Examples with MobileBase com.neuronrobotics.sdk.addons.kinematics.MobileBase used on opensource projects

Example 6 with MobileBase

use of com.neuronrobotics.sdk.addons.kinematics.MobileBase in project BowlerStudio by CommonWealthRobotics.

the class AppTestLinkWidgets method start.

@Override
public void start(Stage stage) throws Exception {
    ScriptingEngine.gitScriptRun("https://github.com/CommonWealthRobotics/DeviceProviders.git", "loadAll.groovy", null);
    MobileBase base = MobileBaseLoader.fromGit("https://github.com/Hephaestus-Arm/HephaestusArm2.git", "hephaestus.xml");
    DHParameterKinematics limb = base.getAllDHChains().get(0);
    int index = 2;
    LinkConfiguration conf = limb.getLinkConfiguration(index);
    LinkConfigurationWidget theWidget = new LinkConfigurationWidget(conf, limb.getFactory(), MobileBaseCadManager.get(base));
    LinkSliderWidget lsw = new LinkSliderWidget(index, limb, theWidget);
    VBox box = new VBox();
    box.getChildren().addAll(lsw);
    Group root = new Group(box);
    Scene scene = new Scene(root, 800, 900);
    stage.setTitle("My JavaFX Application");
    stage.setScene(scene);
    stage.show();
}

Example 7 with MobileBase

use of com.neuronrobotics.sdk.addons.kinematics.MobileBase in project BowlerStudio by CommonWealthRobotics.

the class AbstractBowlerStudioTab method setDevice.

public void setDevice(BowlerAbstractDevice pm) {
    myNames = new ArrayList<>();
    if (getMyNameSpaces().length > 0) {
        for (int i = 0; i < getMyNameSpaces().length; i++) {
            myNames.add(getMyNameSpaces()[i]);
        }
        if (!isMyNamespace(pm.getNamespaces())) {
            throw new RuntimeException("Device and namespaces are incompatible ");
        }
    }
    setOnCloseRequest(this);
    initializeUI(pm);
    pm.addConnectionEventListener(new IDeviceConnectionEventListener() {

        @Override
        public void onDisconnect(BowlerAbstractDevice source) {
            // if the device disconnects, close the tab
            if (source == pm && source != null) {
                requestClose();
                if (MobileBase.class.isInstance(pm)) {
                    MobileBase dev = (MobileBase) pm;
                    try {
                        for (CSG p : MobileBaseCadManager.get(dev).getBasetoCadMap().get(dev)) BowlerStudioController.removeObject(p);
                        for (DHParameterKinematics leg : dev.getAllDHChains()) for (CSG p : MobileBaseCadManager.get(dev).getDHtoCadMap().get(leg)) BowlerStudioController.removeObject(p);
                    } catch (Throwable e) {
                    }
                }
            } else {
            // Not a bug, expected to ensure one device disconnects the rest of the dependent devices
            // System.err.println("Device type was "+source.getClass()+" named "+source.getScriptingName()+" expected "+pm.getClass()+" named "+pm.getScriptingName());
            // new Exception().printStackTrace();
            }
        }

        @Override
        public void onConnect(BowlerAbstractDevice source) {
        // TODO Auto-generated method stub
        }
    });
}