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

Example 16 with RoboContext

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

the class AccelerometerExample method main.

public static void main(String[] args) throws RoboBuilderException, IOException {
    RoboBuilder builder = new RoboBuilder();
    InputStream settings = Thread.currentThread().getContextClassLoader().getResourceAsStream("accelerometerexample.xml");
    if (settings == null) {
        System.out.println("Could not find the settings for the GyroExample!");
        System.exit(2);
    }
    builder.add(settings);
    builder.add(AccelerometerProcessor.class, ID_PROCESSOR);
    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));
    RoboReference<AccelerometerRequest> accelerometer = ctx.getReference("accelerometer");
    RoboReference<AccelerometerEvent> processor = ctx.getReference(ID_PROCESSOR);
    System.out.println("Press <Enter> to start!");
    System.in.read();
    accelerometer.sendMessage(new AccelerometerRequest(processor, true, (Float3D) -> true));
    System.out.println("Will report angular changes indefinitely.\nPress <Enter> to quit!");
    System.in.read();
}

Example 17 with RoboContext

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

the class GPSExample method main.

public static void main(String[] args) throws RoboBuilderException, IOException {
    RoboBuilder builder = new RoboBuilder();
    builder.add(MtkGPSUnit.class, ID_GPS);
    builder.add(GPSProcessor.class, ID_PROCESSOR);
    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));
    RoboReference<GPSRequest> gps = ctx.getReference(ID_GPS);
    RoboReference<GPSEvent> processor = ctx.getReference(ID_PROCESSOR);
    System.out.println("Press <Enter> to start requesting events, then press enter again to stop requesting events!");
    System.in.read();
    System.out.println("Requesting GPS events! Press <Enter> to stop!");
    gps.sendMessage(new GPSRequest(processor, Operation.REGISTER));
    System.in.read();
    System.out.println("Ending requesting GPS events...");
    gps.sendMessage(new GPSRequest(processor, Operation.UNREGISTER));
    // Note that we can still get a few more events after this, and that is
    // quite fine. ;)
    System.out.println("All done! Press <Enter> to quit!");
    System.in.read();
    System.out.println("Exiting! Bye!");
    ctx.shutdown();
    // Seems Pi4J keeps an executor with non-daemon threads around after
    // we've used the serial port, even after closing it. :/
    System.exit(0);
}

Example 18 with RoboContext

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

the class GyroExample method main.

public static void main(String[] args) throws RoboBuilderException, IOException {
    RoboBuilder builder = new RoboBuilder();
    InputStream settings = GyroExample.class.getClassLoader().getResourceAsStream("gyroexample.xml");
    if (settings == null) {
        System.out.println("Could not find the settings for the GyroExample!");
        System.exit(2);
    }
    builder.add(settings);
    builder.add(GyroProcessor.class, ID_PROCESSOR);
    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));
    RoboReference<GyroRequest> gyro = ctx.getReference("gyro");
    RoboReference<GyroEvent> processor = ctx.getReference(ID_PROCESSOR);
    System.out.println("Let the gyro unit be absolutely still, then press enter to calibrate and start!");
    System.in.read();
    gyro.sendMessage(new GyroRequest(processor, GyroAction.CONTINUOUS, new Tuple3f(1.0f, 1.0f, 1.0f)));
    System.out.println("Will report angular changes indefinitely.\nPress <Enter> to quit!");
    System.in.read();
}

Example 19 with RoboContext

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

the class AdafruitAlphanumericUnitExample method main.

public static void main(String[] args) throws Exception {
    ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
    InputStream settings = AdafruitBiColor24BackpackExample.class.getClassLoader().getResourceAsStream("alphanumericexample.xml");
    RoboContext ctx = new RoboBuilder().add(settings).build();
    ctx.start();
    RoboReference<AlphaNumericMessage> alphaUnit = ctx.getReference("alphanumeric");
    AtomicInteger textPosition = new AtomicInteger();
    executor.scheduleAtFixedRate(() -> {
        if (textPosition.getAndIncrement() >= MESSAGE.length - 1) {
            textPosition.set(0);
        }
        alphaUnit.sendMessage(AlphaNumericMessage.MESSAGE_CLEAR);
        byte currentChar = MESSAGE[textPosition.get()];
        adjustBuffer(currentChar);
        alphaUnit.sendMessage(new AlphaNumericMessage(BackpackMessageCommand.PAINT, BUFFER.clone(), new boolean[4], 0));
        alphaUnit.sendMessage(AlphaNumericMessage.MESSAGE_DISPLAY);
    }, 1, 500, TimeUnit.MILLISECONDS);
    System.out.println("Press enter to quit\n");
    System.in.read();
    alphaUnit.sendMessage(AlphaNumericMessage.MESSAGE_CLEAR);
    alphaUnit.sendMessage(AlphaNumericMessage.MESSAGE_DISPLAY);
    executor.shutdown();
    ctx.shutdown();
}

Example 20 with RoboContext

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

the class LaserScannerExample method main.

public static void main(String[] args) throws RoboBuilderException, IOException {
    float startAngle = -45.0f;
    float range = 90.0f;
    float step = 1.0f;
    InputStream settings;
    switch(args.length) {
        case 1:
            settings = Files.newInputStream(Paths.get(args[0]));
            break;
        case 3:
            startAngle = Float.parseFloat(args[0]);
            range = Float.parseFloat(args[1]);
            step = Float.parseFloat(args[2]);
        default:
            settings = ServoUnitExample.class.getClassLoader().getResourceAsStream("lidarexample.xml");
    }
    Configuration controllerConfiguration = new ConfigurationBuilder().addFloat(LaserScannerTestController.CONFIG_KEY_START_ANGLE, startAngle).addFloat(LaserScannerTestController.CONFIG_KEY_RANGE, range).addFloat(LaserScannerTestController.CONFIG_KEY_STEP, step).build();
    System.out.println(String.format("Running scans with startAngle=%2.1f, range=%2.1f and step=%2.1f", startAngle, range, step));
    RoboBuilder builder = new RoboBuilder();
    if (settings == null) {
        System.out.println("Could not find the settings for the LaserScannerExample!");
        System.exit(2);
    }
    builder.add(settings).add(LaserScannerTestController.class, controllerConfiguration, "controller").add(LaserScanProcessor.class, "processor");
    RoboContext ctx = builder.build();
    RoboReference<Float> tiltServo = ctx.getReference("laserscanner.tilt");
    tiltServo.sendMessage(Float.valueOf(0));
    RoboReference<String> reference = ctx.getReference("controller");
    ctx.start();
    System.out.println("Starting scanning for ever\nPress <Enter> to quit");
    reference.sendMessage("scan");
    System.in.read();
}