non breaking methods plus deprecation notice

MyRobotLab · Oct 12, 2023 · 3863aba · 3863aba
1 parent 11f47e3
commit 3863aba
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Showing 4 changed files with 50 additions and 8 deletions.
diff --git a/src/main/java/org/myrobotlab/service/InMoov2Arm.java b/src/main/java/org/myrobotlab/service/InMoov2Arm.java
@@ -89,7 +89,12 @@ public static DHRobotArm getDHRobotArm(String name, String side) {
     return arm;
   }
 
+  @Deprecated /* use onMove */
   public void onMoveArm(HashMap<String, Double> map) {
+    onMove(map);
+  }
+
+  public void onMove(Map<String, Double> map) {
     moveTo(map.get("bicep"), map.get("rotate"), map.get("shoulder"), map.get("omoplate"));
   }
 

diff --git a/src/main/java/org/myrobotlab/service/InMoov2Hand.java b/src/main/java/org/myrobotlab/service/InMoov2Hand.java
@@ -5,6 +5,7 @@
 import java.util.HashMap;
 import java.util.HashSet;
 import java.util.List;
+import java.util.Map;
 import java.util.Set;
 
 import org.myrobotlab.framework.Registration;
@@ -489,7 +490,12 @@ public LeapData onLeapData(LeapData data) {
     return data;
   }
 
+  @Deprecated /* use onMove */
   public void onMoveHand(HashMap<String, Double> map) {
+    onMove(map);
+  }
+
+  public void onMove(Map<String, Double> map) {
     moveTo(map.get("thumb"), map.get("index"), map.get("majeure"), map.get("majeure"), map.get("pinky"), map.get("wrist"));
   }
 

diff --git a/src/main/java/org/myrobotlab/service/InMoov2Head.java b/src/main/java/org/myrobotlab/service/InMoov2Head.java
@@ -3,6 +3,7 @@
 import java.io.File;
 import java.io.IOException;
 import java.util.HashMap;
+import java.util.Map;
 import java.util.concurrent.ThreadLocalRandom;
 
 import org.myrobotlab.framework.Service;
@@ -142,15 +143,34 @@ public void disable() {
       eyelidRight.disable();
   }
 
-  public long getLastActivityTime() {
+  public Long getLastActivityTime() {
 
-    long lastActivityTime = Math.max(rothead.getLastActivityTime(), neck.getLastActivityTime());
-    lastActivityTime = Math.max(lastActivityTime, eyeX.getLastActivityTime());
-    lastActivityTime = Math.max(lastActivityTime, eyeY.getLastActivityTime());
-    lastActivityTime = Math.max(lastActivityTime, jaw.getLastActivityTime());
-    lastActivityTime = Math.max(lastActivityTime, rollNeck.getLastActivityTime());
-    lastActivityTime = Math.max(lastActivityTime, eyelidLeft.getLastActivityTime());
-    lastActivityTime = Math.max(lastActivityTime, eyelidRight.getLastActivityTime());
+    Long lastActivityTime = Math.max(rothead.getLastActivityTime(), neck.getLastActivityTime());
+    if (getPeer("eyeX") != null) {
+      lastActivityTime = Math.max(lastActivityTime, eyeX.getLastActivityTime());
+    }
+    if (getPeer("eyeY") != null) {
+      lastActivityTime = Math.max(lastActivityTime, eyeY.getLastActivityTime());
+    }
+    if (getPeer("jaw") != null) {
+      lastActivityTime = Math.max(lastActivityTime, jaw.getLastActivityTime());
+    }
+    if (getPeer("rollNeck") != null) {
+      lastActivityTime = Math.max(lastActivityTime, rollNeck.getLastActivityTime());
+    }
+    if (getPeer("rollNeck") != null) {
+      lastActivityTime = Math.max(lastActivityTime, rothead.getLastActivityTime());
+    }
+    if (getPeer("rollNeck") != null) {
+      lastActivityTime = Math.max(lastActivityTime, neck.getLastActivityTime());
+    }
+
+    if (getPeer("eyelidLeft") != null) {
+      lastActivityTime = Math.max(lastActivityTime, eyelidLeft.getLastActivityTime());
+    }
+    if (getPeer("eyelidRight") != null) {
+      lastActivityTime = Math.max(lastActivityTime, eyelidRight.getLastActivityTime());
+    }
     return lastActivityTime;
   }
 
@@ -199,7 +219,12 @@ public void lookAt(Double x, Double y, Double z) {
     log.info("object distance is {},rothead servo {},neck servo {} ", distance, rotation, colatitude);
   }
 
+  @Deprecated /* use onMoov */
   public void onMoveHead(HashMap<String, Double> map) {
+    onMove(map);
+  }
+
+  public void onMove(Map<String, Double> map) {
     moveTo(map.get("neck"), map.get("rothead"), map.get("eyeX"), map.get("eyeY"), map.get("jaw"), map.get("rollNeck"));
   }
 

diff --git a/src/main/java/org/myrobotlab/service/InMoov2Torso.java b/src/main/java/org/myrobotlab/service/InMoov2Torso.java
@@ -3,6 +3,7 @@
 import java.io.File;
 import java.io.IOException;
 import java.util.HashMap;
+import java.util.Map;
 
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.io.FileIO;
@@ -93,7 +94,12 @@ public void disable() {
       lowStom.disable();
   }
 
+  @Deprecated /* use onMove */
   public void onMoveTorso(HashMap<String, Double> map) {
+    onMove(map);
+  }
+
+  public void onMove(Map<String, Double> map) {
     moveTo(map.get("topStom"), map.get("midStom"), map.get("lowStom"));
   }