com.oberasoftware.robo.container.ServiceContainer.java Source code

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Here is the source code for com.oberasoftware.robo.container.ServiceContainer.java

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/**
 * Copyright (c) 2015 SDL Group
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
package com.oberasoftware.robo.container;

import com.google.common.collect.ImmutableMap;
import com.oberasoftware.base.event.EventHandler;
import com.oberasoftware.base.event.EventSubscribe;
import com.oberasoftware.robo.api.Robot;
import com.oberasoftware.robo.api.events.DistanceSensorEvent;
import com.oberasoftware.robo.cloud.RemoteCloudDriver;
import com.oberasoftware.robo.cloud.RemoteConfiguration;
import com.oberasoftware.robo.core.SpringAwareRobotBuilder;
import com.oberasoftware.robo.dynamixel.DynamixelConfiguration;
import com.oberasoftware.robo.dynamixel.DynamixelServoDriver;
import com.oberasoftware.robo.pi4j.SensorConfiguration;
import com.oberasoftware.robomax.core.MaxCoreConfiguration;
import com.oberasoftware.robomax.core.RoboPlusMotionEngine;
import com.oberasoftware.robomax.core.ServoSensor;
import com.oberasoftware.robomax.core.ServoSensorDriver;
import com.oberasoftware.robomax.core.motion.JsonMotionResource;
import com.oberasoftware.robomax.web.WebConfiguration;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.boot.SpringApplication;
import org.springframework.boot.autoconfigure.EnableAutoConfiguration;
import org.springframework.boot.autoconfigure.jdbc.DataSourceAutoConfiguration;
import org.springframework.boot.autoconfigure.jdbc.DataSourceTransactionManagerAutoConfiguration;
import org.springframework.boot.autoconfigure.orm.jpa.HibernateJpaAutoConfiguration;
import org.springframework.context.ConfigurableApplicationContext;
import org.springframework.context.annotation.ComponentScan;
import org.springframework.context.annotation.Configuration;
import org.springframework.context.annotation.Import;

/**
 * @author rdevries
 */
@Configuration
@EnableAutoConfiguration(exclude = { HibernateJpaAutoConfiguration.class, DataSourceAutoConfiguration.class,
        DataSourceTransactionManagerAutoConfiguration.class })
@Import({ DynamixelConfiguration.class, MaxCoreConfiguration.class, RemoteConfiguration.class,
        SensorConfiguration.class, WebConfiguration.class })
@ComponentScan
public class ServiceContainer {
    private static final Logger LOG = LoggerFactory.getLogger(ServiceContainer.class);

    public static void main(String[] args) {
        LOG.info("Starting Robot Service Application container");

        SpringApplication springApplication = new SpringApplication(ServiceContainer.class);
        ConfigurableApplicationContext context = springApplication.run(args);

        Robot robot = new SpringAwareRobotBuilder("max", context).motionEngine(RoboPlusMotionEngine.class,
                //                        new RoboPlusClassPathResource("/bio_prm_humanoidtypea_en.mtn")
                new JsonMotionResource("/basic-animations.json"))
                //"/dev/ttyACM0
                //"/dev/tty.usbmodem1411
                .servoDriver(DynamixelServoDriver.class,
                        ImmutableMap.<String, String>builder()
                                .put(DynamixelServoDriver.PORT, "/dev/tty.usbmodem1431").build())
                .sensor(new ServoSensor("Test", "6"), ServoSensorDriver.class)
                .sensor(new ServoSensor("Hand", "5"), ServoSensorDriver.class)
                .sensor(new ServoSensor("HandYaw", "2"), ServoSensorDriver.class)
                .sensor(new ServoSensor("Walk", "17"), ServoSensorDriver.class)
                .sensor(new ServoSensor("WalkDirection", "13"), ServoSensorDriver.class)
                //                .sensor(new DistanceSensor("distance", "A0"), ADS1115Driver.class)
                //                .sensor(new GyroSensor("gyro", adsDriver.getPort("A2"), adsDriver.getPort("A3"), new AnalogToPercentageConverter()))
                .remote(RemoteCloudDriver.class).build();

        RobotEventHandler eventHandler = new RobotEventHandler(robot);
        robot.listen(eventHandler);

        //        robot.getMotionEngine().runMotion("ArmInit");

        Runtime.getRuntime().addShutdownHook(new Thread(() -> {
            LOG.info("Killing the robot gracefully on shutdown");
            robot.shutdown();
        }));
    }

    public static class RobotEventHandler implements EventHandler {
        private Robot robot;

        public RobotEventHandler(Robot robot) {
            this.robot = robot;
        }

        @EventSubscribe
        public void receive(DistanceSensorEvent event) {
            LOG.info("Received a distance event: {}", event);

            if (event.getDistance() < 20) {
                LOG.info("Killing all tasks");
                robot.getMotionEngine().stopAllTasks();
            }
        }
    }
}