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

Example 6 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();
}

Example 7 with RoboContext

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

the class LF710PadExample method main.

public static void main(String[] args) throws RoboBuilderException, IOException {
    RoboBuilder builder = new RoboBuilder();
    InputStream settings = RoboClassLoader.getInstance().getResource("logitechF710.xml");
    if (settings == null) {
        System.out.println("Could not find the settings for the LogitechF710Pad!");
        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));
    System.out.println("Press enter to quit!");
    System.in.read();
    ctx.shutdown();
}

Example 8 with RoboContext

use of com.robo4j.core.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("servoexample.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 9 with RoboContext

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

the class HttpUnitHelperMain method testHttpRealServerTestWithClient.

public void testHttpRealServerTestWithClient() throws Exception {
    RoboBuilder builder = new RoboBuilder().add(RoboClassLoader.getInstance().getResource("robo_image_server.xml"));
    RoboContext roboSystem = builder.build();
    roboSystem.start();
    System.out.println("RoboSystem after start:");
    System.out.println(SystemUtil.printStateReport(roboSystem));
    System.in.read();
}