public RollingAverageFilter(int size, double startingValue){ + public RollingAverageFilter(int size, double startingValue) { data = new double[size]; - average = startingValue*size; - for(int i=0;i0){ + if (diff > 0) { listener.onTimerInterval(loopIndex++); - if(recalculateTarget()>0){ - if(failOnRealtime ){ - try{ + if (recalculateTarget() > 0) { + if (failOnRealtime) { + try { throw new RuntimeException("Real time broken!!"); - }catch(Exception ex){ + } catch (Exception ex) { ex.printStackTrace(); } } @@ -95,7 +100,8 @@ public boolean isRunning() { /** * Sets the running. * - * @param running the new running + * @param running + * the new running */ public void setRunning(boolean running) { this.running = running; @@ -113,11 +119,11 @@ public long getStartTime() { /** * Sets the start time. * - * @param startTime the new start time + * @param startTime + * the new start time */ private void setStartTime(long startTime) { this.startTime = startTime; } - } diff --git a/src/main/java/com/neuronrobotics/sdk/wireless/bluetooth/BlueCoveManager.java b/src/main/java/com/neuronrobotics/sdk/wireless/bluetooth/BlueCoveManager.java index 16de240d..dd30dee5 100644 --- a/src/main/java/com/neuronrobotics/sdk/wireless/bluetooth/BlueCoveManager.java +++ b/src/main/java/com/neuronrobotics/sdk/wireless/bluetooth/BlueCoveManager.java @@ -3,9 +3,9 @@ * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at - * + * * http://www.apache.org/licenses/LICENSE-2.0 - * + * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. @@ -33,9 +33,6 @@ import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.common.MissingNativeLibraryException; - - - // Auto-generated Javadoc //import com.intel.bluetooth.test.SimpleClient.CancelThread; @@ -43,46 +40,50 @@ * The Class BlueCoveManager. */ public class BlueCoveManager implements DiscoveryListener { - + /** The records. */ - ArrayList records= new ArrayList(); - + ArrayList records = new ArrayList(); + /** The device list. */ ArrayList deviceList = new ArrayList(); - + /** The Constant uuid. */ static final UUID uuid = com.intel.bluetooth.BluetoothConsts.RFCOMM_PROTOCOL_UUID; - + /** The selected. */ private String selected = null; - + /** The ins. */ private DataInputStream ins; - + /** The outs. */ private DataOutputStream outs; - + /** The conn. */ private StreamConnection conn; - + /** The search id. */ - private int searchId=0xffff; + private int searchId = 0xffff; /** * Instantiates a new blue cove manager. */ - public BlueCoveManager(){ + public BlueCoveManager() { } - + /** * Find. * - * @throws MissingNativeLibraryException the missing native library exception + * @throws MissingNativeLibraryException + * the missing native library exception */ public synchronized void find() throws MissingNativeLibraryException { - for (RemoteDevice d:deviceList) { - if(d.getBluetoothAddress().equals(selected)){ - try {Thread.sleep(100);} catch (InterruptedException e) {} + for (RemoteDevice d : deviceList) { + if (d.getBluetoothAddress().equals(selected)) { + try { + Thread.sleep(100); + } catch (InterruptedException e) { + } return; } } @@ -91,200 +92,219 @@ public synchronized void find() throws MissingNativeLibraryException { try { LocalDevice.getLocalDevice().getDiscoveryAgent().cancelInquiry(this); LocalDevice.getLocalDevice().getDiscoveryAgent().startInquiry(DiscoveryAgent.GIAC, this); - try {wait();} catch (InterruptedException e) {e.printStackTrace();} - + try { + wait(); + } catch (InterruptedException e) { + e.printStackTrace(); + } + } catch (BluetoothStateException e) { e.printStackTrace(); } - for (RemoteDevice d:deviceList) { + for (RemoteDevice d : deviceList) { try { - Log.info("Device name: " + d.getFriendlyName(false)+" address: " + d.getBluetoothAddress()); + Log.info("Device name: " + d.getFriendlyName(false) + " address: " + d.getBluetoothAddress()); } catch (IOException e) { - //e.printStackTrace(); + // e.printStackTrace(); } } - if(deviceList.size()==0) + if (deviceList.size() == 0) Log.info("No Devices Found!"); - + } - - /* (non-Javadoc) - * @see javax.bluetooth.DiscoveryListener#deviceDiscovered(javax.bluetooth.RemoteDevice, javax.bluetooth.DeviceClass) + + /* + * (non-Javadoc) + * + * @see javax.bluetooth.DiscoveryListener#deviceDiscovered(javax.bluetooth. + * RemoteDevice, javax.bluetooth.DeviceClass) */ public void deviceDiscovered(RemoteDevice btDevice, DeviceClass cod) { deviceList.add(btDevice); - //Log.info("deviceDiscovered " + btDevice.getBluetoothAddress() + " DeviceClass: " + ((Object)cod).toString()); + // Log.info("deviceDiscovered " + btDevice.getBluetoothAddress() + " + // DeviceClass: " + ((Object)cod).toString()); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see javax.bluetooth.DiscoveryListener#inquiryCompleted(int) */ public synchronized void inquiryCompleted(int discType) { notifyAll(); } - - /* (non-Javadoc) - * @see javax.bluetooth.DiscoveryListener#servicesDiscovered(int, javax.bluetooth.ServiceRecord[]) + + /* + * (non-Javadoc) + * + * @see javax.bluetooth.DiscoveryListener#servicesDiscovered(int, + * javax.bluetooth.ServiceRecord[]) */ public void servicesDiscovered(int transID, ServiceRecord[] servRecord) { - //Log.info("###Record list added: "+servRecord.length); - for ( int i=0; i< servRecord.length;i++) + // Log.info("###Record list added: "+servRecord.length); + for (int i = 0; i < servRecord.length; i++) records.add(servRecord[i]); } - /* (non-Javadoc) + /* + * (non-Javadoc) + * * @see javax.bluetooth.DiscoveryListener#serviceSearchCompleted(int, int) */ public synchronized void serviceSearchCompleted(int transID, int respCode) { notifyAll(); } - + /** * Gets the available serial devices. * - * @param refresh the refresh + * @param refresh + * the refresh * @return the available serial devices */ - public String [] getAvailableSerialDevices(boolean refresh) { - if(refresh){ + public String[] getAvailableSerialDevices(boolean refresh) { + if (refresh) { find(); } - String [] s=new String[deviceList.size()]; - String tmp=""; - int i=0; - for (RemoteDevice d: deviceList){ + String[] s = new String[deviceList.size()]; + String tmp = ""; + int i = 0; + for (RemoteDevice d : deviceList) { try { - tmp=d.getFriendlyName(false); + tmp = d.getFriendlyName(false); if (tmp == "") tmp = "No Name"; - s[i]=tmp+"_"+d.getBluetoothAddress(); + s[i] = tmp + "_" + d.getBluetoothAddress(); } catch (Exception e) { - s[i]="Failed Name"+"_"+d.getBluetoothAddress(); + s[i] = "Failed Name" + "_" + d.getBluetoothAddress(); } i++; } return s; } - + /** * Gets the device. * - * @param name the name + * @param name + * the name * @return the device */ - public synchronized RemoteDevice getDevice(String name){ - String addr = name.substring(name.indexOf('_')+1); - //com.neuronrobotics.sdk.common.Log.error("Getting device with address: "+addr); - String [] s=getAvailableSerialDevices(false); - for (int i=0;i myList = new ArrayList(); - //verify initial state - if(BowlerDatagramFactory.getCurrentPoolSize() != BowlerDatagramFactory.getDefaultPoolSize()){ - fail(); - } - - for(int i=0;i myList = new + * ArrayList(); //verify initial state + * if(BowlerDatagramFactory.getCurrentPoolSize() != + * BowlerDatagramFactory.getDefaultPoolSize()){ fail(); } + * + * for(int i=0;i() {}.getType(); - Gson gson = new GsonBuilder() - .excludeFieldsWithoutExposeAnnotation() - .disableHtmlEscaping() - .setPrettyPrinting() + Type type = new TypeToken() { + }.getType(); + Gson gson = new GsonBuilder().excludeFieldsWithoutExposeAnnotation().disableHtmlEscaping().setPrettyPrinting() .create(); - VitaminLocation src = new VitaminLocation(false,"Tester", "hobbyServo","mg92b",new TransformNR()); + VitaminLocation src = new VitaminLocation(false, "Tester", "hobbyServo", "mg92b", new TransformNR()); String content = gson.toJson(src); com.neuronrobotics.sdk.common.Log.error(content); } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java b/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java index a57a319c..50bccf71 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/LoadMassTest.java @@ -18,9 +18,9 @@ public void test() throws FileNotFoundException { File f = new File("carlRobot.xml"); if (f.exists()) { MobileBase pArm = new MobileBase(new FileInputStream(f)); - com.neuronrobotics.sdk.common.Log.error("Mass = "+pArm.getMassKg()); - assertEquals(99, pArm.getMassKg(),0.1); - assertEquals(pArm.getLegs().get(0).getScriptingName(),"Carl_One"); + com.neuronrobotics.sdk.common.Log.error("Mass = " + pArm.getMassKg()); + assertEquals(99, pArm.getMassKg(), 0.1); + assertEquals(pArm.getLegs().get(0).getScriptingName(), "Carl_One"); } } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/PacketValidationTest.java b/test/java/src/junit/test/neuronrobotics/utilities/PacketValidationTest.java index 6ab11ba5..dd0d6517 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/PacketValidationTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/PacketValidationTest.java @@ -25,10 +25,10 @@ public void packetTest() { Log.enableInfoPrint(); BowlerDatagram bd = BowlerDatagramFactory.build(new MACAddress(), new PingCommand()); com.neuronrobotics.sdk.common.Log.error(bd.toString()); - + ByteList data = new ByteList(bd.getBytes()); com.neuronrobotics.sdk.common.Log.error(data.toString()); - + BowlerDatagram back = BowlerDatagramFactory.build(data); if (back == null) fail(); diff --git a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java index e06096be..4adfd4af 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/ParallelArmTest.java @@ -5,11 +5,7 @@ import java.io.BufferedWriter; import java.io.File; import java.io.FileInputStream; -import java.io.FileNotFoundException; import java.io.FileWriter; -import java.io.IOException; - -import javax.swing.text.html.HTMLDocument.HTMLReader.IsindexAction; import org.junit.Test; @@ -24,53 +20,54 @@ public class ParallelArmTest { @Test public void test() throws Exception { - //main(null); + // main(null); } public static void main(String[] args) throws Exception { - + File f = new File("paralleloutput.xml"); if (f.exists()) { MobileBase pArm = new MobileBase(new FileInputStream(f)); pArm.setGlobalToFiducialTransform(new TransformNR()); - try{ + try { String xmlParsed = pArm.getXml(); BufferedWriter writer = null; - + writer = new BufferedWriter(new FileWriter("paralleloutput2.xml")); writer.write(xmlParsed); - + if (writer != null) writer.close(); - + ParallelGroup group = pArm.getParallelGroup("ParallelArmGroup"); - + Log.enableInfoPrint(); - //TransformNR Tip = group.getCurrentTaskSpaceTransform(); - TransformNR Tip = new TransformNR(87,12,25,new RotationNR()); - - for(DHParameterKinematics kin:pArm.getAppendages()){ - kin.setDesiredJointSpaceVector(new double[]{0,0,0}, 0); + // TransformNR Tip = group.getCurrentTaskSpaceTransform(); + TransformNR Tip = new TransformNR(87, 12, 25, new RotationNR()); + + for (DHParameterKinematics kin : pArm.getAppendages()) { + kin.setDesiredJointSpaceVector(new double[]{0, 0, 0}, 0); kin.setDesiredTaskSpaceTransform(Tip, 0); - - com.neuronrobotics.sdk.common.Log.error("Arm "+kin.getScriptingName()+"setting to : "+Tip); + + com.neuronrobotics.sdk.common.Log.error("Arm " + kin.getScriptingName() + "setting to : " + Tip); } assertEquals(Tip.getX(), group.getCurrentTaskSpaceTransform().getX(), 1); group.setDesiredTaskSpaceTransform(Tip.copy(), 0); for (DHParameterKinematics limb : group.getConstituantLimbs()) { TransformNR TipOffset = group.getTipOffset().get(limb); TransformNR newTip = limb.getCurrentTaskSpaceTransform().times(TipOffset); - - com.neuronrobotics.sdk.common.Log.error("Expected tip to be " + Tip.getX() + " and got: " + newTip.getX()); + + com.neuronrobotics.sdk.common.Log + .error("Expected tip to be " + Tip.getX() + " and got: " + newTip.getX()); assertTrue(!Double.isNaN(Tip.getX())); assertEquals(Tip.getX(), newTip.getX(), 1); } - }catch(Exception ex){ + } catch (Exception ex) { ex.printStackTrace(); } pArm.disconnect(); } - + } } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java index 362723f4..7908bdde 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java @@ -2,23 +2,15 @@ import static org.junit.Assert.*; -import java.io.BufferedWriter; -import java.io.File; -import java.io.FileInputStream; import java.io.FileNotFoundException; -import java.io.FileWriter; import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention; import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder; import org.junit.Test; -import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; -import com.neuronrobotics.sdk.addons.kinematics.MobileBase; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNRLegacy; import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; -import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -import com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup; import com.neuronrobotics.sdk.common.Log; import com.neuronrobotics.sdk.util.ThreadUtil; @@ -28,7 +20,7 @@ */ public class RotationNRTest { - private RotationOrder[] list = new RotationOrder[] { RotationOrder.ZYX + private RotationOrder[] list = new RotationOrder[]{RotationOrder.ZYX // RotationOrder.XZY, // RotationOrder.YXZ, // RotationOrder.YZX, @@ -38,11 +30,11 @@ public class RotationNRTest { };; - RotationConvention[] conventions = { RotationConvention.VECTOR_OPERATOR }; + RotationConvention[] conventions = {RotationConvention.VECTOR_OPERATOR}; /** * Test. - * + * * @throws FileNotFoundException */ @Test @@ -66,31 +58,36 @@ public void test() throws FileNotFoundException { RotationNR rotTest = new RotationNR(Math.toDegrees(tilt), Math.toDegrees(azumus), Math.toDegrees(elevation)); com.neuronrobotics.sdk.common.Log.error("\n\nTest #" + i); - com.neuronrobotics.sdk.common.Log.error("Testing Az=" + Math.toDegrees(azumus) + " El=" + Math.toDegrees(elevation) - + " Tl=" + Math.toDegrees(tilt)); - com.neuronrobotics.sdk.common.Log.error("Got Az=" + Math.toDegrees(rotTest.getRotationAzimuthRadians()) + " El=" - + Math.toDegrees(rotTest.getRotationElevationRadians()) + " Tl=" - + Math.toDegrees(rotTest.getRotationTiltRadians())); + com.neuronrobotics.sdk.common.Log.error("Testing Az=" + Math.toDegrees(azumus) + " El=" + + Math.toDegrees(elevation) + " Tl=" + Math.toDegrees(tilt)); + com.neuronrobotics.sdk.common.Log + .error("Got Az=" + Math.toDegrees(rotTest.getRotationAzimuthRadians()) + " El=" + + Math.toDegrees(rotTest.getRotationElevationRadians()) + " Tl=" + + Math.toDegrees(rotTest.getRotationTiltRadians())); if (!RotationNR.bound(tilt - .01, tilt + .01, rotTest.getRotationTiltRadians())) { failCount++; - com.neuronrobotics.sdk.common.Log.error("Rotation Tilt is not consistant. expected " + Math.toDegrees(tilt) - + " got " + Math.toDegrees(rotTest.getRotationTiltRadians()) + " \t\tOff By " + com.neuronrobotics.sdk.common.Log.error("Rotation Tilt is not consistant. expected " + + Math.toDegrees(tilt) + " got " + Math.toDegrees(rotTest.getRotationTiltRadians()) + + " \t\tOff By " + (Math.toDegrees(tilt) - Math.toDegrees(rotTest.getRotationTiltRadians()))); } - if (!RotationNR.bound(elevation - .01, elevation + .01, rotTest.getRotationElevationRadians())) { + if (!RotationNR.bound(elevation - .01, elevation + .01, + rotTest.getRotationElevationRadians())) { failCount++; - com.neuronrobotics.sdk.common.Log.error("Rotation Elevation is not consistant. expected " - + Math.toDegrees(elevation) + " got " - + Math.toDegrees(rotTest.getRotationElevationRadians()) + " \t\tOff By " - + (Math.toDegrees(elevation) + Math.toDegrees(rotTest.getRotationElevationRadians())) + com.neuronrobotics.sdk.common.Log + .error("Rotation Elevation is not consistant. expected " + Math.toDegrees(elevation) + + " got " + Math.toDegrees(rotTest.getRotationElevationRadians()) + + " \t\tOff By " + (Math.toDegrees(elevation) + + Math.toDegrees(rotTest.getRotationElevationRadians())) - ); + ); } if (!RotationNR.bound(azumus - .01, azumus + .01, rotTest.getRotationAzimuthRadians())) { failCount++; - com.neuronrobotics.sdk.common.Log.error("Rotation azumus is not consistant. expected " + Math.toDegrees(azumus) - + " got " + Math.toDegrees(rotTest.getRotationAzimuthRadians()) + " \t\tOff By " + com.neuronrobotics.sdk.common.Log.error("Rotation azumus is not consistant. expected " + + Math.toDegrees(azumus) + " got " + + Math.toDegrees(rotTest.getRotationAzimuthRadians()) + " \t\tOff By " + (Math.toDegrees(azumus) - Math.toDegrees(rotTest.getRotationAzimuthRadians()))); } ThreadUtil.wait(20); @@ -116,7 +113,7 @@ public void test() throws FileNotFoundException { /** * Test. - * + * * @throws FileNotFoundException */ @Test @@ -154,10 +151,11 @@ public void compareAzemuth() throws FileNotFoundException { RotationNR newRot = new RotationNR(rotation); RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); - com.neuronrobotics.sdk.common.Log.error("Testing pure azumeth \nrotation " + rotationAngleDegrees + "\n as radian " - + Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuthRadians() - + "\n El " + oldRot.getRotationElevationRadians() + "\n Tl " + oldRot.getRotationTiltRadians() - + "\n New Az " + newRot.getRotationAzimuthRadians() + "\n New El " + newRot.getRotationElevationRadians() + com.neuronrobotics.sdk.common.Log.error("Testing pure azumeth \nrotation " + rotationAngleDegrees + + "\n as radian " + Math.toRadians(rotationAngleDegrees) + "\n Az " + + oldRot.getRotationAzimuthRadians() + "\n El " + oldRot.getRotationElevationRadians() + + "\n Tl " + oldRot.getRotationTiltRadians() + "\n New Az " + + newRot.getRotationAzimuthRadians() + "\n New El " + newRot.getRotationElevationRadians() + "\n New Tl " + newRot.getRotationTiltRadians()); assertArrayEquals(rotation[0], rotationMatrix[0], 0.001); assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); @@ -173,35 +171,37 @@ public void compareAzemuth() throws FileNotFoundException { + newRot.getRotationMatrix2QuaturnionY() + "\nNEW qz " + newRot.getRotationMatrix2QuaturnionZ()); assertArrayEquals( - new double[] { Math.abs(oldRot.getRotationMatrix2QuaturnionW()), + new double[]{Math.abs(oldRot.getRotationMatrix2QuaturnionW()), Math.abs(oldRot.getRotationMatrix2QuaturnionX()), Math.abs(oldRot.getRotationMatrix2QuaturnionY()), - Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), }, - new double[] { Math.abs(newRot.getRotationMatrix2QuaturnionW()), + Math.abs(oldRot.getRotationMatrix2QuaturnionZ()),}, + new double[]{Math.abs(newRot.getRotationMatrix2QuaturnionW()), Math.abs(newRot.getRotationMatrix2QuaturnionX()), Math.abs(newRot.getRotationMatrix2QuaturnionY()), - Math.abs(newRot.getRotationMatrix2QuaturnionZ()), }, + Math.abs(newRot.getRotationMatrix2QuaturnionZ()),}, 0.001); // Check Euler angles // this check is needed to work around a known bug in the // legact implementation if (!(rotationAngleDegrees >= 90 || rotationAngleDegrees <= -90)) { assertArrayEquals( - new double[] { oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), - oldRot.getRotationTiltRadians() }, - new double[] { newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), - newRot.getRotationTiltRadians() }, + new double[]{oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), + oldRot.getRotationTiltRadians()}, + new double[]{newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), + newRot.getRotationTiltRadians()}, 0.001); // Check the old rotation against the known value - assertArrayEquals(new double[] { Math.toRadians(rotationAngleDegrees), 0, 0 }, new double[] { - oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), oldRot.getRotationTiltRadians() }, + assertArrayEquals(new double[]{Math.toRadians(rotationAngleDegrees), 0, 0}, + new double[]{oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), + oldRot.getRotationTiltRadians()}, 0.001); } else { com.neuronrobotics.sdk.common.Log.error("Legacy angle would fail here " + rotationAngleDegrees); } // Check the new rotation against the known value - assertArrayEquals(new double[] { Math.toRadians(rotationAngleDegrees), 0, 0 }, new double[] { - newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), newRot.getRotationTiltRadians() }, + assertArrayEquals(new double[]{Math.toRadians(rotationAngleDegrees), 0, 0}, + new double[]{newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), + newRot.getRotationTiltRadians()}, 0.001); } // frame(); @@ -214,7 +214,7 @@ public void compareAzemuth() throws FileNotFoundException { /** * Test. - * + * * @throws FileNotFoundException */ @Test @@ -251,10 +251,11 @@ public void compareElevation() throws FileNotFoundException { RotationNR newRot = new RotationNR(rotation); RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); - com.neuronrobotics.sdk.common.Log.error("Testing pure elevation \nrotation " + rotationAngleDegrees + "\n as radian " - + Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuthRadians() - + "\n El " + oldRot.getRotationElevationRadians() + "\n Tl " + oldRot.getRotationTiltRadians() - + "\n New Az " + newRot.getRotationAzimuthRadians() + "\n New El " + newRot.getRotationElevationRadians() + com.neuronrobotics.sdk.common.Log.error("Testing pure elevation \nrotation " + rotationAngleDegrees + + "\n as radian " + Math.toRadians(rotationAngleDegrees) + "\n Az " + + oldRot.getRotationAzimuthRadians() + "\n El " + oldRot.getRotationElevationRadians() + + "\n Tl " + oldRot.getRotationTiltRadians() + "\n New Az " + + newRot.getRotationAzimuthRadians() + "\n New El " + newRot.getRotationElevationRadians() + "\n New Tl " + newRot.getRotationTiltRadians()); assertArrayEquals(rotation[0], rotationMatrix[0], 0.001); assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); @@ -270,32 +271,33 @@ public void compareElevation() throws FileNotFoundException { + newRot.getRotationMatrix2QuaturnionY() + "\nNEW qz " + newRot.getRotationMatrix2QuaturnionZ()); assertArrayEquals( - new double[] { Math.abs(oldRot.getRotationMatrix2QuaturnionW()), + new double[]{Math.abs(oldRot.getRotationMatrix2QuaturnionW()), Math.abs(oldRot.getRotationMatrix2QuaturnionX()), Math.abs(oldRot.getRotationMatrix2QuaturnionY()), - Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), }, - new double[] { Math.abs(newRot.getRotationMatrix2QuaturnionW()), + Math.abs(oldRot.getRotationMatrix2QuaturnionZ()),}, + new double[]{Math.abs(newRot.getRotationMatrix2QuaturnionW()), Math.abs(newRot.getRotationMatrix2QuaturnionX()), Math.abs(newRot.getRotationMatrix2QuaturnionY()), - Math.abs(newRot.getRotationMatrix2QuaturnionZ()), }, + Math.abs(newRot.getRotationMatrix2QuaturnionZ()),}, 0.001); // Check Euler angles assertArrayEquals( - new double[] { oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), - oldRot.getRotationTiltRadians() }, - new double[] { newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), - newRot.getRotationTiltRadians() }, + new double[]{oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), + oldRot.getRotationTiltRadians()}, + new double[]{newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), + newRot.getRotationTiltRadians()}, 0.001); // Check the old rotation against the known value - assertArrayEquals(new double[] { + assertArrayEquals(new double[]{ - 0, Math.toRadians(rotationAngleDegrees), 0 }, - new double[] { oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), - oldRot.getRotationTiltRadians() }, + 0, Math.toRadians(rotationAngleDegrees), 0}, + new double[]{oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), + oldRot.getRotationTiltRadians()}, 0.001); // Check the new rotation against the known value - assertArrayEquals(new double[] { 0, Math.toRadians(rotationAngleDegrees), 0 }, new double[] { - newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), newRot.getRotationTiltRadians() }, + assertArrayEquals(new double[]{0, Math.toRadians(rotationAngleDegrees), 0}, + new double[]{newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), + newRot.getRotationTiltRadians()}, 0.001); } // frame(); @@ -308,7 +310,7 @@ public void compareElevation() throws FileNotFoundException { /** * Test. - * + * * @throws FileNotFoundException */ @Test @@ -345,10 +347,11 @@ public void compareTilt() throws FileNotFoundException { RotationNR newRot = new RotationNR(rotation); RotationNRLegacy oldRot = new RotationNRLegacy(rotation); double[][] rotationMatrix = newRot.getRotationMatrix(); - com.neuronrobotics.sdk.common.Log.error("Testing pure tilt \nrotation " + rotationAngleDegrees + "\n as radian " - + Math.toRadians(rotationAngleDegrees) + "\n Az " + oldRot.getRotationAzimuthRadians() - + "\n El " + oldRot.getRotationElevationRadians() + "\n Tl " + oldRot.getRotationTiltRadians() - + "\n New Az " + newRot.getRotationAzimuthRadians() + "\n New El " + newRot.getRotationElevationRadians() + com.neuronrobotics.sdk.common.Log.error("Testing pure tilt \nrotation " + rotationAngleDegrees + + "\n as radian " + Math.toRadians(rotationAngleDegrees) + "\n Az " + + oldRot.getRotationAzimuthRadians() + "\n El " + oldRot.getRotationElevationRadians() + + "\n Tl " + oldRot.getRotationTiltRadians() + "\n New Az " + + newRot.getRotationAzimuthRadians() + "\n New El " + newRot.getRotationElevationRadians() + "\n New Tl " + newRot.getRotationTiltRadians()); assertArrayEquals(rotation[0], rotationMatrix[0], 0.001); assertArrayEquals(rotation[1], rotationMatrix[1], 0.001); @@ -364,29 +367,31 @@ public void compareTilt() throws FileNotFoundException { + newRot.getRotationMatrix2QuaturnionY() + "\nNEW qz " + newRot.getRotationMatrix2QuaturnionZ()); assertArrayEquals( - new double[] { Math.abs(oldRot.getRotationMatrix2QuaturnionW()), + new double[]{Math.abs(oldRot.getRotationMatrix2QuaturnionW()), Math.abs(oldRot.getRotationMatrix2QuaturnionX()), Math.abs(oldRot.getRotationMatrix2QuaturnionY()), - Math.abs(oldRot.getRotationMatrix2QuaturnionZ()), }, - new double[] { Math.abs(newRot.getRotationMatrix2QuaturnionW()), + Math.abs(oldRot.getRotationMatrix2QuaturnionZ()),}, + new double[]{Math.abs(newRot.getRotationMatrix2QuaturnionW()), Math.abs(newRot.getRotationMatrix2QuaturnionX()), Math.abs(newRot.getRotationMatrix2QuaturnionY()), - Math.abs(newRot.getRotationMatrix2QuaturnionZ()), }, + Math.abs(newRot.getRotationMatrix2QuaturnionZ()),}, 0.001); // Check Euler angles assertArrayEquals( - new double[] { oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), - oldRot.getRotationTiltRadians() }, - new double[] { newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), - newRot.getRotationTiltRadians() }, + new double[]{oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), + oldRot.getRotationTiltRadians()}, + new double[]{newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), + newRot.getRotationTiltRadians()}, 0.001); // Check the old rotation against the known value - assertArrayEquals(new double[] { 0, 0, Math.toRadians(rotationAngleDegrees) }, new double[] { - oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), oldRot.getRotationTiltRadians() }, + assertArrayEquals(new double[]{0, 0, Math.toRadians(rotationAngleDegrees)}, + new double[]{oldRot.getRotationAzimuthRadians(), oldRot.getRotationElevationRadians(), + oldRot.getRotationTiltRadians()}, 0.001); // Check the new rotation against the known value - assertArrayEquals(new double[] { 0, 0, Math.toRadians(rotationAngleDegrees) }, new double[] { - newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), newRot.getRotationTiltRadians() }, + assertArrayEquals(new double[]{0, 0, Math.toRadians(rotationAngleDegrees)}, + new double[]{newRot.getRotationAzimuthRadians(), newRot.getRotationElevationRadians(), + newRot.getRotationTiltRadians()}, 0.001); } // frame(); @@ -404,16 +409,22 @@ public void checkEulerSingularities() { 0.7071067811865476); RotationNR tester3 = new RotationNR(0.7064894449532356, 1.0769850738285257E-7, 0.7077235789272859, 1.0769850738285257E-7); - assertArrayEquals(new double[] { 0, 90, 0 }, new double[] { Math.toDegrees(tester1.getRotationAzimuthRadians()), - Math.toDegrees(tester1.getRotationElevationRadians()), Math.toDegrees(tester1.getRotationTiltRadians()) }, + assertArrayEquals(new double[]{0, 90, 0}, + new double[]{Math.toDegrees(tester1.getRotationAzimuthRadians()), + Math.toDegrees(tester1.getRotationElevationRadians()), + Math.toDegrees(tester1.getRotationTiltRadians())}, 0.001); - assertArrayEquals(new double[] { 0, 90, 180 }, new double[] { Math.toDegrees(tester2.getRotationAzimuthRadians()), - Math.toDegrees(tester2.getRotationElevationRadians()), Math.toDegrees(tester2.getRotationTiltRadians()) }, + assertArrayEquals(new double[]{0, 90, 180}, + new double[]{Math.toDegrees(tester2.getRotationAzimuthRadians()), + Math.toDegrees(tester2.getRotationElevationRadians()), + Math.toDegrees(tester2.getRotationTiltRadians())}, 0.001); - assertArrayEquals(new double[] { 179.99, 89.9, 179.99 }, new double[] { Math.toDegrees(tester3.getRotationAzimuthRadians()), - Math.toDegrees(tester3.getRotationElevationRadians()), Math.toDegrees(tester3.getRotationTiltRadians()) }, + assertArrayEquals(new double[]{179.99, 89.9, 179.99}, + new double[]{Math.toDegrees(tester3.getRotationAzimuthRadians()), + Math.toDegrees(tester3.getRotationElevationRadians()), + Math.toDegrees(tester3.getRotationTiltRadians())}, 0.001); } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java b/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java index f553e5f4..7c22a666 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/TestMobilBaseLoading.java @@ -11,33 +11,36 @@ import org.junit.Test; import com.neuronrobotics.sdk.addons.kinematics.MobileBase; -import com.neuronrobotics.sdk.addons.kinematics.VitaminLocation; -import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; public class TestMobilBaseLoading { @Test public void test() throws IOException { File file = new File("src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTest.xml"); - + String content = new String(Files.readAllBytes(Paths.get(file.getAbsolutePath()))); MobileBase base = new MobileBase(new FileInputStream(file)); -// base.getAllDHChains() -// .get(0) -// .getLinkConfiguration(0) -// .setVitamin(new VitaminLocation("test1", "hobbyServo", "mg92b", new TransformNR(0, 1, 4))); -// base.setVitamin(new VitaminLocation("test1", "hobbyServo", "mg92b", new TransformNR(0, 1, 4))); -// base.setVitamin(new VitaminLocation("test2", "hobbyServo", "mg92b", new TransformNR(0, 1, 4))); -// base.setVitamin(new VitaminLocation("test1", "hobbyServo", "mg92b", new TransformNR(0, 1, 4))); - - if(Math.abs(0.1-base.getMassKg())>0.0001) { - fail("Base mass failed to load! expected "+0.1+" got "+base.getMassKg()); + // base.getAllDHChains() + // .get(0) + // .getLinkConfiguration(0) + // .setVitamin(new VitaminLocation("test1", "hobbyServo", "mg92b", new + // TransformNR(0, 1, 4))); + // base.setVitamin(new VitaminLocation("test1", "hobbyServo", "mg92b", new + // TransformNR(0, 1, 4))); + // base.setVitamin(new VitaminLocation("test2", "hobbyServo", "mg92b", new + // TransformNR(0, 1, 4))); + // base.setVitamin(new VitaminLocation("test1", "hobbyServo", "mg92b", new + // TransformNR(0, 1, 4))); + + if (Math.abs(0.1 - base.getMassKg()) > 0.0001) { + fail("Base mass failed to load! expected " + 0.1 + " got " + base.getMassKg()); } String read = base.getXml(); - if(!content.contentEquals(read)) { - File out = new File("src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTestOUTPUT.xml"); - Files.write( Paths.get(out.getAbsolutePath()), read.getBytes()); - com.neuronrobotics.sdk.common.Log.error("diff "+file.getAbsolutePath()+" "+out.getAbsolutePath()); + if (!content.contentEquals(read)) { + File out = new File( + "src/main/resources/com/neuronrobotics/sdk/addons/kinematics/xml/NASASuspensionTestOUTPUT.xml"); + Files.write(Paths.get(out.getAbsolutePath()), read.getBytes()); + com.neuronrobotics.sdk.common.Log.error("diff " + file.getAbsolutePath() + " " + out.getAbsolutePath()); fail("What was loaded failed to match the source"); } } diff --git a/test/java/src/junit/test/neuronrobotics/utilities/TestTimer.java b/test/java/src/junit/test/neuronrobotics/utilities/TestTimer.java index 1c23b618..2ba52f22 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/TestTimer.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/TestTimer.java @@ -1,15 +1,7 @@ package junit.test.neuronrobotics.utilities; -import static org.junit.Assert.fail; - -import java.util.ArrayList; - import org.junit.Test; -import com.neuronrobotics.sdk.common.IthreadedTimoutListener; -import com.neuronrobotics.sdk.common.ThreadedTimeout; -import com.neuronrobotics.sdk.util.ThreadUtil; - // Auto-generated Javadoc /** * The Class TestTimer. @@ -25,42 +17,27 @@ public class TestTimer { @Test public void test() { /* - ArrayList timers= new ArrayList(); - - for(int j=0;j<5;j++){ - for(int i=0;i<10;i++){ - timers.add(new ThreadedTimeout()); - } - int i=0; - timerTimedOut = 0; - for(ThreadedTimeout t : timers){ - t.initialize(500+(i++), new IthreadedTimoutListener() { - @Override - public void onTimeout(String message) { - com.neuronrobotics.sdk.common.Log.error(message); - timerTimedOut++; - } - }); - } - - for(ThreadedTimeout t : timers){ - if(t.isTimedOut()) - fail(); - } - - ThreadUtil.wait(1000); - - if(timerTimedOut != timers.size()) - fail("One or more timers failed to time out, expected="+timers.size()+" got="+timerTimedOut); - - for(ThreadedTimeout t : timers){ - if(!t.isTimedOut()) - fail("Timer failed to time out"); - } - timers.clear(); - } - - */ + * ArrayList timers= new ArrayList(); + * + * for(int j=0;j<5;j++){ for(int i=0;i<10;i++){ timers.add(new + * ThreadedTimeout()); } int i=0; timerTimedOut = 0; for(ThreadedTimeout t : + * timers){ t.initialize(500+(i++), new IthreadedTimoutListener() { + * + * @Override public void onTimeout(String message) { + * com.neuronrobotics.sdk.common.Log.error(message); timerTimedOut++; } }); } + * + * for(ThreadedTimeout t : timers){ if(t.isTimedOut()) fail(); } + * + * ThreadUtil.wait(1000); + * + * if(timerTimedOut != timers.size()) + * fail("One or more timers failed to time out, expected="+timers.size()+" got=" + * +timerTimedOut); + * + * for(ThreadedTimeout t : timers){ if(!t.isTimedOut()) + * fail("Timer failed to time out"); } timers.clear(); } + * + */ } } From a6de96cfb3a856765b9df0507272aef83944be9e Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 21 Apr 2026 15:18:47 -0400 Subject: [PATCH 477/482] makeing the rotation more robust --- .../addons/kinematics/math/RotationNR.java | 31 +++++++++++++++++++ 1 file changed, 31 insertions(+) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index 97ad2a1b..c3507165 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -346,6 +346,7 @@ private void loadFromAngles(double tilt, double azimuth, double elevation) { setStorage(new Rotation(getOrder(), getConvention(), Math.toRadians(azimuth), Math.toRadians(elevation), Math.toRadians(tilt))); } + /** * Gets the rotation tilt. * @@ -528,6 +529,36 @@ private void setStorage(Rotation storage) { x = storage.getQ1(); y = storage.getQ2(); z = storage.getQ3(); + normalize(); + + } + + public boolean isValid() { + // Check for NaN or Infinite values + if (!Double.isFinite(w) || !Double.isFinite(x) || !Double.isFinite(y) || !Double.isFinite(z)) { + w=1; + x=0; + y=0; + z=0; + return false; + } + + // Check unit norm: sqrt(w² + x² + y² + z²) ≈ 1.0 + double norm = Math.sqrt(w * w + x * x + y * y + z * z); + return Math.abs(norm - 1.0) < 1.0e-7; + } + + public void normalize() { + if (isValid()) { + return; + } + double norm = Math.sqrt(w * w + x * x + y * y + z * z); + if (norm == 0) + throw new IllegalArgumentException("Cannot normalize a zero quaternion"); + w = w / norm; + x = x / norm; + y = y / norm; + z = z / norm; } public void set(double[][] poseRot) { From 6e574848d91bcf6653fe88d2c44922bae49b2384 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Tue, 21 Apr 2026 15:27:58 -0400 Subject: [PATCH 478/482] formating --- .../sdk/addons/kinematics/math/RotationNR.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java index c3507165..71f4ef0d 100644 --- a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java +++ b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java @@ -536,10 +536,10 @@ private void setStorage(Rotation storage) { public boolean isValid() { // Check for NaN or Infinite values if (!Double.isFinite(w) || !Double.isFinite(x) || !Double.isFinite(y) || !Double.isFinite(z)) { - w=1; - x=0; - y=0; - z=0; + w = 1; + x = 0; + y = 0; + z = 0; return false; } From 182aab88de5238afa8a1bf10365a2661c510f123 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sun, 26 Apr 2026 15:46:28 -0400 Subject: [PATCH 479/482] updated the java version --- build.gradle | 246 ++++++++++------------- gradle/wrapper/gradle-wrapper.properties | 2 +- 2 files changed, 104 insertions(+), 144 deletions(-) diff --git a/build.gradle b/build.gradle index be979731..f2ee3c46 100644 --- a/build.gradle +++ b/build.gradle @@ -1,168 +1,128 @@ -apply plugin: 'java' -apply plugin: 'eclipse' -if (project == rootProject) { - apply plugin: 'maven' +plugins { + id 'java' + id 'eclipse' + id 'java-library' + id 'signing' + id 'maven-publish' + id 'com.diffplug.spotless' } -apply plugin: 'java-library' -apply plugin: 'signing' -apply plugin: 'com.diffplug.spotless' - spotless { - java { - lineEndings = com.diffplug.spotless.LineEnding.UNIX - // Eclipse formatter with your config file - eclipse('4.26') // Uses Eclipse's built-in default profile — no XML needed! - // Optional but recommended additions: - removeUnusedImports() - trimTrailingWhitespace() - endWithNewline() - } + java { + lineEndings = com.diffplug.spotless.LineEnding.UNIX + eclipse('4.26') + removeUnusedImports() + trimTrailingWhitespace() + endWithNewline() + } } -[compileJava, compileTestJava]*.options*.encoding = 'UTF-8' -File buildDir = file("."); +java { + withJavadocJar() + withSourcesJar() +} + +tasks.withType(JavaCompile).configureEach { + options.encoding = 'UTF-8' +} + +File buildDir = file(".") Properties props = new Properties() -props.load(new FileInputStream(buildDir.getAbsolutePath()+"/src/main/resources/com/neuronrobotics/sdk/config/build.properties")) +props.load(new FileInputStream(buildDir.getAbsolutePath() + "/src/main/resources/com/neuronrobotics/sdk/config/build.properties")) + sourceSets { - - test { - java { - srcDirs = ["test/java/src" ] - } - } + test { + java { + srcDirs = ["test/java/src"] + } + } } -manifest { - attributes( - "Manifest-Version": "1.0", - "Created-By": "Neuron Robotics Cooperative", - "Specification-Title": props."app.name", - "Specification-Version": props."app.version", - "Specification-Vendor": "Neuron Robotics Cooperative", - "Implementation-Title": props."app.name", - "Implementation-Version" : props."app.version", - "Implementation-Vendor": "Neuron Robotics Cooperative" - - ) +jar { + manifest { + attributes( + "Manifest-Version": "1.0", + "Created-By": "Neuron Robotics Cooperative", + "Specification-Title": props."app.name", + "Specification-Version": props."app.version", + "Specification-Vendor": "Neuron Robotics Cooperative", + "Implementation-Title": props."app.name", + "Implementation-Version": props."app.version", + "Implementation-Vendor": "Neuron Robotics Cooperative" + ) + } + if (project == rootProject) { + archiveFileName.set("nrsdk-${props.'app.version'}-jar-with-dependencies.jar") + } } -if (project == rootProject) -jar.archiveName = "nrsdk-"+props."app.version"+"-jar-with-dependencies.jar" - -//apply from: 'http://gradle-plugins.mihosoft.eu/latest/vlicenseheader.gradle' -//repairHeaders.licenseHeaderText = new File(projectDir,'./license-template.txt') - repositories { - mavenCentral() -// maven { -// url "https://repository.ow2.org/nexus/content/repositories/public/" -// } + mavenCentral() } - + dependencies { - //TODO change as many of these as possible to Maven repositories - api fileTree (dir: 'libs', includes: ['*.jar']) - testImplementation 'junit:junit:4.12' - implementation 'com.google.code.gson:gson:2.5' - - api 'gov.nist.math:jama:1.0.2' - implementation 'com.miglayout:miglayout-swing:4.1' - implementation 'org.igniterealtime.smack:smack:3.2.1' - - implementation 'org.igniterealtime.smack:smackx:3.2.1' - implementation 'org.apache.commons:commons-lang3:3.2.1' - api 'org.usb4java:usb4java:1.2.0' - api 'org.usb4java:usb4java-javax:1.2.0' - - //compile fileTree (dir: '../doychinNRJAVASERISL/nrjavaserial/build/libs', includes: ['*.jar']) - api "com.neuronrobotics:nrjavaserial:5.1.1" - // https://mvnrepository.com/artifact/org.apache.commons/commons-math3 - api group: 'org.apache.commons', name: 'commons-math3', version: '3.6.1' - // https://mvnrepository.com/artifact/net.sf.bluecove/bluecove-gpl - api group: 'net.sf.bluecove', name: 'bluecove-gpl', version: '2.1.0' - api group: 'io.ultreia', name: 'bluecove', version: '2.1.1' - // https://mvnrepository.com/artifact/motej/motej - //api group: 'motej', name: 'motej', version: '0.9-2008.02.05-patched', ext: 'pom' - - + api fileTree(dir: 'libs', includes: ['*.jar']) + testImplementation 'junit:junit:4.12' + implementation 'com.google.code.gson:gson:2.5' + + api 'gov.nist.math:jama:1.0.2' + implementation 'com.miglayout:miglayout-swing:4.1' + implementation 'org.igniterealtime.smack:smack:3.2.1' + implementation 'org.igniterealtime.smack:smackx:3.2.1' + implementation 'org.apache.commons:commons-lang3:3.2.1' + api 'org.usb4java:usb4java:1.2.0' + api 'org.usb4java:usb4java-javax:1.2.0' + api 'com.neuronrobotics:nrjavaserial:5.1.1' + api group: 'org.apache.commons', name: 'commons-math3', version: '3.6.1' + api group: 'net.sf.bluecove', name: 'bluecove-gpl', version: '2.1.0' + api group: 'io.ultreia', name: 'bluecove', version: '2.1.1' } -// create a fat-jar (class files plus dependencies -// excludes VRL.jar (plugin jar files must not start with 'vrl-\\d+') - - group = "com.neuronrobotics" -archivesBaseName = "java-bowler" version = props."app.version" -task javadocJar(type: Jar) { - if (project == rootProject) - classifier = 'javadoc' - from javadoc +base { + archivesName = "java-bowler" } -task sourcesJar(type: Jar) { - if (project == rootProject) - classifier = 'sources' - from sourceSets.main.allSource +publishing { + publications { + mavenJava(MavenPublication) { + from components.java + artifactId = 'java-bowler' + + pom { + name = 'Java Bowler' + packaging = 'jar' + description = 'A command line utility for accessing the bowler framework.' + url = 'http://neuronrobotics.com' + + scm { + connection = 'scm:git:https://github.com/NeuronRobotics/java-bowler.git' + developerConnection = 'scm:git:git@github.com:NeuronRobotics/java-bowler.git' + url = 'https://github.com/NeuronRobotics/java-bowler' + } + + licenses { + license { + name = 'The Apache License, Version 2.0' + url = 'http://www.apache.org/licenses/LICENSE-2.0.txt' + } + } + + developers { + developer { + id = 'madhephaestus' + name = 'Kevin Harrington' + email = 'kharrington@neuronrobotics.com' + } + } + } + } + } } -/* -*/ -artifacts { - archives javadocJar - archives sourcesJar - archives jar -} - -/* signing { - sign configurations.archives -} -uploadArchives { - repositories { - mavenDeployer { - beforeDeployment { MavenDeployment deployment -> signing.signPom(deployment) } - - repository(url: "https://oss.sonatype.org/service/local/staging/deploy/maven2/") { - authentication(userName: ossrhUsername, password: ossrhPassword) - } - - snapshotRepository(url: "https://oss.sonatype.org/content/repositories/snapshots/") { - authentication(userName: ossrhUsername, password: ossrhPassword) - } - - pom.project { - name 'Java Bowler' - packaging 'jar' - // optionally artifactId can be defined here - description 'A command line utility for accesing the bowler framework.' - url 'http://neuronrobotics.com' - - scm { - connection 'scm:git:https://github.com/NeuronRobotics/java-bowler.git' - developerConnection 'scm:git:git@github.com:NeuronRobotics/java-bowler.git' - url 'https://github.com/NeuronRobotics/java-bowler' - } - - licenses { - license { - name 'The Apache License, Version 2.0' - url 'http://www.apache.org/licenses/LICENSE-2.0.txt' - } - } - - developers { - developer { - id 'madhephaestus' - name 'Kevin Harrington' - email 'kharrington@neuronrobotics.com' - } - } - } - } - } - } -*/ \ No newline at end of file + sign publishing.publications.mavenJava +} \ No newline at end of file diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties index 37f853b1..2e111328 100644 --- a/gradle/wrapper/gradle-wrapper.properties +++ b/gradle/wrapper/gradle-wrapper.properties @@ -1,6 +1,6 @@ distributionBase=GRADLE_USER_HOME distributionPath=wrapper/dists -distributionUrl=https\://services.gradle.org/distributions/gradle-8.13-bin.zip +distributionUrl=https\://services.gradle.org/distributions/gradle-9.1.0-bin.zip networkTimeout=10000 validateDistributionUrl=true zipStoreBase=GRADLE_USER_HOME From 2688a83d2ba8efe12e967ef8a343a401d8e3787f Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Fri, 19 Jun 2026 21:34:44 -0400 Subject: [PATCH 480/482] git atributes --- .gitattributes | 2 ++ 1 file changed, 2 insertions(+) create mode 100644 .gitattributes diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 00000000..1489a259 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,2 @@ +* text=auto eol=lf +*.java eol=lf \ No newline at end of file From c47e82fd26e13746545b93e8b0e9dcd757ed8268 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 20 Jun 2026 12:57:34 -0400 Subject: [PATCH 481/482] remove NRJavaSerial for arm mac --- .../neuronrobotics/utilities/GCODETest.java | 518 +++++++++--------- 1 file changed, 259 insertions(+), 259 deletions(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index 78ac33d1..50445b41 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -26,264 +26,264 @@ public class GCODETest { - private static final Class GCODECONTOLLER = GcodeDevice.class; - private static final String GCODE = "GCODE"; - private static final String portname = "/dev/ttyUSB0"; - private static boolean hasPort; - - @BeforeClass - public static void loadGCodeDevice() { - hasPort = false; - for (String s : NRSerialPort.getAvailableSerialPorts()) { - if (s.contentEquals(portname)) - hasPort = true; - } - if (hasPort) { - GcodeDevice device; - NRSerialPort port = new NRSerialPort(portname, 115200); - device = new GcodeDevice(port); - device.connect(); - DeviceManager.addConnection(device, GCODE); - } - } - - @AfterClass - public static void closeGCodeDevice() { - - if (hasPort) { - GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); - device.disconnect(); - } - } - - @Test - public void M105() { - - if (hasPort) { - GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); - - String response = device.runLine("M105"); - if (response.length() > 0) - com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); - else { - fail("No response"); - } - - } - } - - @Test - public void linkFactoryPrismatic() { - if (hasPort) { - LinkFactory lf = new LinkFactory(); - LinkConfiguration confp = new LinkConfiguration(); - confp.setTypeString(LinkType.GCODE_STEPPER_PRISMATIC.getName()); - confp.setDeviceScriptingName(GCODE); - confp.setHardwareIndex(0); - confp.setScale(1); - AbstractLink link = lf.getLink(confp); - assertEquals(link.getClass(), GcodePrismatic.class);// checks to see - // a real device - // was created - link.setTargetEngineeringUnits(100.5); - link.flush(1);// take 2 seconds to flush - - LinkConfiguration confp2 = new LinkConfiguration(); - confp2.setTypeString(LinkType.GCODE_STEPPER_PRISMATIC.getName()); - confp2.setDeviceScriptingName(GCODE); - confp2.setHardwareIndex(1); - confp2.setScale(1); - AbstractLink link2 = lf.getLink(confp2); - assertEquals(link2.getClass(), GcodePrismatic.class);// checks to - // see a - // real - // device - // was - // created - link2.setTargetEngineeringUnits(100.5); - link2.flush(1);// take 2 seconds to flush - - link2.setTargetEngineeringUnits(0); - link.setTargetEngineeringUnits(0); - // coordinated motion flush - lf.flush(1); - - } - } - - @Test - public void loadFromXml() { - if (hasPort) { - - MobileBase cnc = new MobileBase(GCODETest.class.getResourceAsStream("cnc.xml")); - DHParameterKinematics arm = cnc.getAppendages().get(0); - arm.setInverseSolver(new DhInverseSolver() { - @Override - public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector, DHChain chain) { - double[] inv = new double[jointSpaceVector.length]; - // inv[2] = target.getX(); - inv[1] = target.getY(); - inv[0] = target.getX(); - for (int i = 3; i < inv.length && i < jointSpaceVector.length; i++) - inv[i] = jointSpaceVector[i]; - return inv; - } - }); - for (LinkConfiguration l : arm.getLinkConfigurations()) { - AbstractLink link = arm.getFactory().getLink(l); - assertTrue(IGCodeChannel.class.isAssignableFrom(link.getClass()));// checks - // to - // see - // a - // real - // device - // was - // created - } - com.neuronrobotics.sdk.common.Log.error("Moving using the kinematics"); - try { - arm.setDesiredTaskSpaceTransform(new TransformNR(10, 10, 0, new RotationNR()), 1); - arm.setDesiredTaskSpaceTransform(new TransformNR(), 1); - } catch (Exception e) { - // Auto-generated catch block - e.printStackTrace(); - } - } - } - - @Test - public void linkFactoryRotory() { - if (hasPort) { - LinkFactory lf = new LinkFactory(); - LinkConfiguration confp = new LinkConfiguration(); - confp.setTypeString(LinkType.GCODE_STEPPER_ROTORY.getName()); - confp.setDeviceScriptingName(GCODE); - confp.setHardwareIndex(0); - confp.setScale(1); - AbstractLink link = lf.getLink(confp); - assertEquals(link.getClass(), GcodeRotory.class);// checks to see a - // real device - // was created - link.setTargetEngineeringUnits(100.5); - link.flush(1);// take 2 seconds to flush - - LinkConfiguration confp2 = new LinkConfiguration(); - confp2.setTypeString(LinkType.GCODE_STEPPER_ROTORY.getName()); - confp2.setDeviceScriptingName(GCODE); - confp2.setHardwareIndex(1); - confp2.setScale(1); - AbstractLink link2 = lf.getLink(confp2); - assertEquals(link2.getClass(), GcodeRotory.class);// checks to see a - // real device - // was created - link2.setTargetEngineeringUnits(100.5); - link2.flush(1);// take 2 seconds to flush - - link2.setTargetEngineeringUnits(0); - link.setTargetEngineeringUnits(0); - // coordinated motion flush - lf.flush(1); - - } - } - - @Test - public void linkFactoryTool() { - if (hasPort) { - LinkFactory lf = new LinkFactory(); - LinkConfiguration confp = new LinkConfiguration(); - confp.setTypeString(LinkType.GCODE_STEPPER_TOOL.getName()); - confp.setDeviceScriptingName(GCODE); - confp.setHardwareIndex(0); - confp.setScale(1); - AbstractLink link = lf.getLink(confp); - assertEquals(link.getClass(), GcodeRotory.class);// checks to see a - // real device - // was created - link.setTargetEngineeringUnits(100.5); - link.flush(1);// take 2 seconds to flush - - LinkConfiguration confp2 = new LinkConfiguration(); - confp2.setTypeString(LinkType.GCODE_STEPPER_TOOL.getName()); - confp2.setDeviceScriptingName(GCODE); - confp2.setHardwareIndex(1); - confp2.setScale(1); - AbstractLink link2 = lf.getLink(confp2); - assertEquals(link2.getClass(), GcodeRotory.class);// checks to see a - // real device - // was created - link2.setTargetEngineeringUnits(100.5); - link2.flush(1);// take 2 seconds to flush - - link2.setTargetEngineeringUnits(0); - link.setTargetEngineeringUnits(0); - // coordinated motion flush - lf.flush(5); - - } - } - - @Test - public void linkFactoryHeater() { - if (hasPort) { - LinkFactory lf = new LinkFactory(); - LinkConfiguration confp = new LinkConfiguration(); - confp.setTypeString(LinkType.GCODE_HEATER_TOOL.getName()); - confp.setDeviceScriptingName(GCODE); - confp.setHardwareIndex(0); - confp.setScale(1); - AbstractLink link = lf.getLink(confp); - assertEquals(link.getClass(), GCodeHeater.class);// checks to see a - // real device - // was created - link.setTargetEngineeringUnits(25); - link.flush(1);// take 2 seconds to flush - - LinkConfiguration confp2 = new LinkConfiguration(); - confp2.setTypeString(LinkType.GCODE_HEATER_TOOL.getName()); - confp2.setDeviceScriptingName(GCODE); - confp2.setHardwareIndex(1); - confp2.setScale(1); - AbstractLink link2 = lf.getLink(confp2); - assertEquals(link2.getClass(), GCodeHeater.class);// checks to see a - // real device - // was created - link2.setTargetEngineeringUnits(25); - link2.flush(1);// take 2 seconds to flush - - link2.setTargetEngineeringUnits(0); - link.setTargetEngineeringUnits(0); - // coordinated motion flush - lf.flush(5); - - } - } - - @Test - public void G1() { - - if (hasPort) { - GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); - String response = device.runLine("G90");// Absolute mode - if (response.length() > 0) - com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); - else { - fail("No response"); - } - response = device.runLine("G1 X100.2 Y100.2 Z0 E10 F6000"); - if (response.length() > 0) - com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); - else { - fail("No response"); - } - response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); - if (response.length() > 0) - com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); - else { - fail("No response"); - } - - } - } +// private static final Class GCODECONTOLLER = GcodeDevice.class; +// private static final String GCODE = "GCODE"; +// private static final String portname = "/dev/ttyUSB0"; +// private static boolean hasPort; +// +// @BeforeClass +// public static void loadGCodeDevice() { +// hasPort = false; +// for (String s : NRSerialPort.getAvailableSerialPorts()) { +// if (s.contentEquals(portname)) +// hasPort = true; +// } +// if (hasPort) { +// GcodeDevice device; +// NRSerialPort port = new NRSerialPort(portname, 115200); +// device = new GcodeDevice(port); +// device.connect(); +// DeviceManager.addConnection(device, GCODE); +// } +// } +// +// @AfterClass +// public static void closeGCodeDevice() { +// +// if (hasPort) { +// GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); +// device.disconnect(); +// } +// } +// +// @Test +// public void M105() { +// +// if (hasPort) { +// GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); +// +// String response = device.runLine("M105"); +// if (response.length() > 0) +// com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); +// else { +// fail("No response"); +// } +// +// } +// } +// +// @Test +// public void linkFactoryPrismatic() { +// if (hasPort) { +// LinkFactory lf = new LinkFactory(); +// LinkConfiguration confp = new LinkConfiguration(); +// confp.setTypeString(LinkType.GCODE_STEPPER_PRISMATIC.getName()); +// confp.setDeviceScriptingName(GCODE); +// confp.setHardwareIndex(0); +// confp.setScale(1); +// AbstractLink link = lf.getLink(confp); +// assertEquals(link.getClass(), GcodePrismatic.class);// checks to see +// // a real device +// // was created +// link.setTargetEngineeringUnits(100.5); +// link.flush(1);// take 2 seconds to flush +// +// LinkConfiguration confp2 = new LinkConfiguration(); +// confp2.setTypeString(LinkType.GCODE_STEPPER_PRISMATIC.getName()); +// confp2.setDeviceScriptingName(GCODE); +// confp2.setHardwareIndex(1); +// confp2.setScale(1); +// AbstractLink link2 = lf.getLink(confp2); +// assertEquals(link2.getClass(), GcodePrismatic.class);// checks to +// // see a +// // real +// // device +// // was +// // created +// link2.setTargetEngineeringUnits(100.5); +// link2.flush(1);// take 2 seconds to flush +// +// link2.setTargetEngineeringUnits(0); +// link.setTargetEngineeringUnits(0); +// // coordinated motion flush +// lf.flush(1); +// +// } +// } +// +// @Test +// public void loadFromXml() { +// if (hasPort) { +// +// MobileBase cnc = new MobileBase(GCODETest.class.getResourceAsStream("cnc.xml")); +// DHParameterKinematics arm = cnc.getAppendages().get(0); +// arm.setInverseSolver(new DhInverseSolver() { +// @Override +// public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector, DHChain chain) { +// double[] inv = new double[jointSpaceVector.length]; +// // inv[2] = target.getX(); +// inv[1] = target.getY(); +// inv[0] = target.getX(); +// for (int i = 3; i < inv.length && i < jointSpaceVector.length; i++) +// inv[i] = jointSpaceVector[i]; +// return inv; +// } +// }); +// for (LinkConfiguration l : arm.getLinkConfigurations()) { +// AbstractLink link = arm.getFactory().getLink(l); +// assertTrue(IGCodeChannel.class.isAssignableFrom(link.getClass()));// checks +// // to +// // see +// // a +// // real +// // device +// // was +// // created +// } +// com.neuronrobotics.sdk.common.Log.error("Moving using the kinematics"); +// try { +// arm.setDesiredTaskSpaceTransform(new TransformNR(10, 10, 0, new RotationNR()), 1); +// arm.setDesiredTaskSpaceTransform(new TransformNR(), 1); +// } catch (Exception e) { +// // Auto-generated catch block +// e.printStackTrace(); +// } +// } +// } +// +// @Test +// public void linkFactoryRotory() { +// if (hasPort) { +// LinkFactory lf = new LinkFactory(); +// LinkConfiguration confp = new LinkConfiguration(); +// confp.setTypeString(LinkType.GCODE_STEPPER_ROTORY.getName()); +// confp.setDeviceScriptingName(GCODE); +// confp.setHardwareIndex(0); +// confp.setScale(1); +// AbstractLink link = lf.getLink(confp); +// assertEquals(link.getClass(), GcodeRotory.class);// checks to see a +// // real device +// // was created +// link.setTargetEngineeringUnits(100.5); +// link.flush(1);// take 2 seconds to flush +// +// LinkConfiguration confp2 = new LinkConfiguration(); +// confp2.setTypeString(LinkType.GCODE_STEPPER_ROTORY.getName()); +// confp2.setDeviceScriptingName(GCODE); +// confp2.setHardwareIndex(1); +// confp2.setScale(1); +// AbstractLink link2 = lf.getLink(confp2); +// assertEquals(link2.getClass(), GcodeRotory.class);// checks to see a +// // real device +// // was created +// link2.setTargetEngineeringUnits(100.5); +// link2.flush(1);// take 2 seconds to flush +// +// link2.setTargetEngineeringUnits(0); +// link.setTargetEngineeringUnits(0); +// // coordinated motion flush +// lf.flush(1); +// +// } +// } +// +// @Test +// public void linkFactoryTool() { +// if (hasPort) { +// LinkFactory lf = new LinkFactory(); +// LinkConfiguration confp = new LinkConfiguration(); +// confp.setTypeString(LinkType.GCODE_STEPPER_TOOL.getName()); +// confp.setDeviceScriptingName(GCODE); +// confp.setHardwareIndex(0); +// confp.setScale(1); +// AbstractLink link = lf.getLink(confp); +// assertEquals(link.getClass(), GcodeRotory.class);// checks to see a +// // real device +// // was created +// link.setTargetEngineeringUnits(100.5); +// link.flush(1);// take 2 seconds to flush +// +// LinkConfiguration confp2 = new LinkConfiguration(); +// confp2.setTypeString(LinkType.GCODE_STEPPER_TOOL.getName()); +// confp2.setDeviceScriptingName(GCODE); +// confp2.setHardwareIndex(1); +// confp2.setScale(1); +// AbstractLink link2 = lf.getLink(confp2); +// assertEquals(link2.getClass(), GcodeRotory.class);// checks to see a +// // real device +// // was created +// link2.setTargetEngineeringUnits(100.5); +// link2.flush(1);// take 2 seconds to flush +// +// link2.setTargetEngineeringUnits(0); +// link.setTargetEngineeringUnits(0); +// // coordinated motion flush +// lf.flush(5); +// +// } +// } +// +// @Test +// public void linkFactoryHeater() { +// if (hasPort) { +// LinkFactory lf = new LinkFactory(); +// LinkConfiguration confp = new LinkConfiguration(); +// confp.setTypeString(LinkType.GCODE_HEATER_TOOL.getName()); +// confp.setDeviceScriptingName(GCODE); +// confp.setHardwareIndex(0); +// confp.setScale(1); +// AbstractLink link = lf.getLink(confp); +// assertEquals(link.getClass(), GCodeHeater.class);// checks to see a +// // real device +// // was created +// link.setTargetEngineeringUnits(25); +// link.flush(1);// take 2 seconds to flush +// +// LinkConfiguration confp2 = new LinkConfiguration(); +// confp2.setTypeString(LinkType.GCODE_HEATER_TOOL.getName()); +// confp2.setDeviceScriptingName(GCODE); +// confp2.setHardwareIndex(1); +// confp2.setScale(1); +// AbstractLink link2 = lf.getLink(confp2); +// assertEquals(link2.getClass(), GCodeHeater.class);// checks to see a +// // real device +// // was created +// link2.setTargetEngineeringUnits(25); +// link2.flush(1);// take 2 seconds to flush +// +// link2.setTargetEngineeringUnits(0); +// link.setTargetEngineeringUnits(0); +// // coordinated motion flush +// lf.flush(5); +// +// } +// } +// +// @Test +// public void G1() { +// +// if (hasPort) { +// GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); +// String response = device.runLine("G90");// Absolute mode +// if (response.length() > 0) +// com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); +// else { +// fail("No response"); +// } +// response = device.runLine("G1 X100.2 Y100.2 Z0 E10 F6000"); +// if (response.length() > 0) +// com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); +// else { +// fail("No response"); +// } +// response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); +// if (response.length() > 0) +// com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); +// else { +// fail("No response"); +// } +// +// } +// } } From b772908a3261445bad8fc388281aab3b1adf88e2 Mon Sep 17 00:00:00 2001 From: Kevin Harrington Date: Sat, 20 Jun 2026 13:38:54 -0400 Subject: [PATCH 482/482] formatting --- .../neuronrobotics/utilities/GCODETest.java | 546 +++++++++--------- 1 file changed, 265 insertions(+), 281 deletions(-) diff --git a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java index 50445b41..4aa360ab 100644 --- a/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java +++ b/test/java/src/junit/test/neuronrobotics/utilities/GCODETest.java @@ -2,288 +2,272 @@ import static org.junit.Assert.*; -import org.junit.AfterClass; -import org.junit.BeforeClass; -import org.junit.Test; - -import com.neuronrobotics.sdk.addons.kinematics.AbstractLink; -import com.neuronrobotics.sdk.addons.kinematics.DHChain; -import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics; -import com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver; -import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration; -import com.neuronrobotics.sdk.addons.kinematics.LinkFactory; -import com.neuronrobotics.sdk.addons.kinematics.LinkType; -import com.neuronrobotics.sdk.addons.kinematics.MobileBase; -import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GCodeHeater; -import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeDevice; -import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodePrismatic; -import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.GcodeRotory; -import com.neuronrobotics.sdk.addons.kinematics.gcodebridge.IGCodeChannel; -import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR; -import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR; -import com.neuronrobotics.sdk.common.DeviceManager; -import gnu.io.NRSerialPort; - public class GCODETest { -// private static final Class GCODECONTOLLER = GcodeDevice.class; -// private static final String GCODE = "GCODE"; -// private static final String portname = "/dev/ttyUSB0"; -// private static boolean hasPort; -// -// @BeforeClass -// public static void loadGCodeDevice() { -// hasPort = false; -// for (String s : NRSerialPort.getAvailableSerialPorts()) { -// if (s.contentEquals(portname)) -// hasPort = true; -// } -// if (hasPort) { -// GcodeDevice device; -// NRSerialPort port = new NRSerialPort(portname, 115200); -// device = new GcodeDevice(port); -// device.connect(); -// DeviceManager.addConnection(device, GCODE); -// } -// } -// -// @AfterClass -// public static void closeGCodeDevice() { -// -// if (hasPort) { -// GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); -// device.disconnect(); -// } -// } -// -// @Test -// public void M105() { -// -// if (hasPort) { -// GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); -// -// String response = device.runLine("M105"); -// if (response.length() > 0) -// com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); -// else { -// fail("No response"); -// } -// -// } -// } -// -// @Test -// public void linkFactoryPrismatic() { -// if (hasPort) { -// LinkFactory lf = new LinkFactory(); -// LinkConfiguration confp = new LinkConfiguration(); -// confp.setTypeString(LinkType.GCODE_STEPPER_PRISMATIC.getName()); -// confp.setDeviceScriptingName(GCODE); -// confp.setHardwareIndex(0); -// confp.setScale(1); -// AbstractLink link = lf.getLink(confp); -// assertEquals(link.getClass(), GcodePrismatic.class);// checks to see -// // a real device -// // was created -// link.setTargetEngineeringUnits(100.5); -// link.flush(1);// take 2 seconds to flush -// -// LinkConfiguration confp2 = new LinkConfiguration(); -// confp2.setTypeString(LinkType.GCODE_STEPPER_PRISMATIC.getName()); -// confp2.setDeviceScriptingName(GCODE); -// confp2.setHardwareIndex(1); -// confp2.setScale(1); -// AbstractLink link2 = lf.getLink(confp2); -// assertEquals(link2.getClass(), GcodePrismatic.class);// checks to -// // see a -// // real -// // device -// // was -// // created -// link2.setTargetEngineeringUnits(100.5); -// link2.flush(1);// take 2 seconds to flush -// -// link2.setTargetEngineeringUnits(0); -// link.setTargetEngineeringUnits(0); -// // coordinated motion flush -// lf.flush(1); -// -// } -// } -// -// @Test -// public void loadFromXml() { -// if (hasPort) { -// -// MobileBase cnc = new MobileBase(GCODETest.class.getResourceAsStream("cnc.xml")); -// DHParameterKinematics arm = cnc.getAppendages().get(0); -// arm.setInverseSolver(new DhInverseSolver() { -// @Override -// public double[] inverseKinematics(TransformNR target, double[] jointSpaceVector, DHChain chain) { -// double[] inv = new double[jointSpaceVector.length]; -// // inv[2] = target.getX(); -// inv[1] = target.getY(); -// inv[0] = target.getX(); -// for (int i = 3; i < inv.length && i < jointSpaceVector.length; i++) -// inv[i] = jointSpaceVector[i]; -// return inv; -// } -// }); -// for (LinkConfiguration l : arm.getLinkConfigurations()) { -// AbstractLink link = arm.getFactory().getLink(l); -// assertTrue(IGCodeChannel.class.isAssignableFrom(link.getClass()));// checks -// // to -// // see -// // a -// // real -// // device -// // was -// // created -// } -// com.neuronrobotics.sdk.common.Log.error("Moving using the kinematics"); -// try { -// arm.setDesiredTaskSpaceTransform(new TransformNR(10, 10, 0, new RotationNR()), 1); -// arm.setDesiredTaskSpaceTransform(new TransformNR(), 1); -// } catch (Exception e) { -// // Auto-generated catch block -// e.printStackTrace(); -// } -// } -// } -// -// @Test -// public void linkFactoryRotory() { -// if (hasPort) { -// LinkFactory lf = new LinkFactory(); -// LinkConfiguration confp = new LinkConfiguration(); -// confp.setTypeString(LinkType.GCODE_STEPPER_ROTORY.getName()); -// confp.setDeviceScriptingName(GCODE); -// confp.setHardwareIndex(0); -// confp.setScale(1); -// AbstractLink link = lf.getLink(confp); -// assertEquals(link.getClass(), GcodeRotory.class);// checks to see a -// // real device -// // was created -// link.setTargetEngineeringUnits(100.5); -// link.flush(1);// take 2 seconds to flush -// -// LinkConfiguration confp2 = new LinkConfiguration(); -// confp2.setTypeString(LinkType.GCODE_STEPPER_ROTORY.getName()); -// confp2.setDeviceScriptingName(GCODE); -// confp2.setHardwareIndex(1); -// confp2.setScale(1); -// AbstractLink link2 = lf.getLink(confp2); -// assertEquals(link2.getClass(), GcodeRotory.class);// checks to see a -// // real device -// // was created -// link2.setTargetEngineeringUnits(100.5); -// link2.flush(1);// take 2 seconds to flush -// -// link2.setTargetEngineeringUnits(0); -// link.setTargetEngineeringUnits(0); -// // coordinated motion flush -// lf.flush(1); -// -// } -// } -// -// @Test -// public void linkFactoryTool() { -// if (hasPort) { -// LinkFactory lf = new LinkFactory(); -// LinkConfiguration confp = new LinkConfiguration(); -// confp.setTypeString(LinkType.GCODE_STEPPER_TOOL.getName()); -// confp.setDeviceScriptingName(GCODE); -// confp.setHardwareIndex(0); -// confp.setScale(1); -// AbstractLink link = lf.getLink(confp); -// assertEquals(link.getClass(), GcodeRotory.class);// checks to see a -// // real device -// // was created -// link.setTargetEngineeringUnits(100.5); -// link.flush(1);// take 2 seconds to flush -// -// LinkConfiguration confp2 = new LinkConfiguration(); -// confp2.setTypeString(LinkType.GCODE_STEPPER_TOOL.getName()); -// confp2.setDeviceScriptingName(GCODE); -// confp2.setHardwareIndex(1); -// confp2.setScale(1); -// AbstractLink link2 = lf.getLink(confp2); -// assertEquals(link2.getClass(), GcodeRotory.class);// checks to see a -// // real device -// // was created -// link2.setTargetEngineeringUnits(100.5); -// link2.flush(1);// take 2 seconds to flush -// -// link2.setTargetEngineeringUnits(0); -// link.setTargetEngineeringUnits(0); -// // coordinated motion flush -// lf.flush(5); -// -// } -// } -// -// @Test -// public void linkFactoryHeater() { -// if (hasPort) { -// LinkFactory lf = new LinkFactory(); -// LinkConfiguration confp = new LinkConfiguration(); -// confp.setTypeString(LinkType.GCODE_HEATER_TOOL.getName()); -// confp.setDeviceScriptingName(GCODE); -// confp.setHardwareIndex(0); -// confp.setScale(1); -// AbstractLink link = lf.getLink(confp); -// assertEquals(link.getClass(), GCodeHeater.class);// checks to see a -// // real device -// // was created -// link.setTargetEngineeringUnits(25); -// link.flush(1);// take 2 seconds to flush -// -// LinkConfiguration confp2 = new LinkConfiguration(); -// confp2.setTypeString(LinkType.GCODE_HEATER_TOOL.getName()); -// confp2.setDeviceScriptingName(GCODE); -// confp2.setHardwareIndex(1); -// confp2.setScale(1); -// AbstractLink link2 = lf.getLink(confp2); -// assertEquals(link2.getClass(), GCodeHeater.class);// checks to see a -// // real device -// // was created -// link2.setTargetEngineeringUnits(25); -// link2.flush(1);// take 2 seconds to flush -// -// link2.setTargetEngineeringUnits(0); -// link.setTargetEngineeringUnits(0); -// // coordinated motion flush -// lf.flush(5); -// -// } -// } -// -// @Test -// public void G1() { -// -// if (hasPort) { -// GcodeDevice device = GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); -// String response = device.runLine("G90");// Absolute mode -// if (response.length() > 0) -// com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); -// else { -// fail("No response"); -// } -// response = device.runLine("G1 X100.2 Y100.2 Z0 E10 F6000"); -// if (response.length() > 0) -// com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); -// else { -// fail("No response"); -// } -// response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); -// if (response.length() > 0) -// com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); -// else { -// fail("No response"); -// } -// -// } -// } + // private static final Class GCODECONTOLLER = GcodeDevice.class; + // private static final String GCODE = "GCODE"; + // private static final String portname = "/dev/ttyUSB0"; + // private static boolean hasPort; + // + // @BeforeClass + // public static void loadGCodeDevice() { + // hasPort = false; + // for (String s : NRSerialPort.getAvailableSerialPorts()) { + // if (s.contentEquals(portname)) + // hasPort = true; + // } + // if (hasPort) { + // GcodeDevice device; + // NRSerialPort port = new NRSerialPort(portname, 115200); + // device = new GcodeDevice(port); + // device.connect(); + // DeviceManager.addConnection(device, GCODE); + // } + // } + // + // @AfterClass + // public static void closeGCodeDevice() { + // + // if (hasPort) { + // GcodeDevice device = + // GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); + // device.disconnect(); + // } + // } + // + // @Test + // public void M105() { + // + // if (hasPort) { + // GcodeDevice device = + // GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); + // + // String response = device.runLine("M105"); + // if (response.length() > 0) + // com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); + // else { + // fail("No response"); + // } + // + // } + // } + // + // @Test + // public void linkFactoryPrismatic() { + // if (hasPort) { + // LinkFactory lf = new LinkFactory(); + // LinkConfiguration confp = new LinkConfiguration(); + // confp.setTypeString(LinkType.GCODE_STEPPER_PRISMATIC.getName()); + // confp.setDeviceScriptingName(GCODE); + // confp.setHardwareIndex(0); + // confp.setScale(1); + // AbstractLink link = lf.getLink(confp); + // assertEquals(link.getClass(), GcodePrismatic.class);// checks to see + // // a real device + // // was created + // link.setTargetEngineeringUnits(100.5); + // link.flush(1);// take 2 seconds to flush + // + // LinkConfiguration confp2 = new LinkConfiguration(); + // confp2.setTypeString(LinkType.GCODE_STEPPER_PRISMATIC.getName()); + // confp2.setDeviceScriptingName(GCODE); + // confp2.setHardwareIndex(1); + // confp2.setScale(1); + // AbstractLink link2 = lf.getLink(confp2); + // assertEquals(link2.getClass(), GcodePrismatic.class);// checks to + // // see a + // // real + // // device + // // was + // // created + // link2.setTargetEngineeringUnits(100.5); + // link2.flush(1);// take 2 seconds to flush + // + // link2.setTargetEngineeringUnits(0); + // link.setTargetEngineeringUnits(0); + // // coordinated motion flush + // lf.flush(1); + // + // } + // } + // + // @Test + // public void loadFromXml() { + // if (hasPort) { + // + // MobileBase cnc = new + // MobileBase(GCODETest.class.getResourceAsStream("cnc.xml")); + // DHParameterKinematics arm = cnc.getAppendages().get(0); + // arm.setInverseSolver(new DhInverseSolver() { + // @Override + // public double[] inverseKinematics(TransformNR target, double[] + // jointSpaceVector, DHChain chain) { + // double[] inv = new double[jointSpaceVector.length]; + // // inv[2] = target.getX(); + // inv[1] = target.getY(); + // inv[0] = target.getX(); + // for (int i = 3; i < inv.length && i < jointSpaceVector.length; i++) + // inv[i] = jointSpaceVector[i]; + // return inv; + // } + // }); + // for (LinkConfiguration l : arm.getLinkConfigurations()) { + // AbstractLink link = arm.getFactory().getLink(l); + // assertTrue(IGCodeChannel.class.isAssignableFrom(link.getClass()));// checks + // // to + // // see + // // a + // // real + // // device + // // was + // // created + // } + // com.neuronrobotics.sdk.common.Log.error("Moving using the kinematics"); + // try { + // arm.setDesiredTaskSpaceTransform(new TransformNR(10, 10, 0, new + // RotationNR()), 1); + // arm.setDesiredTaskSpaceTransform(new TransformNR(), 1); + // } catch (Exception e) { + // // Auto-generated catch block + // e.printStackTrace(); + // } + // } + // } + // + // @Test + // public void linkFactoryRotory() { + // if (hasPort) { + // LinkFactory lf = new LinkFactory(); + // LinkConfiguration confp = new LinkConfiguration(); + // confp.setTypeString(LinkType.GCODE_STEPPER_ROTORY.getName()); + // confp.setDeviceScriptingName(GCODE); + // confp.setHardwareIndex(0); + // confp.setScale(1); + // AbstractLink link = lf.getLink(confp); + // assertEquals(link.getClass(), GcodeRotory.class);// checks to see a + // // real device + // // was created + // link.setTargetEngineeringUnits(100.5); + // link.flush(1);// take 2 seconds to flush + // + // LinkConfiguration confp2 = new LinkConfiguration(); + // confp2.setTypeString(LinkType.GCODE_STEPPER_ROTORY.getName()); + // confp2.setDeviceScriptingName(GCODE); + // confp2.setHardwareIndex(1); + // confp2.setScale(1); + // AbstractLink link2 = lf.getLink(confp2); + // assertEquals(link2.getClass(), GcodeRotory.class);// checks to see a + // // real device + // // was created + // link2.setTargetEngineeringUnits(100.5); + // link2.flush(1);// take 2 seconds to flush + // + // link2.setTargetEngineeringUnits(0); + // link.setTargetEngineeringUnits(0); + // // coordinated motion flush + // lf.flush(1); + // + // } + // } + // + // @Test + // public void linkFactoryTool() { + // if (hasPort) { + // LinkFactory lf = new LinkFactory(); + // LinkConfiguration confp = new LinkConfiguration(); + // confp.setTypeString(LinkType.GCODE_STEPPER_TOOL.getName()); + // confp.setDeviceScriptingName(GCODE); + // confp.setHardwareIndex(0); + // confp.setScale(1); + // AbstractLink link = lf.getLink(confp); + // assertEquals(link.getClass(), GcodeRotory.class);// checks to see a + // // real device + // // was created + // link.setTargetEngineeringUnits(100.5); + // link.flush(1);// take 2 seconds to flush + // + // LinkConfiguration confp2 = new LinkConfiguration(); + // confp2.setTypeString(LinkType.GCODE_STEPPER_TOOL.getName()); + // confp2.setDeviceScriptingName(GCODE); + // confp2.setHardwareIndex(1); + // confp2.setScale(1); + // AbstractLink link2 = lf.getLink(confp2); + // assertEquals(link2.getClass(), GcodeRotory.class);// checks to see a + // // real device + // // was created + // link2.setTargetEngineeringUnits(100.5); + // link2.flush(1);// take 2 seconds to flush + // + // link2.setTargetEngineeringUnits(0); + // link.setTargetEngineeringUnits(0); + // // coordinated motion flush + // lf.flush(5); + // + // } + // } + // + // @Test + // public void linkFactoryHeater() { + // if (hasPort) { + // LinkFactory lf = new LinkFactory(); + // LinkConfiguration confp = new LinkConfiguration(); + // confp.setTypeString(LinkType.GCODE_HEATER_TOOL.getName()); + // confp.setDeviceScriptingName(GCODE); + // confp.setHardwareIndex(0); + // confp.setScale(1); + // AbstractLink link = lf.getLink(confp); + // assertEquals(link.getClass(), GCodeHeater.class);// checks to see a + // // real device + // // was created + // link.setTargetEngineeringUnits(25); + // link.flush(1);// take 2 seconds to flush + // + // LinkConfiguration confp2 = new LinkConfiguration(); + // confp2.setTypeString(LinkType.GCODE_HEATER_TOOL.getName()); + // confp2.setDeviceScriptingName(GCODE); + // confp2.setHardwareIndex(1); + // confp2.setScale(1); + // AbstractLink link2 = lf.getLink(confp2); + // assertEquals(link2.getClass(), GCodeHeater.class);// checks to see a + // // real device + // // was created + // link2.setTargetEngineeringUnits(25); + // link2.flush(1);// take 2 seconds to flush + // + // link2.setTargetEngineeringUnits(0); + // link.setTargetEngineeringUnits(0); + // // coordinated motion flush + // lf.flush(5); + // + // } + // } + // + // @Test + // public void G1() { + // + // if (hasPort) { + // GcodeDevice device = + // GCODECONTOLLER.cast(DeviceManager.getSpecificDevice(GCODECONTOLLER, GCODE)); + // String response = device.runLine("G90");// Absolute mode + // if (response.length() > 0) + // com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); + // else { + // fail("No response"); + // } + // response = device.runLine("G1 X100.2 Y100.2 Z0 E10 F6000"); + // if (response.length() > 0) + // com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); + // else { + // fail("No response"); + // } + // response = device.runLine("G1 X0 Y0 Z0 E0 F3000"); + // if (response.length() > 0) + // com.neuronrobotics.sdk.common.Log.error("Gcode line run: " + response); + // else { + // fail("No response"); + // } + // + // } + // } }

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