use of com.robo4j.units.rpi.imu.BnoRequest in project robo4j by Robo4J.
the class VectorEventListenerExample method main.
public static void main(String[] args) throws Exception {
final ClassLoader classLoader = Thread.currentThread().getContextClassLoader();
final InputStream systemIS;
final InputStream contextIS;
switch(args.length) {
case 0:
systemIS = classLoader.getResourceAsStream("bno080VectorSystemEmitterExample.xml");
contextIS = classLoader.getResourceAsStream("bno080VectorExample.xml");
System.out.println("Default configuration used");
break;
case 1:
systemIS = classLoader.getResourceAsStream("bno080VectorSystemEmitterExample.xml");
Path contextPath = Paths.get(args[0]);
contextIS = Files.newInputStream(contextPath);
System.out.println("Robo4j config file has been used: " + args[0]);
break;
case 2:
Path systemPath2 = Paths.get(args[0]);
Path contextPath2 = Paths.get(args[1]);
systemIS = Files.newInputStream(systemPath2);
contextIS = Files.newInputStream(contextPath2);
System.out.println(String.format("Custom configuration used system: %s, context: %s", args[0], args[1]));
break;
default:
System.out.println("Could not find the *.xml settings for the CameraClient!");
System.out.println("java -jar camera.jar system.xml context.xml");
System.exit(2);
throw new IllegalStateException("see configuration");
}
if (systemIS == null && contextIS == null) {
System.out.println("Could not find the settings for the BNO080 Example!");
System.exit(2);
}
RoboBuilder builder = new RoboBuilder(systemIS);
builder.add(contextIS);
RoboContext ctx = builder.build();
ctx.start();
LookupService service = LookupServiceProvider.getDefaultLookupService();
try {
service.start();
} catch (IOException e) {
e.printStackTrace();
}
System.out.println("State after start:");
System.out.println(SystemUtil.printStateReport(ctx));
RoboReference<BnoRequest> bnoUnit = ctx.getReference("bno");
RoboReference<DataEvent3f> bnoListenerUnit = ctx.getReference("listener");
BnoRequest requestToRegister = new BnoRequest(bnoListenerUnit, BnoRequest.ListenerAction.REGISTER);
bnoUnit.sendMessage(requestToRegister);
System.out.println("Press <Enter> to start!");
System.in.read();
ctx.shutdown();
}
use of com.robo4j.units.rpi.imu.BnoRequest in project robo4j by Robo4J.
the class DataEventListenerExample method main.
public static void main(String[] args) throws Exception {
ClassLoader classLoader = Thread.currentThread().getContextClassLoader();
final InputStream systemIS;
final InputStream contextIS;
switch(args.length) {
case 0:
systemIS = classLoader.getResourceAsStream("bno080DataSystemEmitterExample.xml");
contextIS = classLoader.getResourceAsStream("bno080GyroExample.xml");
System.out.println("Default configuration used");
break;
case 1:
systemIS = classLoader.getResourceAsStream("bno080DataSystemEmitterExample.xml");
Path contextPath = Paths.get(args[0]);
contextIS = Files.newInputStream(contextPath);
System.out.println("Robo4j config file has been used: " + args[0]);
break;
case 2:
Path systemPath2 = Paths.get(args[0]);
Path contextPath2 = Paths.get(args[1]);
systemIS = Files.newInputStream(systemPath2);
contextIS = Files.newInputStream(contextPath2);
System.out.println(String.format("Custom configuration used system: %s, context: %s", args[0], args[1]));
break;
default:
System.out.println("Could not find the *.xml settings for the CameraClient!");
System.out.println("java -jar camera.jar system.xml context.xml");
System.exit(2);
throw new IllegalStateException("see configuration");
}
RoboBuilder builder = new RoboBuilder(systemIS);
builder.add(contextIS);
RoboContext ctx = builder.build();
ctx.start();
System.out.println("State after start:");
System.out.println(SystemUtil.printStateReport(ctx));
RoboReference<BnoRequest> bnoUnit = ctx.getReference("bno");
RoboReference<DataEvent3f> bnoListenerUnit = ctx.getReference("listener");
BnoRequest requestToRegister = new BnoRequest(bnoListenerUnit, BnoRequest.ListenerAction.REGISTER);
bnoUnit.sendMessage(requestToRegister);
System.out.println("Press <Enter> to start!");
System.in.read();
ctx.shutdown();
}
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