Examples with RoboContext com.robo4j.RoboContext used on opensource projects

Example 6 with RoboContext

use of com.robo4j.RoboContext in project robo4j by Robo4J.

the class CalibrationUtility method main.

public static void main(String[] args) throws RoboBuilderException, FileNotFoundException {
    InputStream settings = ServoUnitExample.class.getClassLoader().getResourceAsStream("calibration.xml");
    if (args.length != 1) {
        System.out.println("No file specified, using default calibration.xml");
    } else {
        settings = new FileInputStream(args[0]);
    }
    RoboBuilder builder = new RoboBuilder();
    if (settings == null) {
        System.out.println("Could not find the settings for servo calibration test!");
        System.exit(2);
    }
    builder.add(settings);
    RoboContext ctx = builder.build();
    System.out.println("State before start:");
    System.out.println(SystemUtil.printStateReport(ctx));
    ctx.start();
    System.out.println("State after start:");
    System.out.println(SystemUtil.printStateReport(ctx));
    String lastCommand;
    Scanner scanner = new Scanner(System.in);
    System.out.println("Type the servo to control and how much to move the servo, between -1 and 1. For example:\npan -1.0\nType q and enter to quit!\n");
    while (!"q".equals(lastCommand = scanner.nextLine())) {
        lastCommand = lastCommand.trim();
        String[] split = lastCommand.split(" ");
        if (split.length != 2) {
            System.out.println("Could not parse " + lastCommand + ". Please try again!");
            continue;
        }
        RoboReference<Float> servoRef = ctx.getReference(split[0]);
        if (servoRef == null) {
            System.out.println("Could not find any robo unit named " + split[0] + ". Please try again!");
            continue;
        }
        try {
            float value = Float.parseFloat(split[1]);
            servoRef.sendMessage(value);
        } catch (Exception e) {
            System.out.println("Could not parse " + split[1] + " as a float number. Error message was: " + e.getMessage() + ". Please try again!");
            continue;
        }
    }
    ctx.shutdown();
    scanner.close();
}

Example 7 with RoboContext

use of com.robo4j.RoboContext in project robo4j by Robo4J.

the class RoboRequestFactory method processGet.

/**
 * Generic robo context overview. It returns all units registered into the context including system id.
 * The 1st position is reserved for the system
 *
 * @param context
 *            robo context
 * @return descripton of desired context
 */
@Override
public Object processGet(RoboContext context) {
    if (!context.getUnits().isEmpty()) {
        final List<ResponseUnitDTO> unitList = context.getUnits().stream().map(u -> new ResponseUnitDTO(u.getId(), u.getState())).collect(Collectors.toList());
        unitList.add(0, new ResponseUnitDTO(context.getId(), context.getState()));
        return JsonUtil.toJsonArray(unitList);
    } else {
        SimpleLoggingUtil.error(getClass(), "internal error: no units available");
    }
    return null;
}

Example 8 with RoboContext

use of com.robo4j.RoboContext in project robo4j by Robo4J.

the class RoboDatagramPingPongTest method datagramPingPongTest.

@Test
void datagramPingPongTest() throws Exception {
    RoboContext pongSystem = configurePongSystem(TOTAL_NUMBER);
    RoboContext pingSystem = configurePingSystem();
    pongSystem.start();
    pingSystem.start();
    System.out.println("UDP pongSystem: State after start:");
    System.out.println(SystemUtil.printStateReport(pongSystem));
    System.out.println("UDP pingSystem: State after start:");
    System.out.println(SystemUtil.printStateReport(pingSystem));
    RoboReference<String> pongStringConsumerReference = pongSystem.getReference(StringConsumer.NAME);
    CountDownLatch totalMessageLatch = pongStringConsumerReference.getAttribute(StringConsumer.DESCRIPTOR_MESSAGES_LATCH).get();
    RoboReference<DatagramDecoratedRequest> udpClient = pingSystem.getReference(UDP_CLIENT);
    for (int i = 0; i < TOTAL_NUMBER; i++) {
        DatagramDenominator denominator = new DatagramDenominator(DatagramBodyType.JSON.getType(), "/units/stringConsumer");
        DatagramDecoratedRequest request = new DatagramDecoratedRequest(denominator);
        String message = "{\"message\": \"Hello i:" + i + "\"}";
        request.addMessage(message.getBytes());
        udpClient.sendMessage(request);
    }
    totalMessageLatch.await(TIMEOUT, TIME_UNIT);
    final int pongConsumerTotalNumber = pongStringConsumerReference.getAttribute(StringConsumer.DESCRIPTOR_MESSAGES_TOTAL).get();
    System.out.println("UDP pongSystem: State after shutdown:");
    System.out.println(SystemUtil.printStateReport(pongSystem));
    System.out.println("UDP pingSystem: State after shutdown:");
    System.out.println(SystemUtil.printStateReport(pingSystem));
    pingSystem.shutdown();
    pongSystem.shutdown();
    assertEquals(TOTAL_NUMBER, pongConsumerTotalNumber);
}

Example 9 with RoboContext

use of com.robo4j.RoboContext in project robo4j by Robo4J.

the class RoboHttpDynamicTests method simpleHttpNonUnitTest.

/**
 * Motivation Client system is sending messages to the main system over HTTP
 * Main System receives desired number of messages.
 *
 * Values are requested by Attributes
 *
 * @throws Exception
 *             exception
 */
@Test
void simpleHttpNonUnitTest() throws Exception {
    /* tested system configuration */
    RoboContext mainSystem = getServerRoboSystem(MESSAGES_NUMBER);
    /* system which is testing main system */
    RoboContext clientSystem = getClientRoboSystem();
    System.out.println("Client system state after start:");
    System.out.println(SystemUtil.printStateReport(clientSystem));
    System.out.println("Main system state after start:");
    System.out.println(SystemUtil.printStateReport(mainSystem));
    /* client system sending a messages to the main system */
    RoboReference<Object> decoratedProducer = clientSystem.getReference(DECORATED_PRODUCER);
    decoratedProducer.sendMessage(MESSAGES_NUMBER);
    CountDownLatch countDownLatchDecoratedProducer = decoratedProducer.getAttribute(SocketMessageDecoratedProducerUnit.DESCRIPTOR_MESSAGES_LATCH).get();
    countDownLatchDecoratedProducer.await(TIMEOUT, TIME_UNIT);
    final RoboReference<String> stringConsumer = mainSystem.getReference(StringConsumer.NAME);
    final CountDownLatch countDownLatch = stringConsumer.getAttribute(StringConsumer.DESCRIPTOR_MESSAGES_LATCH).get();
    countDownLatch.await(TIMEOUT, TIME_UNIT);
    final int receivedMessages = stringConsumer.getAttribute(StringConsumer.DESCRIPTOR_MESSAGES_TOTAL).get();
    clientSystem.shutdown();
    mainSystem.shutdown();
    System.out.println("System is Down!");
    assertNotNull(mainSystem.getUnits());
    assertEquals(MESSAGES_NUMBER, receivedMessages, "wrong received messages");
}

Example 10 with RoboContext

use of com.robo4j.RoboContext in project robo4j by Robo4J.

the class RoboHttpDynamicTests method pingExternalSystem.

/**
 * testing ping external system
 *
 * @throws Exception
 *             exception
 */
@Disabled("intent to run manual")
@Test
void pingExternalSystem() throws Exception {
    RoboBuilder pingSystemBuilder = getHttpClientRobotBuilder("127.0.0.1", 8080);
    pingSystemBuilder.add(StringConsumer.class, StringConsumer.NAME);
    RoboContext pingSystemContext = pingSystemBuilder.build();
    pingSystemContext.start();
    System.out.println("PingSystem state after start:");
    System.out.println(SystemUtil.printStateReport(pingSystemContext));
    RoboReference<HttpDecoratedRequest> httpClient = pingSystemContext.getReference(ID_CLIENT_UNIT);
    Thread.sleep(1000);
    for (int i = 0; i < 1; i++) {
        HttpRequestDenominator denominator = new HttpRequestDenominator(HttpMethod.GET, "/noparams", HttpVersion.HTTP_1_1);
        HttpDecoratedRequest request = new HttpDecoratedRequest(denominator);
        request.addCallback(StringConsumer.NAME);
        httpClient.sendMessage(request);
    }
    Thread.sleep(1000);
    pingSystemContext.stop();
    System.out.println("PingSystem state after stop:");
    System.out.println(SystemUtil.printStateReport(pingSystemContext));
}