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

Example 1 with RoboContext

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

the class ServoUnitExample method main.

public static void main(String[] args) throws RoboBuilderException {
    RoboBuilder builder = new RoboBuilder();
    InputStream settings = ServoUnitExample.class.getClassLoader().getResourceAsStream("servoexample.xml");
    if (settings == null) {
        System.out.println("Could not find the settings for the ServoUnitExample!");
        System.exit(2);
    }
    builder.add(settings);
    RoboContext ctx = builder.build();
    RoboReference<Float> panRef = ctx.getReference("pan");
    RoboReference<Float> tiltRef = ctx.getReference("tilt");
    Thread thread = new Thread(new Runnable() {

        @Override
        public void run() {
            float panDirection = 1.0f;
            while (!stop) {
                for (int tiltStep = 0; tiltStep < TILT_STEPS; tiltStep++) {
                    // Just move the tilt a quarter of max positive.
                    float tilt = tiltStep / (TILT_STEPS * 4.0f);
                    tiltRef.sendMessage(tilt);
                    for (int panStep = 0; panStep < PAN_STEPS; panStep++) {
                        if (stop) {
                            break;
                        }
                        float pan = (panStep * 2.0f / PAN_STEPS - 1.0f) * panDirection;
                        panRef.sendMessage(pan);
                        sleep(50);
                    }
                    panDirection *= -1;
                }
            }
        }
    });
    thread.setDaemon(true);
    thread.start();
    System.out.println("Press enter to quit!");
    try {
        System.in.read();
    } catch (IOException e) {
        e.printStackTrace();
    }
    stop = true;
    ctx.shutdown();
}

Example 2 with RoboContext

use of com.robo4j.core.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 = RoboClassLoader.getInstance().getResource("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 3 with RoboContext

use of com.robo4j.core.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(GPSUnit.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 4 with RoboContext

use of com.robo4j.core.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, true, true, new Float3D(1.0f, 1.0f, 1.0f)));
    System.out.println("Will report angular changes indefinitely.\nPress enter to quit!");
    System.in.read();
}

Example 5 with RoboContext

use of com.robo4j.core.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;
    if (args.length > 0) {
        startAngle = Float.parseFloat(args[0]);
        if (args.length > 1) {
            range = Float.parseFloat(args[1]);
            if (args.length > 2) {
                step = Float.parseFloat(args[2]);
            }
        }
    }
    Configuration controllerConfiguration = ConfigurationFactory.createEmptyConfiguration();
    controllerConfiguration.setFloat(LaserScannerTestController.CONFIG_KEY_START_ANGLE, startAngle);
    controllerConfiguration.setFloat(LaserScannerTestController.CONFIG_KEY_RANGE, range);
    controllerConfiguration.setFloat(LaserScannerTestController.CONFIG_KEY_STEP, step);
    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();
    InputStream settings = ServoUnitExample.class.getClassLoader().getResourceAsStream("lidarexample.xml");
    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<String> reference = ctx.getReference("controller");
    System.out.println("Starting scanning for ever\nPress enter to quit");
    reference.sendMessage("scan");
    System.in.read();
}