Vertx webxr

.gitignore

@@ -116,4 +116,7 @@ build/
 /lastRestart.py
 /.factorypath
 start.yml
+config
+src/main/resources/resource/InMoov2
+src/main/resources/resource/ProgramAB
 *.iml

README.md

@@ -100,7 +100,6 @@ Enjoy the code review, address issues and concern in the code review
 Reviewer merges pull request to develop.
 Reviewer deletes branch.
 
-
 The following config should be useful to work directly on WebGui UI and
 InMoov2 UI if the repos are checked out at the same level
 ```yml

pom.xml

@@ -163,10 +163,6 @@
 <!-- Duplicate entry for com.squareup.okhttp3-okhttp-3.9.0 skipping -->
 <!-- AzureTranslator end -->
 
-<!-- BodyPart begin -->
-<!-- Duplicate entry for org.apache.commons-commons-lang3-3.3.2 skipping -->
-<!-- BodyPart end -->
-
 <!-- BoofCv begin -->
   <dependency>
     <groupId>org.boofcv</groupId>
@@ -1237,13 +1233,13 @@
   <dependency>
     <groupId>org.bytedeco</groupId>
     <artifactId>cpython-platform</artifactId>
-    <version>3.11.3-1.5.9</version>
+    <version>3.10.8-1.5.8</version>
     <scope>provided</scope>
   </dependency>
   <dependency>
     <groupId>org.bytedeco</groupId>
     <artifactId>cpython</artifactId>
-    <version>3.11.3-1.5.9</version>
+    <version>3.10.8-1.5.8</version>
     <scope>provided</scope>
   </dependency>
 <!-- Py4j end -->
@@ -1574,6 +1570,34 @@
   </dependency>
 <!-- Twitter end -->
 
+<!-- Vertx begin -->
+  <dependency>
+    <groupId>io.vertx</groupId>
+    <artifactId>vertx-core</artifactId>
+    <version>4.3.3</version>
+    <scope>provided</scope>
+      <exclusions>
+        <exclusion>
+          <groupId>io.netty</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+      </exclusions>
+  </dependency>
+  <dependency>
+    <groupId>io.vertx</groupId>
+    <artifactId>vertx-web</artifactId>
+    <version>4.3.3</version>
+    <scope>provided</scope>
+      <exclusions>
+        <exclusion>
+          <groupId>io.netty</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+      </exclusions>
+  </dependency>
+<!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
+<!-- Vertx end -->
+
 <!-- VoiceRss begin -->
 <!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
   <dependency>

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

@@ -794,7 +794,7 @@ public String addBotPath(String path) {
 
       broadcastState();
     } else {
-      error("invalid bot path - a bot must be a directory with a subdirectory named \"aiml\"");
+      error("invalid bot path %s - a bot must be a directory with a subdirectory named \"aiml\"", path);
       return null;
     }
     return path;

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

@@ -0,0 +1,135 @@
+package org.myrobotlab.service;
+
+import java.util.HashMap;
+import java.util.Set;
+
+import org.myrobotlab.framework.Service;
+import org.myrobotlab.logging.Level;
+import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.vertx.ApiVerticle;
+import org.slf4j.Logger;
+
+import io.vertx.core.VertxOptions;
+
+/**
+ * Vertx gateway - used to support a http and websocket gateway for myrobotlab.
+ * Write business logic in Verticles. Also, try not to write any logic besides initialization inside start() method.
+ * 
+ * It currently does not utilize the Vertx event bus - which is pretty much the most important part of Vertx.
+ * TODO: take advantage of publishing on the event bus
+ * 
+ * @see https://medium.com/@pvub/https-medium-com-pvub-vert-x-workers-6a8df9b2b9ee
+ * 
+ * @author greg
+ *
+ */
+public class Vertx extends Service {
+
+  private static final long serialVersionUID = 1L;
+
+  private transient io.vertx.core.Vertx vertx = null;
+
+  public final static Logger log = LoggerFactory.getLogger(Vertx.class);
+
+  public Vertx(String n, String id) {
+    super(n, id);
+  }
+
+  /**
+   * deploys a http and websocket verticle on a secure TLS channel with self signed certificate
+   */
+  public void start() {
+    log.info("starting driver");
+
+    /**
+     * FIXME - might have to revisit this This is a block comment, but takes
+     * advantage of javadoc pre non-formatting in ide to preserve the code
+     * formatting
+     * 
+     * <pre>
+     * 
+     * final Vertx that = this;
+     * 
+     * java.lang.Runtime.getRuntime().addShutdownHook(new Thread() {
+     *   public void run() {
+     *     System.out.println("Running Shutdown Hook");
+     *     that.stop();
+     *   }
+     * });
+     * 
+     * </pre>
+     */
+
+    vertx = io.vertx.core.Vertx.vertx(new VertxOptions().setBlockedThreadCheckInterval(100000));
+    vertx.deployVerticle(new ApiVerticle(this));
+
+  }
+
+  @Override
+  public void startService() {
+    super.startService();
+    start();
+  }
+
+  @Override
+  public void stopService() {
+    super.stopService();
+    stop();
+  }
+
+
+  /**
+   * 
+   */
+  public void stop() {
+    log.info("stopping driver");
+    Set<String> ids = vertx.deploymentIDs();
+    for (String id : ids) {
+      vertx.undeploy(id, (result) -> {
+        if (result.succeeded()) {
+          log.info("succeeded");
+        } else {
+          log.error("failed");
+        }
+      });
+    }
+  }
+
+  public static class Matrix {
+    public String name;
+    public HashMap<String, Float> matrix;
+
+    public Matrix() {
+    };
+  }
+
+  public Matrix publishMatrix(Matrix data) {
+    // log.info("publishMatrix {}", data.name);
+    return data;
+  }
+
+  public static void main(String[] args) {
+    try {
+
+      LoggingFactory.init(Level.INFO);
+
+      Vertx vertx = (Vertx) Runtime.start("vertx", "Vertx");
+      vertx.start();
+
+       InMoov2 i01 = (InMoov2)Runtime.start("i01", "InMoov2");
+       // i01.startSimulator();
+       JMonkeyEngine jme = (JMonkeyEngine)i01.startPeer("simulator");
+//       Runtime.start("python", "Python");
+//      
+       WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui");
+       // webgui.setSsl(true);
+       webgui.autoStartBrowser(false);
+       webgui.setPort(8888);
+       webgui.startService();
+
+    } catch (Exception e) {
+      log.error("main threw", e);
+    }
+  }
+}

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

@@ -0,0 +1,89 @@
+package org.myrobotlab.service;
+
+import java.util.HashMap;
+import java.util.Map;
+
+import org.myrobotlab.framework.Service;
+import org.myrobotlab.logging.Level;
+import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.math.MapperSimple;
+import org.myrobotlab.service.config.WebXRConfig;
+import org.myrobotlab.service.data.Pose;
+import org.slf4j.Logger;
+
+public class WebXR extends Service {
+
+  private static final long serialVersionUID = 1L;
+
+  public final static Logger log = LoggerFactory.getLogger(WebXR.class);
+
+  public WebXR(String n, String id) {
+    super(n, id);
+  }
+
+  public Pose publishPose(Pose pose) {
+    log.warn("publishPose {}", pose);
+    System.out.println(pose.toString());
+
+    // process mappings config into joint angles
+    Map<String, Double> map = new HashMap<>();  
+
+    WebXRConfig c = (WebXRConfig)config;
+    String path = String.format("%s.orientation.roll", pose.name);
+    if (c.mappings.containsKey(path)) {
+      Map<String, MapperSimple> mapper = c.mappings.get(path);
+      for (String name: mapper.keySet()) {
+        map.put(name, mapper.get(name).calcOutput(pose.orientation.roll));
+      }
+    }
+
+    path = String.format("%s.orientation.pitch", pose.name);
+    if (c.mappings.containsKey(path)) {
+      Map<String, MapperSimple> mapper = c.mappings.get(path);
+      for (String name: mapper.keySet()) {
+        map.put(name, mapper.get(name).calcOutput(pose.orientation.pitch));
+      }
+    }
+
+    path = String.format("%s.orientation.yaw", pose.name);
+    if (c.mappings.containsKey(path)) {
+      Map<String, MapperSimple> mapper = c.mappings.get(path);
+      for (String name: mapper.keySet()) {
+        map.put(name, mapper.get(name).calcOutput(pose.orientation.yaw));
+      }
+    }
+
+    invoke("publishJointAngles", map);
+
+    // TODO - publishQuaternion
+    // invoke("publishQuaternion", map);
+
+    return pose;
+  }
+
+
+  public Map<String, Double> publishJointAngles(Map<String, Double> map){    
+    return map;    
+  }
+
+  public static void main(String[] args) {
+    try {
+
+      LoggingFactory.init(Level.INFO);
+
+      Runtime.start("webxr", "WebXr");
+      WebGui webgui = (WebGui) Runtime.create("webgui", "WebGui");
+      // webgui.setSsl(true);
+      webgui.autoStartBrowser(false);
+      webgui.startService();
+      Runtime.start("vertx", "Vertx");
+      InMoov2 i01 = (InMoov2)Runtime.start("i01", "InMoov2");
+      i01.startPeer("simulator");
+
+
+    } catch (Exception e) {
+      log.error("main threw", e);
+    }
+  }
+}

src/main/java/org/myrobotlab/service/config/VertxConfig.java

@@ -0,0 +1,9 @@
+package org.myrobotlab.service.config;
+
+public class VertxConfig extends ServiceConfig {
+
+  public Integer port = 8443;
+  public Integer workerCount = 1;
+  public boolean ssl = true;
+
+}

src/main/java/org/myrobotlab/service/data/Orientation.java

@@ -11,6 +11,7 @@ public class Orientation {
   public Double roll = null;
   public Double pitch = null;
   public Double yaw = null;
+  public String src = null;
 
   // default constructor (values will be null until set)
   public Orientation() {

src/main/java/org/myrobotlab/service/data/Pose.java

@@ -0,0 +1,22 @@
+package org.myrobotlab.service.data;
+
+public class Pose {
+  public String name = null;
+  public Long ts =  null;
+  public Position position = null;
+  public Orientation orientation = null;
+
+  public String toString() {
+    StringBuilder sb = new StringBuilder();
+    sb.append(String.format("name:%s", name));
+    if (position != null) {
+      sb.append(String.format(" x:%.2f y:%.2f z:%.2f", position.x, position.y, position.z));
+    }
+    if (orientation != null) {
+      sb.append(String.format(" roll:%.2f pitch:%.2f yaw:%.2f", orientation.roll, orientation.pitch, orientation.yaw));
+    }
+    return sb.toString();
+  }
+
+
+}

src/main/java/org/myrobotlab/service/data/Position.java

@@ -0,0 +1,43 @@
+package org.myrobotlab.service.data;
+
+public class Position {
+
+  public Double x;
+  public Double y;
+  public Double z;
+  public String src;
+
+  public Position(double x, double y, double z) {
+    this.x = x;
+    this.y = y;
+    this.z = z;
+  }
+
+  public Position(double x, double y) {
+    this.x = x;
+    this.y = y;
+  }
+
+  public Position(int x, int y, int z) {
+    this.x = (double) x;
+    this.y = (double) y;
+    this.z = (double) z;
+  }
+
+  public Position(int x, int y) {
+    this.x = (double) x;
+    this.y = (double) y;
+  }
+
+  public Position(float x, float y, float z) {
+    this.x = (double) x;
+    this.y = (double) y;
+    this.z = (double) z;
+  }
+
+  public Position(float x, float y) {
+    this.x = (double) x;
+    this.y = (double) y;
+  }
+
+}