From b6ebf8eeabad182d75dd5aea0ae1ce4856b81a15 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Tue, 13 Jun 2023 17:07:33 -0400
Subject: [PATCH 01/54] initial cut at indexing mp3 files in solr using the
 file connector and document pipeline with tika

---
 pom.xml                                       | 18 ++++---
 .../document/connector/AbstractConnector.java |  7 ---
 .../document/transformer/TextExtractor.java   |  7 ++-
 .../document/workflow/Workflow.java           |  9 ++--
 .../document/workflow/WorkflowServer.java     | 12 +++--
 .../document/workflow/WorkflowWorker.java     |  6 ++-
 .../myrobotlab/service/DocumentPipeline.java  | 53 ++++++++++++-------
 .../org/myrobotlab/service/FileConnector.java |  8 +--
 .../java/org/myrobotlab/service/Solr.java     |  1 +
 .../service/interfaces/DocumentListener.java  |  1 +
 .../service/interfaces/DocumentPublisher.java | 14 ++++-
 .../service/meta/DocumentPipelineMeta.java    |  4 +-
 .../resource/WebGui/app/service/js/SolrGui.js |  2 +-
 .../WebGui/app/service/views/SolrGui.html     |  2 +-
 .../document/connector/WikipediaIndexer.java  |  2 +-
 .../org/myrobotlab/service/HarryTest.java     |  2 +-
 .../interfaces/AbstractConnectorTest.java     |  2 +-
 17 files changed, 93 insertions(+), 57 deletions(-)

diff --git a/pom.xml b/pom.xml
index e4f8268e24..e321c3c493 100644
--- a/pom.xml
+++ b/pom.xml
@@ -305,12 +305,18 @@
 <!-- Docker end -->
 
 <!-- DocumentPipeline begin -->
-  <dependency>
-    <groupId>org.apache.tika</groupId>
-    <artifactId>tika-core</artifactId>
-    <version>1.22</version>
-    <scope>provided</scope>
-  </dependency>
+  <!-- https://mvnrepository.com/artifact/org.apache.tika/tika-core -->
+<dependency>
+    <groupId>org.apache.tika</groupId>
+    <artifactId>tika-core</artifactId>
+    <version>2.8.0</version>
+</dependency>
+  <dependency>
+    <groupId>org.apache.tika</groupId>
+    <artifactId>tika-parser-audiovideo-module</artifactId>
+    <version>2.8.0</version>
+  </dependency>
+    
   <dependency>
     <groupId>org.apache.opennlp</groupId>
     <artifactId>opennlp-tools</artifactId>
diff --git a/src/main/java/org/myrobotlab/document/connector/AbstractConnector.java b/src/main/java/org/myrobotlab/document/connector/AbstractConnector.java
index 46c96637b7..b008cf6be4 100644
--- a/src/main/java/org/myrobotlab/document/connector/AbstractConnector.java
+++ b/src/main/java/org/myrobotlab/document/connector/AbstractConnector.java
@@ -126,13 +126,6 @@ public List<Document> publishDocuments(List<Document> batch) {
     return batch;
   }
 
-  @Override
-  public void addDocumentListener(DocumentListener listener) {
-    addListener("publishDocument", listener.getName(), "onDocument");
-    addListener("publishDocuments", listener.getName(), "onDocuments");
-    addListener("publishFlush", listener.getName(), "onFlush");
-  }
-
   @Override
   public ConnectorState getConnectorState() {
     return state;
diff --git a/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java b/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
index b030f2b9c8..06810fd420 100644
--- a/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
+++ b/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
@@ -16,7 +16,6 @@
 import org.myrobotlab.document.Document;
 import org.myrobotlab.logging.LoggerFactory;
 import org.slf4j.Logger;
-import org.xml.sax.ContentHandler;
 import org.xml.sax.SAXException;
 
 /**
@@ -85,16 +84,16 @@ public List<Document> processDocument(Document doc) {
 
       Metadata metadata = new Metadata();
       StringWriter textData = new StringWriter();
-      ContentHandler bch = new BodyContentHandler(textData);
+      BodyContentHandler bch = new BodyContentHandler(textData);
       try {
         parser.parse(binaryData, bch, metadata, parseCtx);
       } catch (IOException e) {
         // TODO Auto-generated catch block
         e.printStackTrace();
-      } catch (SAXException e) {
+      } catch (TikaException e) {
         // TODO Auto-generated catch block
         e.printStackTrace();
-      } catch (TikaException e) {
+      } catch (SAXException e) {
         // TODO Auto-generated catch block
         e.printStackTrace();
       }
diff --git a/src/main/java/org/myrobotlab/document/workflow/Workflow.java b/src/main/java/org/myrobotlab/document/workflow/Workflow.java
index f7a93411c7..c6ac02ff4d 100644
--- a/src/main/java/org/myrobotlab/document/workflow/Workflow.java
+++ b/src/main/java/org/myrobotlab/document/workflow/Workflow.java
@@ -5,6 +5,7 @@
 import org.myrobotlab.document.Document;
 import org.myrobotlab.document.transformer.WorkflowConfiguration;
 import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.service.DocumentPipeline;
 import org.slf4j.Logger;
 
 /**
@@ -41,18 +42,18 @@ public Workflow(WorkflowConfiguration workflowConfig) throws ClassNotFoundExcept
   }
 
   // initialize the workflow
-  public void initialize() {
+  public void initialize(DocumentPipeline pipeline) {
     workers = new WorkflowWorker[numWorkerThreads];
     for (int i = 0; i < numWorkerThreads; i++) {
-      initializeWorkerThread(i);
+      initializeWorkerThread(i, pipeline);
     }
   }
 
   // init the worker threads
-  private void initializeWorkerThread(int threadNum) {
+  private void initializeWorkerThread(int threadNum, DocumentPipeline pipeline) {
     WorkflowWorker worker = null;
     try {
-      worker = new WorkflowWorker(workflowConfig, queue, Integer.toString(threadNum));
+      worker = new WorkflowWorker(workflowConfig, queue, Integer.toString(threadNum), pipeline);
     } catch (ClassNotFoundException e) {
       // TODO: better handling?
       log.warn("Error starting the worker thread. {}", e.getLocalizedMessage());
diff --git a/src/main/java/org/myrobotlab/document/workflow/WorkflowServer.java b/src/main/java/org/myrobotlab/document/workflow/WorkflowServer.java
index d71e2d0005..8c12595035 100644
--- a/src/main/java/org/myrobotlab/document/workflow/WorkflowServer.java
+++ b/src/main/java/org/myrobotlab/document/workflow/WorkflowServer.java
@@ -3,22 +3,25 @@
 import java.util.HashMap;
 
 import org.myrobotlab.document.transformer.WorkflowConfiguration;
+import org.myrobotlab.service.DocumentPipeline;
 
 public class WorkflowServer {
 
   private static WorkflowServer instance = null;
 
   private HashMap<String, Workflow> workflowMap;
+  private final DocumentPipeline pipeline;
 
   // singleton, the constructor is private.
-  private WorkflowServer() {
+  private WorkflowServer(DocumentPipeline pipeline) {
     workflowMap = new HashMap<String, Workflow>();
+    this.pipeline = pipeline;
   }
 
   // This is a singleton also
-  public static WorkflowServer getInstance() {
+  public static WorkflowServer getInstance(DocumentPipeline pipeline) {
     if (instance == null) {
-      instance = new WorkflowServer();
+      instance = new WorkflowServer(pipeline);
       return instance;
     } else {
       return instance;
@@ -31,7 +34,7 @@ public static WorkflowServer getInstance() {
 
   public void addWorkflow(WorkflowConfiguration config) throws ClassNotFoundException {
     Workflow w = new Workflow(config);
-    w.initialize();
+    w.initialize(pipeline);
     workflowMap.put(w.getName(), w);
   }
 
@@ -59,5 +62,4 @@ public String[] listWorkflows() {
     workflowMap.keySet().toArray(ws);
     return ws;
   }
-
 }
diff --git a/src/main/java/org/myrobotlab/document/workflow/WorkflowWorker.java b/src/main/java/org/myrobotlab/document/workflow/WorkflowWorker.java
index 6ccc170402..fc7a3e48cd 100644
--- a/src/main/java/org/myrobotlab/document/workflow/WorkflowWorker.java
+++ b/src/main/java/org/myrobotlab/document/workflow/WorkflowWorker.java
@@ -10,6 +10,7 @@
 import org.myrobotlab.document.transformer.StageConfiguration;
 import org.myrobotlab.document.transformer.WorkflowConfiguration;
 import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.service.DocumentPipeline;
 import org.slf4j.Logger;
 
 /**
@@ -24,10 +25,12 @@ public class WorkflowWorker extends Thread {
 
   private final LinkedBlockingQueue<Document> queue;
 
-  WorkflowWorker(WorkflowConfiguration workflowConfig, LinkedBlockingQueue<Document> queue, String workerId) throws ClassNotFoundException {
+  private final DocumentPipeline pipeline;
+  WorkflowWorker(WorkflowConfiguration workflowConfig, LinkedBlockingQueue<Document> queue, String workerId, DocumentPipeline pipeline) throws ClassNotFoundException {
     // set the thread name
     this.setName("WorkflowWorker-" + workflowConfig.getName() + "-" + workerId);
     this.queue = queue;
+    this.pipeline = pipeline;
     stages = new ArrayList<AbstractStage>();
     for (StageConfiguration stageConf : workflowConfig.getStages()) {
       String stageClass = stageConf.getStageClass().trim();
@@ -63,6 +66,7 @@ public void run() {
           processing = true;
           // process from the start of the workflow
           processDocumentInternal(doc, 0);
+          pipeline.invoke("publishDocument", doc);
           processing = false;
         }
       } catch (Exception e) {
diff --git a/src/main/java/org/myrobotlab/service/DocumentPipeline.java b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
index dd25011b85..73cd85eca3 100644
--- a/src/main/java/org/myrobotlab/service/DocumentPipeline.java
+++ b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
@@ -10,6 +10,8 @@
 import org.myrobotlab.document.workflow.WorkflowMessage;
 import org.myrobotlab.document.workflow.WorkflowServer;
 import org.myrobotlab.framework.Service;
+import org.myrobotlab.logging.Level;
+import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.interfaces.DocumentListener;
 import org.myrobotlab.service.interfaces.DocumentPublisher;
 
@@ -40,14 +42,6 @@ public Document publishDocument(Document doc) {
     return doc;
   }
 
-  @Override
-  public void addDocumentListener(DocumentListener listener) {
-    // TODO Auto-generated method stub
-    // ??
-    // subscribe("publishDocument", topicMethod, callbackName, callbackMethod);
-
-  }
-
   @Override
   public ProcessingStatus onDocument(Document doc) {
     // TODO Auto-generated method stub
@@ -101,9 +95,16 @@ public void flush() {
 
   public static void main(String[] args) throws Exception {
 
-    // create the pipeline service in MRL
-    DocumentPipeline pipeline = (DocumentPipeline) Runtime.start("docproc", "DocumentPipeline");
+    LoggingFactory.init(Level.INFO);
+    
+    WebGui webgui = (WebGui)Runtime.start("webgui", "WebGui");
 
+    // start embedded solr
+    Solr solr = (Solr)Runtime.start("solr","Solr");
+    solr.startEmbedded();
+    
+    // start the pipeline to process the files from the file system
+    DocumentPipeline pipeline = (DocumentPipeline) Runtime.start("docproc", "DocumentPipeline");
     // pipeline.workflowName = "default";
     // create a workflow to load into that pipeline service
     WorkflowConfiguration workflowConfig = new WorkflowConfiguration("default");
@@ -111,22 +112,36 @@ public static void main(String[] args) throws Exception {
     StageConfiguration stage1Config = new StageConfiguration();
     stage1Config.setStageClass("org.myrobotlab.document.transformer.SetStaticFieldValue");
     stage1Config.setStageName("SetTableField");
-    stage1Config.setStringParam("table", "MRL");
+    stage1Config.setStringParam("type", "file");
     workflowConfig.addStage(stage1Config);
 
     StageConfiguration stage2Config = new StageConfiguration();
-    stage2Config.setStageClass("org.myrobotlab.document.transformer.SendToSolr");
-    stage2Config.setStageName("SendToSolr");
-    stage2Config.setStringParam("solrUrl", "http://phobos:8983/solr/graph");
+    stage2Config.setStageClass("org.myrobotlab.document.transformer.TextExtractor");
+    stage2Config.setStageName("TextExtractor");
     workflowConfig.addStage(stage2Config);
 
+    
+    //    StageConfiguration stage2Config = new StageConfiguration();
+    //    stage2Config.setStageClass("org.myrobotlab.document.transformer.SendToSolr");
+    //    stage2Config.setStageName("SendToSolr");
+    //    stage2Config.setStringParam("solrUrl", "http://phobos:8983/solr/graph");
+    //    workflowConfig.addStage(stage2Config);
     pipeline.setConfig(workflowConfig);
     pipeline.initalize();
 
-    RSSConnector connector = (RSSConnector) Runtime.start("rss", "RSSConnector");
-    connector.addDocumentListener(pipeline);
-    connector.startCrawling();
+    // attach the pipeline to solr.
+    pipeline.attachDocumentListener(solr.getName());
+    
+    // start the file connector to scan the file system.
+    // RSSConnector connector = (RSSConnector) Runtime.start("rss", "RSSConnector");
+    FileConnector connector = (FileConnector) Runtime.start("fileconnector", "FileConnector");
+    connector.setDirectory("D:\\Music");
 
+    // connector to pipeline connection
+    connector.attachDocumentListener(pipeline.getName());
+
+    // start the crawl!
+    connector.startCrawling();
     // TODO: make sure we flush the pending batches!
     // connector.flush();
     // poll to make sure the connector is still running./
@@ -137,14 +152,14 @@ public static void main(String[] args) throws Exception {
     // when the connector is done, tell the pipeline to flush/
     pipeline.flush();
 
-    // wee! news!
+    // 
 
   }
 
   public void initalize() throws ClassNotFoundException {
     // init the workflow server and load the pipeline config.
     if (workflowServer == null) {
-      workflowServer = WorkflowServer.getInstance();
+      workflowServer = WorkflowServer.getInstance(this);
     }
     workflowServer.addWorkflow(workFlowConfig);
     workflowName = workFlowConfig.getName();
diff --git a/src/main/java/org/myrobotlab/service/FileConnector.java b/src/main/java/org/myrobotlab/service/FileConnector.java
index 7e755ff027..c4a5a7ffbb 100644
--- a/src/main/java/org/myrobotlab/service/FileConnector.java
+++ b/src/main/java/org/myrobotlab/service/FileConnector.java
@@ -7,6 +7,7 @@
 import java.nio.file.Path;
 import java.nio.file.Paths;
 import java.nio.file.attribute.BasicFileAttributes;
+import java.util.Date;
 
 import org.myrobotlab.document.Document;
 import org.myrobotlab.document.connector.AbstractConnector;
@@ -69,10 +70,11 @@ public FileVisitResult visitFile(Path file, BasicFileAttributes attrs) throws IO
     }
     String docId = getDocIdPrefix() + file.toFile().getAbsolutePath();
     Document doc = new Document(docId);
-    doc.setField("last_modified", attrs.lastModifiedTime());
-    doc.setField("created_date", attrs.creationTime());
-    doc.setField("filename", file.toFile().getAbsolutePath());
+    doc.setField("last_modified", new Date(attrs.lastModifiedTime().toMillis()));
+    doc.setField("created_date", new Date(attrs.creationTime().toMillis()));
+    doc.setField("filepath", file.toFile().getAbsolutePath());
     doc.setField("size", attrs.size());
+    doc.setField("type", "file");
     // TODO: potentially add a byte array of the file
     // or maybe an input stream or other handle to the file.
     feed(doc);
diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index 42502b0649..747557bb33 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -515,6 +515,7 @@ public QueryResponse searchWithFacets(String queryString, int rows, int start, S
     query.setRows(rows);
     query.setStart(start);
     query.setFacet(true);
+    query.setFacetLimit(10);
     query.setFacetMinCount(1);
     // TODO: expose sorting in a fancier search method signature
     // Alternatively, pass the list of parameters and their values into a generic search method instead.
diff --git a/src/main/java/org/myrobotlab/service/interfaces/DocumentListener.java b/src/main/java/org/myrobotlab/service/interfaces/DocumentListener.java
index 54570ad011..7c0c9f46b0 100644
--- a/src/main/java/org/myrobotlab/service/interfaces/DocumentListener.java
+++ b/src/main/java/org/myrobotlab/service/interfaces/DocumentListener.java
@@ -13,6 +13,7 @@ public interface DocumentListener {
 
   public ProcessingStatus onDocuments(List<Document> docs);
 
+  // TODO: maybe remove this from the interface.
   public boolean onFlush();
 
 }
diff --git a/src/main/java/org/myrobotlab/service/interfaces/DocumentPublisher.java b/src/main/java/org/myrobotlab/service/interfaces/DocumentPublisher.java
index 9550e29a75..4897123df7 100644
--- a/src/main/java/org/myrobotlab/service/interfaces/DocumentPublisher.java
+++ b/src/main/java/org/myrobotlab/service/interfaces/DocumentPublisher.java
@@ -4,10 +4,20 @@
 
 public interface DocumentPublisher {
 
+  public static String[] publishMethods = new String[] { "publishDocument" };
+  
   public String getName();
-
+  
   public Document publishDocument(Document doc);
+  
+  default public void attachDocumentListener(String name) {
+    for (String publishMethod : DocumentPublisher.publishMethods) {
+      addListener(publishMethod, name);
+    }
+  }
+  
+  // Add the addListener method to the interface all services implement this.
+  public void addListener(String topicMethod, String callbackName);
 
-  public void addDocumentListener(DocumentListener listener);
 
 }
diff --git a/src/main/java/org/myrobotlab/service/meta/DocumentPipelineMeta.java b/src/main/java/org/myrobotlab/service/meta/DocumentPipelineMeta.java
index 7a1cdfc6bb..3ec1139e97 100644
--- a/src/main/java/org/myrobotlab/service/meta/DocumentPipelineMeta.java
+++ b/src/main/java/org/myrobotlab/service/meta/DocumentPipelineMeta.java
@@ -16,7 +16,9 @@ public DocumentPipelineMeta() {
 
     addDescription("This service will pass a document through a document processing pipeline made up of transformers");
     addCategory("ingest");
-    addDependency("org.apache.tika", "tika-core", "1.22");
+    addDependency("org.apache.tika", "tika-core", "2.8.0");
+    addDependency("org.apache.tika", "tika-parser-audiovideo-module", "2.8.0");
+    
     addDependency("org.apache.opennlp", "opennlp-tools", "1.6.0");
     addDependency("net.objecthunter", "exp4j", "0.4.8");
     // for parsing wikitext
diff --git a/src/main/resources/resource/WebGui/app/service/js/SolrGui.js b/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
index e70b017891..b3e1a8e856 100644
--- a/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
@@ -12,7 +12,7 @@ angular.module('mrlapp.service.SolrGui', []).controller('SolrGuiCtrl', ['$scope'
     $scope.filters = [];
     // TODO: maybe some other fields..
     // TODO: support range facets
-    $scope.facetFields = ['type', 'sender_type', 'sender','method'];
+    $scope.facetFields = ['type', 'xmpdm_artist', 'xmpdm_releasedate', 'xmpdm_genre','sender_type', 'sender','method'];
     // GOOD TEMPLATE TO FOLLOW
     this.updateState = function(service) {
       $scope.service = service
diff --git a/src/main/resources/resource/WebGui/app/service/views/SolrGui.html b/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
index 150c8a62ea..6bfb9d1344 100644
--- a/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
@@ -38,7 +38,7 @@
       <tr ng-repeat="result in solrResults.response track by $index" class="ng-scope">
         <td>
           <br/>
-          <b>Doc: {{$index + startOffset}}</b>
+          <b>Doc: {{$index + startOffset + 1}}</b>
           <table class="searchResult" class>
             <tr ng-repeat="(key, value) in result">
               <td><strong>{{key}}</strong></td>
diff --git a/src/test/java/org/myrobotlab/document/connector/WikipediaIndexer.java b/src/test/java/org/myrobotlab/document/connector/WikipediaIndexer.java
index c6f813a952..20faa46fdc 100644
--- a/src/test/java/org/myrobotlab/document/connector/WikipediaIndexer.java
+++ b/src/test/java/org/myrobotlab/document/connector/WikipediaIndexer.java
@@ -72,7 +72,7 @@ public static void main(String[] args) throws ClassNotFoundException {
     docproc.initalize();
     docproc.startService();
     // attach the doc proc to the connector
-    wikipediaConnector.addDocumentListener(docproc);
+    wikipediaConnector.attachDocumentListener(docproc.getName());
     wikipediaConnector.setBatchSize(500);
     // start crawling...
     wikipediaConnector.getOutbox().setMaxQueueSize(1);
diff --git a/src/test/java/org/myrobotlab/service/HarryTest.java b/src/test/java/org/myrobotlab/service/HarryTest.java
index d242e1e672..d08da9ccbd 100755
--- a/src/test/java/org/myrobotlab/service/HarryTest.java
+++ b/src/test/java/org/myrobotlab/service/HarryTest.java
@@ -62,7 +62,7 @@ private void goLearnStuff(Solr solr, ProgramAB harry) throws InterruptedExceptio
     String rssUrl = "http://feeds.reuters.com/reuters/scienceNews";
     RSSConnector rss = (RSSConnector) Runtime.start("rss", "RSSConnector");
     rss.setRssUrl(rssUrl);
-    rss.addDocumentListener(solr);
+    rss.attachDocumentListener(solr.getName());
 
     Thread.sleep(1000);
 
diff --git a/src/test/java/org/myrobotlab/service/interfaces/AbstractConnectorTest.java b/src/test/java/org/myrobotlab/service/interfaces/AbstractConnectorTest.java
index db2f1b6ebb..ace69e8e18 100644
--- a/src/test/java/org/myrobotlab/service/interfaces/AbstractConnectorTest.java
+++ b/src/test/java/org/myrobotlab/service/interfaces/AbstractConnectorTest.java
@@ -23,7 +23,7 @@ public void test() {
     MockDocumentListener listener = createListener();
     connector.startService();
     listener.startService();
-    connector.addDocumentListener(listener);
+    connector.attachDocumentListener(listener.getName());
     connector.startCrawling();
     // flush any current batch and wait until the outbox is empty.
     connector.flush();

From f87e8cfe0ca64e51ccd47c3fff30e2e87c0ae00c Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Wed, 14 Jun 2023 12:59:31 -0400
Subject: [PATCH 02/54] log errors better in the text extractor

---
 .../document/transformer/TextExtractor.java           | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java b/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
index 06810fd420..add7759604 100644
--- a/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
+++ b/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
@@ -87,15 +87,14 @@ public List<Document> processDocument(Document doc) {
       BodyContentHandler bch = new BodyContentHandler(textData);
       try {
         parser.parse(binaryData, bch, metadata, parseCtx);
-      } catch (IOException e) {
+      //} catch (IOException e) {
         // TODO Auto-generated catch block
-        e.printStackTrace();
-      } catch (TikaException e) {
-        // TODO Auto-generated catch block
-        e.printStackTrace();
-      } catch (SAXException e) {
+       // e.printStackTrace();
+      } catch (TikaException|IOException|SAXException e) {
         // TODO Auto-generated catch block
         e.printStackTrace();
+        log.warn("Error processing {} :", doc.getId(), e);
+        doc.setField("error", e);
       }
 
       doc.addToField(textField, textData.toString());

From 1ad0bed7f712308763694bf364072bf45cff08bc Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Wed, 14 Jun 2023 14:54:32 -0400
Subject: [PATCH 03/54] continue processing in the event of an error.

---
 .../document/transformer/TextExtractor.java         |  4 ++--
 .../org/myrobotlab/service/DocumentPipeline.java    |  5 ++++-
 .../java/org/myrobotlab/service/FileConnector.java  | 13 ++++++++++++-
 3 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java b/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
index add7759604..4c0888fc06 100644
--- a/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
+++ b/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
@@ -8,6 +8,7 @@
 import java.util.List;
 
 import org.apache.tika.exception.TikaException;
+import org.apache.tika.exception.ZeroByteFileException;
 import org.apache.tika.metadata.Metadata;
 import org.apache.tika.parser.AutoDetectParser;
 import org.apache.tika.parser.ParseContext;
@@ -75,9 +76,8 @@ public List<Document> processDocument(Document doc) {
       try {
         binaryData = new FileInputStream(f);
       } catch (FileNotFoundException e1) {
-        // TODO Auto-generated catch block
-        e1.printStackTrace();
         // This should never happen.
+        log.warn("Document {} not found.", doc.getId(), e1);
         continue;
       }
       // InputStream binaryData = null;
diff --git a/src/main/java/org/myrobotlab/service/DocumentPipeline.java b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
index 73cd85eca3..f722d6d4fa 100644
--- a/src/main/java/org/myrobotlab/service/DocumentPipeline.java
+++ b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
@@ -109,6 +109,8 @@ public static void main(String[] args) throws Exception {
     // create a workflow to load into that pipeline service
     WorkflowConfiguration workflowConfig = new WorkflowConfiguration("default");
     workflowConfig.setName("default");
+    workflowConfig.setNumWorkerThreads(8);
+    
     StageConfiguration stage1Config = new StageConfiguration();
     stage1Config.setStageClass("org.myrobotlab.document.transformer.SetStaticFieldValue");
     stage1Config.setStageName("SetTableField");
@@ -130,12 +132,13 @@ public static void main(String[] args) throws Exception {
     pipeline.initalize();
 
     // attach the pipeline to solr.
+    // 
     pipeline.attachDocumentListener(solr.getName());
     
     // start the file connector to scan the file system.
     // RSSConnector connector = (RSSConnector) Runtime.start("rss", "RSSConnector");
     FileConnector connector = (FileConnector) Runtime.start("fileconnector", "FileConnector");
-    connector.setDirectory("D:\\Music");
+    connector.setDirectory("Z:\\Music");
 
     // connector to pipeline connection
     connector.attachDocumentListener(pipeline.getName());
diff --git a/src/main/java/org/myrobotlab/service/FileConnector.java b/src/main/java/org/myrobotlab/service/FileConnector.java
index c4a5a7ffbb..9e4a093b09 100644
--- a/src/main/java/org/myrobotlab/service/FileConnector.java
+++ b/src/main/java/org/myrobotlab/service/FileConnector.java
@@ -83,7 +83,18 @@ public FileVisitResult visitFile(Path file, BasicFileAttributes attrs) throws IO
 
   @Override
   public FileVisitResult visitFileFailed(Path file, IOException exc) throws IOException {
-    throw exc;
+    // throw exc;
+    String docId = getDocIdPrefix() + file.toFile().getAbsolutePath();
+    Document doc = new Document(docId);
+    doc.setField("type", "file");
+    // TODO: how does this serialize?
+    doc.setField("error", exc);
+    // doc.setField("timestamp", new Date());
+    feed(doc);
+    log.warn("Exception processing {}", file, exc);
+
+    // Keep going!!!
+    return FileVisitResult.CONTINUE;
   }
 
   @Override

From 1607be2f5414b2ad89ba58731b2e9bff8219eb0a Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Wed, 14 Jun 2023 17:19:11 -0400
Subject: [PATCH 04/54] click on the song filename and it will start playing in
 audiofile service...

---
 .../java/org/myrobotlab/service/DocumentPipeline.java  |  8 +++++++-
 src/main/java/org/myrobotlab/service/Solr.java         |  3 ++-
 .../resource/WebGui/app/service/js/SolrGui.js          | 10 ++++++++++
 .../resource/WebGui/app/service/views/SolrGui.html     |  3 ++-
 4 files changed, 21 insertions(+), 3 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/DocumentPipeline.java b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
index f722d6d4fa..fee871ea25 100644
--- a/src/main/java/org/myrobotlab/service/DocumentPipeline.java
+++ b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
@@ -97,6 +97,9 @@ public static void main(String[] args) throws Exception {
 
     LoggingFactory.init(Level.INFO);
     
+    
+    AudioFile audiofile = (AudioFile)Runtime.start("audiofile", "AudioFile");
+    
     WebGui webgui = (WebGui)Runtime.start("webgui", "WebGui");
 
     // start embedded solr
@@ -144,7 +147,10 @@ public static void main(String[] args) throws Exception {
     connector.attachDocumentListener(pipeline.getName());
 
     // start the crawl!
-    connector.startCrawling();
+    boolean doCrawl = false;
+    if (doCrawl) {
+      connector.startCrawling();
+    }
     // TODO: make sure we flush the pending batches!
     // connector.flush();
     // poll to make sure the connector is still running./
diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index 747557bb33..dd0614c18c 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -510,12 +510,13 @@ public QueryResponse search(String queryString, int rows, int start, boolean mos
    */
   public QueryResponse searchWithFacets(String queryString, int rows, int start, String[] facetFields, String[] filters) {
     log.info("Searching for (with facets): {}", queryString);
+    int numFacetBuckets = 20;
     SolrQuery query = new SolrQuery();
     query.set("q", queryString);
     query.setRows(rows);
     query.setStart(start);
     query.setFacet(true);
-    query.setFacetLimit(10);
+    query.setFacetLimit(numFacetBuckets);
     query.setFacetMinCount(1);
     // TODO: expose sorting in a fancier search method signature
     // Alternatively, pass the list of parameters and their values into a generic search method instead.
diff --git a/src/main/resources/resource/WebGui/app/service/js/SolrGui.js b/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
index b3e1a8e856..60284c4e05 100644
--- a/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
@@ -94,6 +94,16 @@ angular.module('mrlapp.service.SolrGui', []).controller('SolrGuiCtrl', ['$scope'
     	$scope.execSearch();
     }
     
+    $scope.playFile = function(filepath) {
+    	// stop the audiofile if it's currently playing.
+    	mrl.sendTo("audiofile", "stop");
+    	// start the new song.
+    	mrl.sendTo("audiofile", "play", filepath[0]);
+    	
+    //	mrl.sendTo("foobar", "play", filepath[0]);
+    //	mrl.sendTo("solr", "play", filepath[0]);
+    }
+    
     msg.subscribe('publishResults');
     msg.subscribe(this);
     // mrl.subscribe($scope.service.name, 'publishResults', $scope.service.results);
diff --git a/src/main/resources/resource/WebGui/app/service/views/SolrGui.html b/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
index 6bfb9d1344..0b8fc75058 100644
--- a/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
@@ -43,7 +43,8 @@
             <tr ng-repeat="(key, value) in result">
               <td><strong>{{key}}</strong></td>
               <td ng-if="key == 'bytes'"><img height="100" ng-src="{{value}}"/></td>
-              <td ng-if="key != 'bytes'">{{value}}</td> 
+              <td ng-if="key == 'filepath'"><a ng-click="playFile(value)">{{value}}</a></td>
+              <td ng-if="key != 'bytes' && key != 'filepath'">{{value}}</td> 
             </tr>
           </table>
          <!--  <div class="chatBalloon{{chatContent.type}}"><div class="chatContent" ng-bind-html="chatContent.text"></div></div>  -->

From 22df3d60623ccb3ad78a083097c7f270a83daec5 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Wed, 14 Jun 2023 17:43:56 -0400
Subject: [PATCH 05/54] minimal webgui for FileConnector

---
 .../WebGui/app/service/js/FileConnectorGui.js | 65 +++++++++++++++++++
 .../app/service/views/FileConnectorGui.html   | 13 ++++
 2 files changed, 78 insertions(+)
 create mode 100755 src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js
 create mode 100755 src/main/resources/resource/WebGui/app/service/views/FileConnectorGui.html

diff --git a/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js b/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js
new file mode 100755
index 0000000000..48fb5f54ca
--- /dev/null
+++ b/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js
@@ -0,0 +1,65 @@
+angular.module('mrlapp.service.FileConnectorGui', []).controller('FileConnectorGuiCtrl', ['$scope', 'mrl', function($scope, mrl) {
+    console.info('FileConnectorGuiCtrl');
+    var _self = this
+    var msg = this.msg
+    
+    $scope.filepath = 'Z:\\Music'
+    $scope.document = '';	
+//    // TODO: something useful?!
+//    $scope.solrResults = '';
+//    $scope.queryString = '*:*';
+//    $scope.startOffset = 0;
+//    $scope.endOffset = 0;
+//    $scope.numFound = 0;
+//    $scope.pageSize = 20;
+//    $scope.filters = [];
+//    // TODO: maybe some other fields..
+//    // TODO: support range facets
+//    $scope.facetFields = ['type', 'xmpdm_artist', 'xmpdm_releasedate', 'xmpdm_genre','sender_type', 'sender','method'];
+    // GOOD TEMPLATE TO FOLLOW
+    this.updateState = function(service) {
+      $scope.service = service
+    }
+
+    this.onMsg = function(inMsg) {
+      let data = inMsg.data[0]
+      switch (inMsg.method) {
+        case 'onDocument': 
+    	  //var solrResults = JSON.parse(data);
+    	  console.info("On Document!");
+    	  $scope.document = data;
+    	  //console.info(solrResults);
+          //$scope.solrResults = solrResults;
+          // set the start/end offsets perhaps?
+          //$scope.numFound = solrResults.numFound;
+          // TODO: this is conflated logic.
+          // $scope.startOffset = solrResults.start
+          //$scope.endOffset = solrResults.size + solrResults.start 
+          $scope.$apply();
+          break
+        case 'onState':
+          _self.updateState(data)
+          $scope.$apply()
+          break	
+        case 'onStatus':
+          $scope.status = data;
+          $scope.$apply()
+          break
+        default:
+    	  console.error("ERROR - unhandled method " + $scope.name + " " + inMsg.method)
+    	  break
+      }
+    
+    };
+    
+    $scope.startCrawling = function(filepath) {
+    	mrl.sendTo($scope.service.name, "startCrawling");
+    }
+    
+    // TODO ?  I don't think we want to subscribe to publishDocument..
+    msg.subscribe('publishDocument');
+    msg.subscribe(this);
+    // mrl.subscribe($scope.service.name, 'publishResults', $scope.service.results);
+    // $scope.panel.initDone();
+                
+  }]);
\ No newline at end of file
diff --git a/src/main/resources/resource/WebGui/app/service/views/FileConnectorGui.html b/src/main/resources/resource/WebGui/app/service/views/FileConnectorGui.html
new file mode 100755
index 0000000000..f453090666
--- /dev/null
+++ b/src/main/resources/resource/WebGui/app/service/views/FileConnectorGui.html
@@ -0,0 +1,13 @@
+<div class="row">
+    File Traverser!  this service can scan a file system and publish documents to other services.
+    <br/>
+    <div>
+      <input class="form-control typeHereField" tabindex="2" type="text" ng-model="filepath" name="filepath" id="filepath" ng-init="" press-enter="getSessionResponse(utterance)" placeholder="type here"/>
+      <button class="btn btn-default" ng-click="startCrawling()">Start Crawl</button>
+    </div>
+    
+    <h3>Document!</h3>
+    <div>
+    {{document}}
+    </div>
+</div>

From 1cb57398f7c634ab1f779eca47234cac6f27d747 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Wed, 14 Jun 2023 17:51:35 -0400
Subject: [PATCH 06/54] now with more worky...

---
 .../WebGui/app/service/js/FileConnectorGui.js | 29 ++++---------------
 1 file changed, 5 insertions(+), 24 deletions(-)

diff --git a/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js b/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js
index 48fb5f54ca..3f54cfb3dc 100755
--- a/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js
@@ -3,19 +3,9 @@ angular.module('mrlapp.service.FileConnectorGui', []).controller('FileConnectorG
     var _self = this
     var msg = this.msg
     
-    $scope.filepath = 'Z:\\Music'
-    $scope.document = '';	
-//    // TODO: something useful?!
-//    $scope.solrResults = '';
-//    $scope.queryString = '*:*';
-//    $scope.startOffset = 0;
-//    $scope.endOffset = 0;
-//    $scope.numFound = 0;
-//    $scope.pageSize = 20;
-//    $scope.filters = [];
-//    // TODO: maybe some other fields..
-//    // TODO: support range facets
-//    $scope.facetFields = ['type', 'xmpdm_artist', 'xmpdm_releasedate', 'xmpdm_genre','sender_type', 'sender','method'];
+    $scope.filepath = '';
+    $scope.document = '';
+    
     // GOOD TEMPLATE TO FOLLOW
     this.updateState = function(service) {
       $scope.service = service
@@ -25,16 +15,8 @@ angular.module('mrlapp.service.FileConnectorGui', []).controller('FileConnectorG
       let data = inMsg.data[0]
       switch (inMsg.method) {
         case 'onDocument': 
-    	  //var solrResults = JSON.parse(data);
     	  console.info("On Document!");
     	  $scope.document = data;
-    	  //console.info(solrResults);
-          //$scope.solrResults = solrResults;
-          // set the start/end offsets perhaps?
-          //$scope.numFound = solrResults.numFound;
-          // TODO: this is conflated logic.
-          // $scope.startOffset = solrResults.start
-          //$scope.endOffset = solrResults.size + solrResults.start 
           $scope.$apply();
           break
         case 'onState':
@@ -53,13 +35,12 @@ angular.module('mrlapp.service.FileConnectorGui', []).controller('FileConnectorG
     };
     
     $scope.startCrawling = function(filepath) {
+    	mrl.sendTo($scope.service.name, "setDirectory", $scope.filepath)
     	mrl.sendTo($scope.service.name, "startCrawling");
     }
     
-    // TODO ?  I don't think we want to subscribe to publishDocument..
+    // This could result in a lot of data getting returned to the webgui.. we'll see.
     msg.subscribe('publishDocument');
     msg.subscribe(this);
-    // mrl.subscribe($scope.service.name, 'publishResults', $scope.service.results);
-    // $scope.panel.initDone();
                 
   }]);
\ No newline at end of file

From 07084cf2909859d114d2672ea1a4265f9ebc8579 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Thu, 15 Jun 2023 16:35:06 -0400
Subject: [PATCH 07/54] some cleanup. adding a document pipeline gui, some
 relevancy tuning

---
 .../org/myrobotlab/document/Document.java     |  9 +++++
 .../document/transformer/TextExtractor.java   | 12 +++++-
 .../org/myrobotlab/service/FileConnector.java |  2 +-
 .../java/org/myrobotlab/service/Solr.java     | 10 +++++
 .../app/service/js/DocumentPipelineGui.js     | 40 +++++++++++++++++++
 .../WebGui/app/service/js/FileConnectorGui.js |  7 +++-
 .../service/views/DocumentPipelineGui.html    | 35 ++++++++++++++++
 .../app/service/views/FileConnectorGui.html   |  1 +
 8 files changed, 112 insertions(+), 4 deletions(-)
 create mode 100755 src/main/resources/resource/WebGui/app/service/js/DocumentPipelineGui.js
 create mode 100755 src/main/resources/resource/WebGui/app/service/views/DocumentPipelineGui.html

diff --git a/src/main/java/org/myrobotlab/document/Document.java b/src/main/java/org/myrobotlab/document/Document.java
index fbdf020c8d..02332691e8 100644
--- a/src/main/java/org/myrobotlab/document/Document.java
+++ b/src/main/java/org/myrobotlab/document/Document.java
@@ -35,6 +35,9 @@ public ArrayList<Object> getField(String fieldName) {
   }
 
   public void setField(String fieldName, ArrayList<Object> value) {
+    if (fieldName == null) {
+      return;
+    }
     if (value == null) {
       data.remove(fieldName);
     } else {
@@ -43,6 +46,9 @@ public void setField(String fieldName, ArrayList<Object> value) {
   }
 
   public void setField(String fieldName, Object value) {
+    if (fieldName == null) {
+      return;
+    }
     // set field overwrites existing values in the field.
     if (value == null) {
       data.remove(fieldName);
@@ -77,6 +83,9 @@ public void renameField(String oldField, String newField) {
   }
 
   public void addToField(String fieldName, Object value) {
+    if (fieldName == null) {
+      return;
+    }
     if (data.containsKey(fieldName) && (data.get(fieldName) != null)) {
       data.get(fieldName).add(value);
     } else {
diff --git a/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java b/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
index 4c0888fc06..9e477f1797 100644
--- a/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
+++ b/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
@@ -72,6 +72,12 @@ public List<Document> processDocument(Document doc) {
         continue;
       }
 
+      if (f.length() == 0) {
+        // TODO: this is a zero byte file.  
+        log.info("zero byte file {}", f.getAbsolutePath());
+        continue;
+      }
+      
       FileInputStream binaryData = null;
       try {
         binaryData = new FileInputStream(f);
@@ -101,8 +107,10 @@ public List<Document> processDocument(Document doc) {
       for (String name : metadata.names()) {
         // clean the field name first.
         String cleanName = cleanFieldName(name);
-        for (String value : metadata.getValues(name)) {
-          doc.addToField(cleanName, value);
+        if (cleanName != null) {
+          for (String value : metadata.getValues(name)) {
+            doc.addToField(cleanName, value);
+          }
         }
       }
     }
diff --git a/src/main/java/org/myrobotlab/service/FileConnector.java b/src/main/java/org/myrobotlab/service/FileConnector.java
index 9e4a093b09..643c2f5e6c 100644
--- a/src/main/java/org/myrobotlab/service/FileConnector.java
+++ b/src/main/java/org/myrobotlab/service/FileConnector.java
@@ -24,7 +24,7 @@ public class FileConnector extends AbstractConnector implements DocumentPublishe
   private String directory;
   // TODO: add wildcard includes/excludes
   // TODO: add file path includes/excludes
-  private boolean interrupted = false;
+  private volatile boolean interrupted = false;
 
   public FileConnector(String name, String id) {
     super(name, id);
diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index dd0614c18c..f553977ace 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -518,6 +518,14 @@ public QueryResponse searchWithFacets(String queryString, int rows, int start, S
     query.setFacet(true);
     query.setFacetLimit(numFacetBuckets);
     query.setFacetMinCount(1);
+    
+    query.add("qf", "dc_title");
+    query.add("qf", "xmpdm_artist_txt_en");
+    query.add("qf", "xmpdm_releasedate");
+    query.add("qf", "filepath_txt_en");
+    query.add("qf", "xmpdm_album_txt_en");
+    query.setParam("defType", "edismax");
+    query.setParam("q.op", "AND");
     // TODO: expose sorting in a fancier search method signature
     // Alternatively, pass the list of parameters and their values into a generic search method instead.
     query.setSort("index_date", ORDER.desc);
@@ -647,6 +655,8 @@ public ProcessingStatus onDocument(Document doc) {
     // always be batching when sending docs.
     ArrayList<Document> docs = new ArrayList<Document>();
     docs.add(doc);
+    // TODO: we want to add to the current batch to send..  
+    // and make sure we have a thread flushing the batch if it gets too old.
     return onDocuments(docs);
   }
 
diff --git a/src/main/resources/resource/WebGui/app/service/js/DocumentPipelineGui.js b/src/main/resources/resource/WebGui/app/service/js/DocumentPipelineGui.js
new file mode 100755
index 0000000000..889f743a67
--- /dev/null
+++ b/src/main/resources/resource/WebGui/app/service/js/DocumentPipelineGui.js
@@ -0,0 +1,40 @@
+angular.module('mrlapp.service.DocumentPipelineGui', []).controller('DocumentPipelineGuiCtrl', ['$scope', 'mrl', function($scope, mrl) {
+    console.info('FileConnectorGuiCtrl');
+    var _self = this
+    var msg = this.msg
+  
+    $scope.document = '';
+    
+    // GOOD TEMPLATE TO FOLLOW
+    this.updateState = function(service) {
+      $scope.service = service
+    }
+
+    this.onMsg = function(inMsg) {
+      let data = inMsg.data[0]
+      switch (inMsg.method) {
+        case 'onDocument': 
+    	  console.info("On Document!");
+    	  $scope.document = data;
+          $scope.$apply();
+          break
+        case 'onState':
+          _self.updateState(data)
+          $scope.$apply()
+          break	
+        case 'onStatus':
+          $scope.status = data;
+          $scope.$apply()
+          break
+        default:
+    	  console.error("ERROR - unhandled method " + $scope.name + " " + inMsg.method)
+    	  break
+      }
+    
+    };
+    
+    // This could result in a lot of data getting returned to the webgui.. we'll see.
+    // msg.subscribe('publishDocument');
+    msg.subscribe(this);
+                
+  }]);
\ No newline at end of file
diff --git a/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js b/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js
index 3f54cfb3dc..ed7cae6f32 100755
--- a/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js
@@ -38,9 +38,14 @@ angular.module('mrlapp.service.FileConnectorGui', []).controller('FileConnectorG
     	mrl.sendTo($scope.service.name, "setDirectory", $scope.filepath)
     	mrl.sendTo($scope.service.name, "startCrawling");
     }
+
+    $scope.stopCrawling = function(filepath) {
+    	// TODO: this doesn't seem to work.
+    	mrl.sendTo($scope.service.name, "stopCrawling");
+    }
     
     // This could result in a lot of data getting returned to the webgui.. we'll see.
-    msg.subscribe('publishDocument');
+    // msg.subscribe('publishDocument');
     msg.subscribe(this);
                 
   }]);
\ No newline at end of file
diff --git a/src/main/resources/resource/WebGui/app/service/views/DocumentPipelineGui.html b/src/main/resources/resource/WebGui/app/service/views/DocumentPipelineGui.html
new file mode 100755
index 0000000000..48aee1f039
--- /dev/null
+++ b/src/main/resources/resource/WebGui/app/service/views/DocumentPipelineGui.html
@@ -0,0 +1,35 @@
+<div class="row">
+    Document Pipeline!
+    
+    <h3>Workflow Config</h3>
+    <div>
+    Name : {{service.workFlowConfig.name}}
+    <br/>
+    Number of Threads : {{service.workFlowConfig.numWorkerThreads}}
+    <br/>
+    <h4>Stages</h4>
+    <table>
+      <tr ng-repeat="stage in service.workFlowConfig.stages">
+        <td>
+          <li>Stage {{stage.stageName}}</li>
+          <li>Class {{stage.stageClass}}</li>
+        </td>
+        <td>
+          <table>
+           <tr ng-repeat="(key, value) in stage.config">
+             <td>{{key}}</td><td>{{value}}</td>
+           </tr>
+          </table>
+        </td>
+      </tr>
+    </table>
+    </div>
+
+    <br/>
+    <h3>Document!</h3>
+    <div>
+    {{document}}
+    </div>
+
+    
+</div>
diff --git a/src/main/resources/resource/WebGui/app/service/views/FileConnectorGui.html b/src/main/resources/resource/WebGui/app/service/views/FileConnectorGui.html
index f453090666..3588ca0382 100755
--- a/src/main/resources/resource/WebGui/app/service/views/FileConnectorGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/FileConnectorGui.html
@@ -4,6 +4,7 @@
     <div>
       <input class="form-control typeHereField" tabindex="2" type="text" ng-model="filepath" name="filepath" id="filepath" ng-init="" press-enter="getSessionResponse(utterance)" placeholder="type here"/>
       <button class="btn btn-default" ng-click="startCrawling()">Start Crawl</button>
+      <button class="btn btn-default" ng-click="stopCrawling()">Stop Crawl</button>
     </div>
     
     <h3>Document!</h3>

From 8809385c638824f06ecbcb8ec0620db1c7324183 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Thu, 15 Jun 2023 16:36:19 -0400
Subject: [PATCH 08/54] foo

---
 src/main/java/org/myrobotlab/service/Solr.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index f553977ace..678457d5c2 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -524,6 +524,7 @@ public QueryResponse searchWithFacets(String queryString, int rows, int start, S
     query.add("qf", "xmpdm_releasedate");
     query.add("qf", "filepath_txt_en");
     query.add("qf", "xmpdm_album_txt_en");
+    query.add("qf", "xmpdm_genre_txt_en");
     query.setParam("defType", "edismax");
     query.setParam("q.op", "AND");
     // TODO: expose sorting in a fancier search method signature

From eee3aa06868d4ab46db92ecdcb1d4bb4b79d7153 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Thu, 15 Jun 2023 16:45:35 -0400
Subject: [PATCH 09/54] small log message so you know what file the audiofile
 service is starting to play.

---
 src/main/java/org/myrobotlab/service/AudioFile.java | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/java/org/myrobotlab/service/AudioFile.java b/src/main/java/org/myrobotlab/service/AudioFile.java
index 3738338a69..cbf064bf30 100644
--- a/src/main/java/org/myrobotlab/service/AudioFile.java
+++ b/src/main/java/org/myrobotlab/service/AudioFile.java
@@ -165,6 +165,7 @@ public void stopService() {
   }
 
   public AudioData play(String filename) {
+    log.info("Audio file playing {}", filename);
     return play(filename, false);
   }
 

From 70acacb7333e1238ce46b85b9b3977411c51b971 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Fri, 16 Jun 2023 16:29:34 -0400
Subject: [PATCH 10/54] adding some config suppport for fileconnector,
 documentpipeline, and solr

---
 .../myrobotlab/service/DocumentPipeline.java  | 30 +++++++++++++++----
 .../org/myrobotlab/service/FileConnector.java | 24 ++++++++++++---
 .../java/org/myrobotlab/service/Solr.java     | 21 +++++++++++++
 .../config/DocumentPipelineConfig.java        |  9 ++++++
 .../service/config/FileConnectorConfig.java   |  7 +++++
 .../myrobotlab/service/config/SolrConfig.java |  6 ++++
 6 files changed, 87 insertions(+), 10 deletions(-)
 create mode 100755 src/main/java/org/myrobotlab/service/config/DocumentPipelineConfig.java
 create mode 100755 src/main/java/org/myrobotlab/service/config/FileConnectorConfig.java
 create mode 100755 src/main/java/org/myrobotlab/service/config/SolrConfig.java

diff --git a/src/main/java/org/myrobotlab/service/DocumentPipeline.java b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
index fee871ea25..502c53305d 100644
--- a/src/main/java/org/myrobotlab/service/DocumentPipeline.java
+++ b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
@@ -12,6 +12,8 @@
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.DocumentPipelineConfig;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.DocumentListener;
 import org.myrobotlab.service.interfaces.DocumentPublisher;
 
@@ -99,7 +101,6 @@ public static void main(String[] args) throws Exception {
     
     
     AudioFile audiofile = (AudioFile)Runtime.start("audiofile", "AudioFile");
-    
     WebGui webgui = (WebGui)Runtime.start("webgui", "WebGui");
 
     // start embedded solr
@@ -112,11 +113,11 @@ public static void main(String[] args) throws Exception {
     // create a workflow to load into that pipeline service
     WorkflowConfiguration workflowConfig = new WorkflowConfiguration("default");
     workflowConfig.setName("default");
-    workflowConfig.setNumWorkerThreads(8);
+    workflowConfig.setNumWorkerThreads(16);
     
     StageConfiguration stage1Config = new StageConfiguration();
     stage1Config.setStageClass("org.myrobotlab.document.transformer.SetStaticFieldValue");
-    stage1Config.setStageName("SetTableField");
+    stage1Config.setStageName("SetTypeField");
     stage1Config.setStringParam("type", "file");
     workflowConfig.addStage(stage1Config);
 
@@ -125,23 +126,25 @@ public static void main(String[] args) throws Exception {
     stage2Config.setStageName("TextExtractor");
     workflowConfig.addStage(stage2Config);
 
-    
+    // TODO: rename fields..
+    // TODO: delete unnecessary fields.
     //    StageConfiguration stage2Config = new StageConfiguration();
     //    stage2Config.setStageClass("org.myrobotlab.document.transformer.SendToSolr");
     //    stage2Config.setStageName("SendToSolr");
     //    stage2Config.setStringParam("solrUrl", "http://phobos:8983/solr/graph");
     //    workflowConfig.addStage(stage2Config);
+    
     pipeline.setConfig(workflowConfig);
     pipeline.initalize();
 
     // attach the pipeline to solr.
     // 
-    pipeline.attachDocumentListener(solr.getName());
+    // pipeline.attachDocumentListener(solr.getName());
     
     // start the file connector to scan the file system.
     // RSSConnector connector = (RSSConnector) Runtime.start("rss", "RSSConnector");
     FileConnector connector = (FileConnector) Runtime.start("fileconnector", "FileConnector");
-    connector.setDirectory("Z:\\Music");
+    
 
     // connector to pipeline connection
     connector.attachDocumentListener(pipeline.getName());
@@ -149,6 +152,7 @@ public static void main(String[] args) throws Exception {
     // start the crawl!
     boolean doCrawl = false;
     if (doCrawl) {
+      connector.setDirectory("Z:\\Movies");
       connector.startCrawling();
     }
     // TODO: make sure we flush the pending batches!
@@ -199,4 +203,18 @@ public boolean onFlush() {
     return true;
   }
 
+  @Override
+  public ServiceConfig apply(ServiceConfig inConfig) {
+    DocumentPipelineConfig config = (DocumentPipelineConfig)super.apply(inConfig);
+    // TODO Auto-generated method stub
+    this.workFlowConfig = config.workFlowConfig;
+    return config;
+  }
+
+  @Override
+  public ServiceConfig getConfig() {
+    // return the config
+    return config;
+  }
+
 }
diff --git a/src/main/java/org/myrobotlab/service/FileConnector.java b/src/main/java/org/myrobotlab/service/FileConnector.java
index 643c2f5e6c..4163b04e40 100644
--- a/src/main/java/org/myrobotlab/service/FileConnector.java
+++ b/src/main/java/org/myrobotlab/service/FileConnector.java
@@ -14,6 +14,8 @@
 import org.myrobotlab.document.connector.ConnectorState;
 import org.myrobotlab.document.transformer.ConnectorConfig;
 import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.service.config.FileConnectorConfig;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.DocumentPublisher;
 import org.slf4j.Logger;
 
@@ -21,7 +23,8 @@ public class FileConnector extends AbstractConnector implements DocumentPublishe
 
   public final static Logger log = LoggerFactory.getLogger(FileConnector.class.getCanonicalName());
   private static final long serialVersionUID = 1L;
-  private String directory;
+  // private String directory;
+  private FileConnectorConfig config;
   // TODO: add wildcard includes/excludes
   // TODO: add file path includes/excludes
   private volatile boolean interrupted = false;
@@ -39,7 +42,7 @@ public void setConfig(ConnectorConfig config) {
   @Override
   public void startCrawling() {
     state = ConnectorState.RUNNING;
-    Path startPath = Paths.get(directory);
+    Path startPath = Paths.get(config.directory);
     try {
       Files.walkFileTree(startPath, this);
     } catch (IOException e) {
@@ -107,11 +110,24 @@ public FileVisitResult postVisitDirectory(Path dir, IOException exc) throws IOEx
   }
 
   public String getDirectory() {
-    return directory;
+    return config.directory;
   }
 
   public void setDirectory(String directory) {
-    this.directory = directory;
+    config.directory = directory;
   }
 
+  @Override
+  public ServiceConfig apply(ServiceConfig inConfig) {
+    // 
+    FileConnectorConfig config = (FileConnectorConfig)super.apply(inConfig);
+    config.directory = config.directory;
+    return config;
+  }
+
+  @Override
+  public ServiceConfig getConfig() {
+    // return the config
+    return config;
+  }
 }
diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index 678457d5c2..ec71c335cb 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -25,6 +25,7 @@
 import org.apache.solr.common.SolrDocument;
 import org.apache.solr.common.SolrInputDocument;
 import org.apache.solr.core.CoreContainer;
+
 import org.bytedeco.opencv.opencv_core.IplImage;
 import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.document.Document;
@@ -44,6 +45,8 @@
 import org.myrobotlab.opencv.OpenCVData;
 import org.myrobotlab.opencv.YoloDetectedObject;
 import org.myrobotlab.programab.Response;
+import org.myrobotlab.service.config.ServiceConfig;
+import org.myrobotlab.service.config.SolrConfig;
 import org.myrobotlab.service.interfaces.DocumentListener;
 import org.myrobotlab.service.interfaces.SpeechRecognizer;
 import org.myrobotlab.service.interfaces.TextListener;
@@ -65,6 +68,7 @@
  */
 public class Solr extends Service implements DocumentListener, TextListener, MessageListener {
 
+  private SolrConfig config;
   private static final String CORE_NAME = "core1";
   public final static Logger log = LoggerFactory.getLogger(Solr.class);
   private static final long serialVersionUID = 1L;
@@ -1154,4 +1158,21 @@ public void releaseService() {
     super.releaseService();
   }
 
+  @Override
+  public ServiceConfig apply(ServiceConfig inConfig) {
+    // 
+    this.config = (SolrConfig)super.apply(inConfig);
+    
+    return config;
+  }
+
+  @Override
+  public ServiceConfig getConfig() {
+    // return our config
+    return config;
+  }
+
+  
+  // Config support
+  
 }
diff --git a/src/main/java/org/myrobotlab/service/config/DocumentPipelineConfig.java b/src/main/java/org/myrobotlab/service/config/DocumentPipelineConfig.java
new file mode 100755
index 0000000000..17a42ae982
--- /dev/null
+++ b/src/main/java/org/myrobotlab/service/config/DocumentPipelineConfig.java
@@ -0,0 +1,9 @@
+package org.myrobotlab.service.config;
+
+import org.myrobotlab.document.transformer.WorkflowConfiguration;
+
+public class DocumentPipelineConfig extends ServiceConfig {
+
+  public WorkflowConfiguration workFlowConfig;
+  
+}
diff --git a/src/main/java/org/myrobotlab/service/config/FileConnectorConfig.java b/src/main/java/org/myrobotlab/service/config/FileConnectorConfig.java
new file mode 100755
index 0000000000..68b71fad77
--- /dev/null
+++ b/src/main/java/org/myrobotlab/service/config/FileConnectorConfig.java
@@ -0,0 +1,7 @@
+package org.myrobotlab.service.config;
+
+public class FileConnectorConfig extends ServiceConfig {
+
+  public String directory;
+  
+}
diff --git a/src/main/java/org/myrobotlab/service/config/SolrConfig.java b/src/main/java/org/myrobotlab/service/config/SolrConfig.java
new file mode 100755
index 0000000000..ceedb58fad
--- /dev/null
+++ b/src/main/java/org/myrobotlab/service/config/SolrConfig.java
@@ -0,0 +1,6 @@
+package org.myrobotlab.service.config;
+
+public class SolrConfig extends ServiceConfig {
+
+  // TODO: solr config...
+}

From 999b2b922c3b88a0dd4981eb028f700711eeec5c Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Fri, 16 Jun 2023 18:00:06 -0400
Subject: [PATCH 11/54] some work on fileconnector and documentpipeline config
 files.

---
 .../myrobotlab/document/transformer/Configuration.java |  9 +++++++--
 .../document/transformer/WorkflowConfiguration.java    |  8 ++++++--
 .../java/org/myrobotlab/service/DocumentPipeline.java  |  9 ++++++---
 .../java/org/myrobotlab/service/FileConnector.java     | 10 +++++++---
 4 files changed, 26 insertions(+), 10 deletions(-)

diff --git a/src/main/java/org/myrobotlab/document/transformer/Configuration.java b/src/main/java/org/myrobotlab/document/transformer/Configuration.java
index 69d273c448..e95e33026a 100644
--- a/src/main/java/org/myrobotlab/document/transformer/Configuration.java
+++ b/src/main/java/org/myrobotlab/document/transformer/Configuration.java
@@ -1,5 +1,6 @@
 package org.myrobotlab.document.transformer;
 
+import java.io.Serializable;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
@@ -7,7 +8,7 @@
 import com.thoughtworks.xstream.XStream;
 import com.thoughtworks.xstream.io.xml.StaxDriver;
 
-public class Configuration {
+public class Configuration implements Serializable {
 
   // TODO: add a map type.
   // TODO: push the name/class onto this ?
@@ -17,7 +18,11 @@ public class Configuration {
   // workflow /pipeline config
   // connector config
 
-  protected HashMap<String, Object> config = null;
+  /**
+   * 
+   */
+  private static final long serialVersionUID = 1L;
+  public HashMap<String, Object> config = null;
   // private XStream xstream = null;
 
   public Configuration() {
diff --git a/src/main/java/org/myrobotlab/document/transformer/WorkflowConfiguration.java b/src/main/java/org/myrobotlab/document/transformer/WorkflowConfiguration.java
index 84f6c8dc21..1a1263a1f1 100644
--- a/src/main/java/org/myrobotlab/document/transformer/WorkflowConfiguration.java
+++ b/src/main/java/org/myrobotlab/document/transformer/WorkflowConfiguration.java
@@ -7,11 +7,15 @@
 
 public class WorkflowConfiguration extends Configuration {
 
-  ArrayList<StageConfiguration> stages;
+  public ArrayList<StageConfiguration> stages;
   private String name = "default";
   private int numWorkerThreads = 1;
   private int queueLength = 50;
-
+  
+  public WorkflowConfiguration() {
+    // needed for yaml config serialization
+  }
+  
   public WorkflowConfiguration(String name) {
     this.name = name;
     stages = new ArrayList<StageConfiguration>();
diff --git a/src/main/java/org/myrobotlab/service/DocumentPipeline.java b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
index 502c53305d..bf19a98286 100644
--- a/src/main/java/org/myrobotlab/service/DocumentPipeline.java
+++ b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
@@ -139,20 +139,21 @@ public static void main(String[] args) throws Exception {
 
     // attach the pipeline to solr.
     // 
-    // pipeline.attachDocumentListener(solr.getName());
+    pipeline.attachDocumentListener(solr.getName());
     
     // start the file connector to scan the file system.
     // RSSConnector connector = (RSSConnector) Runtime.start("rss", "RSSConnector");
     FileConnector connector = (FileConnector) Runtime.start("fileconnector", "FileConnector");
-    
+    connector.setDirectory("Z:\\Movies");
 
     // connector to pipeline connection
     connector.attachDocumentListener(pipeline.getName());
 
+    Runtime.saveConfig("musicsearch");
     // start the crawl!
     boolean doCrawl = false;
     if (doCrawl) {
-      connector.setDirectory("Z:\\Movies");
+      
       connector.startCrawling();
     }
     // TODO: make sure we flush the pending batches!
@@ -214,6 +215,8 @@ public ServiceConfig apply(ServiceConfig inConfig) {
   @Override
   public ServiceConfig getConfig() {
     // return the config
+    DocumentPipelineConfig config = (DocumentPipelineConfig)super.getConfig();
+    config.workFlowConfig = this.workFlowConfig;
     return config;
   }
 
diff --git a/src/main/java/org/myrobotlab/service/FileConnector.java b/src/main/java/org/myrobotlab/service/FileConnector.java
index 4163b04e40..b4826f4517 100644
--- a/src/main/java/org/myrobotlab/service/FileConnector.java
+++ b/src/main/java/org/myrobotlab/service/FileConnector.java
@@ -24,7 +24,7 @@ public class FileConnector extends AbstractConnector implements DocumentPublishe
   public final static Logger log = LoggerFactory.getLogger(FileConnector.class.getCanonicalName());
   private static final long serialVersionUID = 1L;
   // private String directory;
-  private FileConnectorConfig config;
+  private FileConnectorConfig config = new FileConnectorConfig();
   // TODO: add wildcard includes/excludes
   // TODO: add file path includes/excludes
   private volatile boolean interrupted = false;
@@ -42,7 +42,7 @@ public void setConfig(ConnectorConfig config) {
   @Override
   public void startCrawling() {
     state = ConnectorState.RUNNING;
-    Path startPath = Paths.get(config.directory);
+    Path startPath = Paths.get(((FileConnectorConfig)config).directory);
     try {
       Files.walkFileTree(startPath, this);
     } catch (IOException e) {
@@ -121,13 +121,17 @@ public void setDirectory(String directory) {
   public ServiceConfig apply(ServiceConfig inConfig) {
     // 
     FileConnectorConfig config = (FileConnectorConfig)super.apply(inConfig);
-    config.directory = config.directory;
+    // anything else?
     return config;
   }
 
   @Override
   public ServiceConfig getConfig() {
     // return the config
+    // we need the super stuff here.
+    FileConnectorConfig config = (FileConnectorConfig)super.getConfig();
+    // this is goofy..
+    config.directory = this.config.directory;
     return config;
   }
 }

From 7d8881e1e015d6ece1268d5c318c8682ef37ef09 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Sun, 18 Jun 2023 12:10:56 -0400
Subject: [PATCH 12/54] wire through publish flush and some solr config

---
 .../document/workflow/WorkflowServer.java     |  5 +++--
 .../myrobotlab/service/DocumentPipeline.java  |  5 +++++
 .../java/org/myrobotlab/service/Solr.java     | 22 ++++++++++++++++++-
 .../myrobotlab/service/config/SolrConfig.java |  7 +++++-
 .../service/interfaces/DocumentPublisher.java |  5 +++--
 5 files changed, 38 insertions(+), 6 deletions(-)

diff --git a/src/main/java/org/myrobotlab/document/workflow/WorkflowServer.java b/src/main/java/org/myrobotlab/document/workflow/WorkflowServer.java
index 8c12595035..c3a0ad05d3 100644
--- a/src/main/java/org/myrobotlab/document/workflow/WorkflowServer.java
+++ b/src/main/java/org/myrobotlab/document/workflow/WorkflowServer.java
@@ -50,10 +50,11 @@ public void processMessage(WorkflowMessage msg) throws InterruptedException {
   }
 
   public void flush(String workflow) {
-    // TODO Auto-generated method stub
+    // flush the workflow/pipeline
     Workflow w = workflowMap.get(workflow);
     w.flush();
-
+    // publish that we have flushed (a workflow, pass the flush down the line?) 
+    pipeline.invoke("publishFlush");
   }
 
   public String[] listWorkflows() {
diff --git a/src/main/java/org/myrobotlab/service/DocumentPipeline.java b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
index bf19a98286..6785df17bc 100644
--- a/src/main/java/org/myrobotlab/service/DocumentPipeline.java
+++ b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
@@ -204,6 +204,11 @@ public boolean onFlush() {
     return true;
   }
 
+  @Override
+  public void publishFlush() {
+    // publish the flush event..
+  }
+  
   @Override
   public ServiceConfig apply(ServiceConfig inConfig) {
     DocumentPipelineConfig config = (DocumentPipelineConfig)super.apply(inConfig);
diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index ec71c335cb..655bbb048f 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -1162,13 +1162,33 @@ public void releaseService() {
   public ServiceConfig apply(ServiceConfig inConfig) {
     // 
     this.config = (SolrConfig)super.apply(inConfig);
-    
+    if (config.embedded) {
+      // 
+      try {
+        startEmbedded();
+      } catch (SolrServerException | IOException e) {
+        // TODO: how should we handle this?
+        log.warn("Error starting embedded solr instance.", e);
+        e.printStackTrace();
+      };
+    }
     return config;
   }
 
   @Override
   public ServiceConfig getConfig() {
     // return our config
+    // we need to create 
+    SolrConfig config = (SolrConfig)super.getConfig();
+    // config.embedded = this.embedded
+    if (this.embeddedSolrServer != null) {
+      config.embedded = true;
+    }
+    
+    if (this.solrUrl != null) {
+      config.solrUrl = this.solrUrl;
+    }
+    
     return config;
   }
 
diff --git a/src/main/java/org/myrobotlab/service/config/SolrConfig.java b/src/main/java/org/myrobotlab/service/config/SolrConfig.java
index ceedb58fad..33e574eb90 100755
--- a/src/main/java/org/myrobotlab/service/config/SolrConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/SolrConfig.java
@@ -2,5 +2,10 @@
 
 public class SolrConfig extends ServiceConfig {
 
-  // TODO: solr config...
+  // if you use embedded, the solrUrl is ignored
+  public boolean embedded = true;
+  // If embedded = false, then the following url will be used to search a solr cluster.
+  // This will/should be replaced with the zkHost and a SolrCloud client.
+  public String solrUrl = "http://localhost:8983/solr/collection1";
+
 }
diff --git a/src/main/java/org/myrobotlab/service/interfaces/DocumentPublisher.java b/src/main/java/org/myrobotlab/service/interfaces/DocumentPublisher.java
index 4897123df7..479dd6dfef 100644
--- a/src/main/java/org/myrobotlab/service/interfaces/DocumentPublisher.java
+++ b/src/main/java/org/myrobotlab/service/interfaces/DocumentPublisher.java
@@ -4,12 +4,14 @@
 
 public interface DocumentPublisher {
 
-  public static String[] publishMethods = new String[] { "publishDocument" };
+  public static String[] publishMethods = new String[] { "publishDocument" , "publishFlush"};
   
   public String getName();
   
   public Document publishDocument(Document doc);
   
+  public void publishFlush();
+  
   default public void attachDocumentListener(String name) {
     for (String publishMethod : DocumentPublisher.publishMethods) {
       addListener(publishMethod, name);
@@ -19,5 +21,4 @@ default public void attachDocumentListener(String name) {
   // Add the addListener method to the interface all services implement this.
   public void addListener(String topicMethod, String callbackName);
 
-
 }

From 6ffbe7cf7db3b3ab2727e60d1aca02b16231d6e1 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Mon, 26 Jun 2023 15:15:25 -0400
Subject: [PATCH 13/54] starting to normalize the solr schema

---
 .../document/transformer/Configuration.java   |   6 +
 .../myrobotlab/service/DocumentPipeline.java  |  22 +-
 .../resource/Solr/core1/conf/managed-schema   | 193 ++++++++++--------
 .../WebGui/app/service/views/SolrGui.html     |   4 +-
 4 files changed, 139 insertions(+), 86 deletions(-)

diff --git a/src/main/java/org/myrobotlab/document/transformer/Configuration.java b/src/main/java/org/myrobotlab/document/transformer/Configuration.java
index e95e33026a..2479c433ee 100644
--- a/src/main/java/org/myrobotlab/document/transformer/Configuration.java
+++ b/src/main/java/org/myrobotlab/document/transformer/Configuration.java
@@ -137,6 +137,12 @@ public List<String> getListParam(String name) {
     return null;
   }
 
+  public void setMapProperty(String name, Map map) {
+    // TODO type safety?!
+    config.put(name, map);
+    return;
+  }
+  
   public Map<String, String> getMapProperty(String name) {
     // TODO type safety?!
     return (Map<String, String>) config.get(name);
diff --git a/src/main/java/org/myrobotlab/service/DocumentPipeline.java b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
index 6785df17bc..c2edeaf46f 100644
--- a/src/main/java/org/myrobotlab/service/DocumentPipeline.java
+++ b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
@@ -1,6 +1,8 @@
 package org.myrobotlab.service;
 
+import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
 
 import org.myrobotlab.document.Document;
 import org.myrobotlab.document.ProcessingStatus;
@@ -105,7 +107,7 @@ public static void main(String[] args) throws Exception {
 
     // start embedded solr
     Solr solr = (Solr)Runtime.start("solr","Solr");
-    solr.startEmbedded();
+    // solr.startEmbedded();
     
     // start the pipeline to process the files from the file system
     DocumentPipeline pipeline = (DocumentPipeline) Runtime.start("docproc", "DocumentPipeline");
@@ -126,6 +128,23 @@ public static void main(String[] args) throws Exception {
     stage2Config.setStageName("TextExtractor");
     workflowConfig.addStage(stage2Config);
 
+    StageConfiguration stage3Config = new StageConfiguration();
+    stage3Config.setStageClass("org.myrobotlab.document.transformer.RenameFields");
+    stage3Config.setStageName("RenameFields");
+    Map<String,String> fieldNameMap = new HashMap<String,String>();
+    fieldNameMap.put("xmpdm_tracknumber", "tracknumber");
+    fieldNameMap.put("xmpdm_releasedate", "year");
+    fieldNameMap.put("xmpdm_duration", "duration");
+    fieldNameMap.put("xmpdm_genre", "genre");
+    fieldNameMap.put("xmpdm_artist", "artist");
+    fieldNameMap.put("dc_title", "title");
+    fieldNameMap.put("xmpdm_album", "album");
+    
+    stage3Config.setMapProperty("fieldNameMap", fieldNameMap);
+    workflowConfig.addStage(stage3Config);;
+    
+    //stage3Config.
+    
     // TODO: rename fields..
     // TODO: delete unnecessary fields.
     //    StageConfiguration stage2Config = new StageConfiguration();
@@ -153,7 +172,6 @@ public static void main(String[] args) throws Exception {
     // start the crawl!
     boolean doCrawl = false;
     if (doCrawl) {
-      
       connector.startCrawling();
     }
     // TODO: make sure we flush the pending batches!
diff --git a/src/main/resources/resource/Solr/core1/conf/managed-schema b/src/main/resources/resource/Solr/core1/conf/managed-schema
index 4a1f758e75..6397fe1bdf 100755
--- a/src/main/resources/resource/Solr/core1/conf/managed-schema
+++ b/src/main/resources/resource/Solr/core1/conf/managed-schema
@@ -2,6 +2,116 @@
 <!-- Solr managed schema - automatically generated - DO NOT EDIT -->
 <schema name="default-config" version="1.6">
   <uniqueKey>id</uniqueKey>
+
+  <field name="id" type="string" multiValued="false" indexed="true" required="true" stored="true"/>
+  <field name="_root_" type="string" docValues="false" indexed="true" stored="false"/>
+  <field name="_version_" type="plong" indexed="false" stored="false"/>
+  <field name="index_date" type="pdates" indexed="true" stored="true" multiValued="false" default="NOW"/>
+
+  <!-- Generic file specific attributes -->
+  
+  <field name="filepath" type="text_general"/>
+  <field name="last_modified" type="text_general"/>
+  <field name="size" type="text_general"/>
+  <field name="content_type" type="text_general"/>
+  <field name="created_date" type="text_general"/>
+
+  <!-- Media / Music search specific fields -->
+  <field name="title" type="text_general"/>
+  <field name="artist" type="text_general"/>
+  <field name="album" type="text_general"/>
+  <field name="genre" type="text_general"/>
+  <field name="year" type="text_general"/>
+  
+  <field name="tracknumber" type="text_general"/>
+  <field name="samplerate" type="text_general"/>
+  <field name="duration" type="text_general"/>
+  <field name="channels" type="text_general"/>
+  
+  
+  <field name="_text_" type="text_general" multiValued="true" indexed="true" stored="false"/>
+  <field name="content" type="text_general"/>
+  <field name="date" type="pdates" indexed="true" stored="true" multiValued="false"/>
+  
+  <field name="text" type="text_general"/>
+  <field name="type" type="string" indexed="true" stored="true" multiValued="false" />
+  <!--  we'll add 1 field for storing binary data on this document.  use with caution
+        This field type contains base64 encoded binary data
+        multi valued, so we could store a bunch of frames together in this field. 
+        -->
+  <field name="bytes" type="binary" indexed="false" stored="true" multiValued="true"/>
+  <dynamicField name="*_txt_en_split_tight" type="text_en_splitting_tight" indexed="true" stored="true"/>
+  <dynamicField name="*_descendent_path" type="descendent_path" indexed="true" stored="true"/>
+  <dynamicField name="*_ancestor_path" type="ancestor_path" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_en_split" type="text_en_splitting" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_rev" type="text_general_rev" indexed="true" stored="true"/>
+  <dynamicField name="*_phon_en" type="phonetic_en" indexed="true" stored="true"/>
+  <dynamicField name="*_s_lower" type="lowercase" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_cjk" type="text_cjk" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_en" type="text_en" indexed="true" stored="true" multiValued="true"/>
+  <dynamicField name="*_txt_ar" type="text_ar" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_bg" type="text_bg" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_ca" type="text_ca" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_cz" type="text_cz" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_da" type="text_da" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_de" type="text_de" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_el" type="text_el" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_es" type="text_es" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_eu" type="text_eu" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_fa" type="text_fa" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_fi" type="text_fi" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_fr" type="text_fr" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_ga" type="text_ga" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_gl" type="text_gl" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_hi" type="text_hi" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_hu" type="text_hu" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_hy" type="text_hy" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_id" type="text_id" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_it" type="text_it" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_ja" type="text_ja" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_lv" type="text_lv" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_nl" type="text_nl" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_no" type="text_no" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_pt" type="text_pt" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_ro" type="text_ro" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_ru" type="text_ru" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_sv" type="text_sv" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_th" type="text_th" indexed="true" stored="true"/>
+  <dynamicField name="*_txt_tr" type="text_tr" indexed="true" stored="true"/>
+  <dynamicField name="*_point" type="point" indexed="true" stored="true"/>
+  <dynamicField name="*_srpt" type="location_rpt" indexed="true" stored="true"/>
+  <dynamicField name="attr_*" type="text_general" multiValued="true" indexed="true" stored="true"/>
+  <dynamicField name="*_txt" type="text_general" indexed="true" stored="true"/>
+  <dynamicField name="*_str" type="strings" docValues="true" indexed="false" stored="false"/>
+  <dynamicField name="*_dts" type="pdate" multiValued="true" indexed="true" stored="true"/>
+  <dynamicField name="*_dpf" type="delimited_payloads_float" indexed="true" stored="true"/>
+  <dynamicField name="*_dpi" type="delimited_payloads_int" indexed="true" stored="true"/>
+  <dynamicField name="*_dps" type="delimited_payloads_string" indexed="true" stored="true"/>
+  <dynamicField name="*_is" type="pints" indexed="true" stored="true"/>
+  <dynamicField name="*_ss" type="strings" indexed="true" stored="true"/>
+  <dynamicField name="*_ls" type="plongs" indexed="true" stored="true"/>
+  <dynamicField name="*_bs" type="booleans" indexed="true" stored="true"/>
+  <dynamicField name="*_fs" type="pfloats" indexed="true" stored="true"/>
+  <dynamicField name="*_ds" type="pdoubles" indexed="true" stored="true"/>
+  <dynamicField name="*_dt" type="pdate" indexed="true" stored="true"/>
+  <dynamicField name="*_ws" type="text_ws" indexed="true" stored="true"/>
+  <dynamicField name="*_i" type="pint" indexed="true" stored="true"/>
+  <dynamicField name="*_s" type="string" indexed="true" stored="true"/>
+  <dynamicField name="*_l" type="plong" indexed="true" stored="true"/>
+  <dynamicField name="*_b" type="boolean" indexed="true" stored="true"/>
+  <dynamicField name="*_f" type="pfloat" indexed="true" stored="true"/>
+  <dynamicField name="*_d" type="pdouble" indexed="true" stored="true"/>
+  <dynamicField name="*_p" type="location" indexed="true" stored="true"/>
+  
+  <!-- the vector search field -->
+  <field name="vector" type="knn_vector" indexed="true" stored="true"/>
+  
+  <!-- the catch all field.. -->
+  <dynamicField name="*" type="strings" indexed="true" stored="true"/>
+  <copyField source="title" dest="title_str" maxChars="256"/>
+  <copyField source="content" dest="content_str" maxChars="256"/>
+  
+  <!-- Field type definitions below here. -->
   <fieldType name="ancestor_path" class="solr.TextField">
     <analyzer type="index">
       <tokenizer class="solr.KeywordTokenizerFactory"/>
@@ -418,88 +528,5 @@
   <!-- Adding a dense vector field for knn search to do cosine similarity ( 384 dimensions and cosine similarity matches with al-->
   <fieldType name="knn_vector" class="solr.DenseVectorField" vectorDimension="384" similarityFunction="cosine" knnAlgorithm="hnsw" hnswMaxConnections="10" hnswBeamWidth="40"/>
   
-  <field name="_root_" type="string" docValues="false" indexed="true" stored="false"/>
-  <field name="_text_" type="text_general" multiValued="true" indexed="true" stored="false"/>
-  <field name="_version_" type="plong" indexed="false" stored="false"/>
-  <field name="content" type="text_general"/>
-  <field name="date" type="pdates" indexed="true" stored="true" multiValued="false"/>
-  <field name="index_date" type="pdates" indexed="true" stored="true" multiValued="false" default="NOW"/>
-  <field name="id" type="string" multiValued="false" indexed="true" required="true" stored="true"/>
-  <field name="title" type="text_general"/>
-  <field name="type" type="string" indexed="true" stored="true" multiValued="false" />
-  <!--  we'll add 1 field for storing binary data on this document.  use with caution
-        This field type contains base64 encoded binary data
-        multi valued, so we could store a bunch of frames together in this field. 
-        -->
-  <field name="bytes" type="binary" indexed="false" stored="true" multiValued="true"/>
-  <dynamicField name="*_txt_en_split_tight" type="text_en_splitting_tight" indexed="true" stored="true"/>
-  <dynamicField name="*_descendent_path" type="descendent_path" indexed="true" stored="true"/>
-  <dynamicField name="*_ancestor_path" type="ancestor_path" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_en_split" type="text_en_splitting" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_rev" type="text_general_rev" indexed="true" stored="true"/>
-  <dynamicField name="*_phon_en" type="phonetic_en" indexed="true" stored="true"/>
-  <dynamicField name="*_s_lower" type="lowercase" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_cjk" type="text_cjk" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_en" type="text_en" indexed="true" stored="true" multiValued="true"/>
-  <dynamicField name="*_txt_ar" type="text_ar" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_bg" type="text_bg" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_ca" type="text_ca" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_cz" type="text_cz" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_da" type="text_da" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_de" type="text_de" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_el" type="text_el" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_es" type="text_es" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_eu" type="text_eu" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_fa" type="text_fa" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_fi" type="text_fi" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_fr" type="text_fr" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_ga" type="text_ga" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_gl" type="text_gl" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_hi" type="text_hi" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_hu" type="text_hu" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_hy" type="text_hy" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_id" type="text_id" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_it" type="text_it" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_ja" type="text_ja" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_lv" type="text_lv" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_nl" type="text_nl" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_no" type="text_no" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_pt" type="text_pt" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_ro" type="text_ro" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_ru" type="text_ru" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_sv" type="text_sv" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_th" type="text_th" indexed="true" stored="true"/>
-  <dynamicField name="*_txt_tr" type="text_tr" indexed="true" stored="true"/>
-  <dynamicField name="*_point" type="point" indexed="true" stored="true"/>
-  <dynamicField name="*_srpt" type="location_rpt" indexed="true" stored="true"/>
-  <dynamicField name="attr_*" type="text_general" multiValued="true" indexed="true" stored="true"/>
-  <dynamicField name="*_txt" type="text_general" indexed="true" stored="true"/>
-  <dynamicField name="*_str" type="strings" docValues="true" indexed="false" stored="false"/>
-  <dynamicField name="*_dts" type="pdate" multiValued="true" indexed="true" stored="true"/>
-  <dynamicField name="*_dpf" type="delimited_payloads_float" indexed="true" stored="true"/>
-  <dynamicField name="*_dpi" type="delimited_payloads_int" indexed="true" stored="true"/>
-  <dynamicField name="*_dps" type="delimited_payloads_string" indexed="true" stored="true"/>
-  <dynamicField name="*_is" type="pints" indexed="true" stored="true"/>
-  <dynamicField name="*_ss" type="strings" indexed="true" stored="true"/>
-  <dynamicField name="*_ls" type="plongs" indexed="true" stored="true"/>
-  <dynamicField name="*_bs" type="booleans" indexed="true" stored="true"/>
-  <dynamicField name="*_fs" type="pfloats" indexed="true" stored="true"/>
-  <dynamicField name="*_ds" type="pdoubles" indexed="true" stored="true"/>
-  <dynamicField name="*_dt" type="pdate" indexed="true" stored="true"/>
-  <dynamicField name="*_ws" type="text_ws" indexed="true" stored="true"/>
-  <dynamicField name="*_i" type="pint" indexed="true" stored="true"/>
-  <dynamicField name="*_s" type="string" indexed="true" stored="true"/>
-  <dynamicField name="*_l" type="plong" indexed="true" stored="true"/>
-  <dynamicField name="*_b" type="boolean" indexed="true" stored="true"/>
-  <dynamicField name="*_f" type="pfloat" indexed="true" stored="true"/>
-  <dynamicField name="*_d" type="pdouble" indexed="true" stored="true"/>
-  <dynamicField name="*_p" type="location" indexed="true" stored="true"/>
-  
-  <!-- the vector search field -->
-  <field name="vector" type="knn_vector" indexed="true" stored="true"/>
   
-  <!-- the catch all field.. -->
-  <dynamicField name="*" type="strings" indexed="true" stored="true"/>
-  <copyField source="title" dest="title_str" maxChars="256"/>
-  <copyField source="content" dest="content_str" maxChars="256"/>
 </schema>
\ No newline at end of file
diff --git a/src/main/resources/resource/WebGui/app/service/views/SolrGui.html b/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
index 0b8fc75058..9f717b8c22 100644
--- a/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
@@ -1,9 +1,11 @@
 <div>
     <!-- for debugging  Data: {{service}} <br/>  -->
     <div class="form-group">
+    <form>
      <label>QueryString</label>
-     <input type="text" ng-model="queryString" class="form-control typeHereField ng-pristine ng-valid ng-empty ng-touched"/>
+     <input type="text" ng-model="queryString" class="form-control typeHereField ng-pristine ng-valid ng-empty ng-touched" ng-submit="execNewSearch()"/>
      <input type="submit" ng-click="execNewSearch()" value="Search" />
+     </form>
     </div>
     <br/>
     <span ng-repeat="filter in filters">{{filter}} <a ng-click="removeFilter(filter)">[x]</a> </span>

From 1d7c49825535f45c6d26eca35d7561d843ecc5bc Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Mon, 26 Jun 2023 17:19:55 -0400
Subject: [PATCH 14/54] adding some batching support in solr, some more schema
 updates

---
 .../java/org/myrobotlab/service/Solr.java     | 85 ++++++++++---------
 .../resource/Solr/core1/conf/managed-schema   | 35 +++++---
 .../resource/WebGui/app/service/js/SolrGui.js |  2 +-
 3 files changed, 69 insertions(+), 53 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index 655bbb048f..d2cc36d0bf 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -7,6 +7,7 @@
 import java.nio.file.Paths;
 import java.util.ArrayList;
 import java.util.Collection;
+import java.util.Collections;
 import java.util.Date;
 import java.util.HashMap;
 import java.util.List;
@@ -79,6 +80,10 @@ public class Solr extends Service implements DocumentListener, TextListener, Mes
   public String solrHome = "Solr";
   // EmbeddedSolrServer embeddedSolrServer = null;
   transient private EmbeddedSolrServer embeddedSolrServer = null;
+  
+  Collection<SolrInputDocument> documentBatch = Collections.synchronizedCollection(new ArrayList<>());
+  // The batch size of documents to accumulate before flushing the batch to solr.
+  public transient int batchSize = 100;
   // TODO: consider moving this tagging logic into opencv..
   // for now, we'll just set a counter that will count down how many opencv
   // frames
@@ -163,43 +168,51 @@ public void startEmbedded(String path) throws SolrServerException, IOException {
    * Add a single document at a time to the solr server.
    * 
    * @param doc
-   *          the input doc to send to solr
-   * 
+   *          the input doc to send to solr (prefer to send batches with addDocuments instead)
+   *   
    */
   public void addDocument(SolrInputDocument doc) {
-    try {
-      if (embeddedSolrServer != null) {
-        embeddedSolrServer.add(doc);
-      } else {
-        solrServer.add(doc);
-      }
-    } catch (SolrServerException e) {
-      // TODO : retry?
-      log.warn("An exception occurred when trying to add document to the index.", e);
-    } catch (IOException e) {
-      // TODO : maybe retry?
-      log.warn("A network exception occurred when trying to add document to the index.", e);
-    }
+    // Always batch!
+    ArrayList<SolrInputDocument> docs = new ArrayList<SolrInputDocument>();
+    docs.add(doc);
+    addDocuments(docs);
   }
 
   /**
-   * Add a batch of documents (this is more effecient than adding one at a time.
+   * Add a batch of documents (this is more efficient than adding one at a time.)
    * 
    * @param docs
    *          a collection of solr input docs to add to solr.
    */
   public void addDocuments(Collection<SolrInputDocument> docs) {
-    try {
-      if (embeddedSolrServer != null) {
-        embeddedSolrServer.add(docs);
-      } else {
-        solrServer.add(docs);
+    // TODO: setup a thread to flush this batch
+    // performance optimization.. always batch updates to solr.
+    documentBatch.addAll(docs);
+    flushDocumentBatch(false);
+  }
+
+  private ProcessingStatus flushDocumentBatch(boolean forceFlush) {
+    synchronized (documentBatch) {
+      if (documentBatch.size() >= batchSize || forceFlush) {
+        try {
+          if (embeddedSolrServer != null) {
+            embeddedSolrServer.add(documentBatch);
+          } else {
+            solrServer.add(documentBatch);
+          }
+          // we sent the batch, so let's clear it up.
+          documentBatch.clear();
+        } catch (SolrServerException e) {
+          log.warn("An exception occurred when trying to add documents to the index.", e);
+          // ??
+          return ProcessingStatus.ERROR;
+        } catch (IOException e) {
+          log.warn("A network exception occurred when trying to add documents to the index.", e);
+          return ProcessingStatus.ERROR;
+        }
       }
-    } catch (SolrServerException e) {
-      log.warn("An exception occurred when trying to add documents to the index.", e);
-    } catch (IOException e) {
-      log.warn("A network exception occurred when trying to add documents to the index.", e);
     }
+    return ProcessingStatus.OK;
   }
 
   /**
@@ -615,6 +628,7 @@ public void startService() {
   }
 
   @Override
+  // TODO: why do we return ProcessingStatus here?! 
   public ProcessingStatus onDocuments(List<Document> docs) {
     // Convert the input document to a solr input docs and send it!
     if (docs.size() == 0) {
@@ -623,19 +637,9 @@ public ProcessingStatus onDocuments(List<Document> docs) {
     }
     ArrayList<SolrInputDocument> docsToSend = new ArrayList<SolrInputDocument>();
     for (Document d : docs) {
-      docsToSend.add(convertDocument(d));
-    }
-    try {
-      if (embeddedSolrServer != null) {
-        embeddedSolrServer.add(docsToSend);
-      } else {
-        solrServer.add(docsToSend);
-      }
-      return ProcessingStatus.OK;
-    } catch (Exception e) {
-      log.warn("Exception in Solr onDocuments.", e);
-      return ProcessingStatus.DROP;
+      documentBatch.add(convertDocument(d));
     }
+    return flushDocumentBatch(false);
   }
 
   private SolrInputDocument convertDocument(Document doc) {
@@ -667,11 +671,8 @@ public ProcessingStatus onDocument(Document doc) {
 
   @Override
   public boolean onFlush() {
-    // NoOp currently, but at some point if we change how this service batches
-    // it's
-    // add messages to solr, we could revisit this.
-    // or maybe issue a commit here? I hate committing the index so frequently,
-    // but maybe it's ok.
+    // if we got a flush call, let's flush any partial batch.
+    flushDocumentBatch(true);
     if (commitOnFlush) {
       commit();
     }
diff --git a/src/main/resources/resource/Solr/core1/conf/managed-schema b/src/main/resources/resource/Solr/core1/conf/managed-schema
index 6397fe1bdf..a7cfd14c36 100755
--- a/src/main/resources/resource/Solr/core1/conf/managed-schema
+++ b/src/main/resources/resource/Solr/core1/conf/managed-schema
@@ -9,31 +9,46 @@
   <field name="index_date" type="pdates" indexed="true" stored="true" multiValued="false" default="NOW"/>
 
   <!-- Generic file specific attributes -->
-  
   <field name="filepath" type="text_general"/>
-  <field name="last_modified" type="text_general"/>
-  <field name="size" type="text_general"/>
-  <field name="content_type" type="text_general"/>
-  <field name="created_date" type="text_general"/>
+  <field name="last_modified" type="pdate"/>
+  <field name="size" type="plong"/>
+  <field name="content_type" type="text_general" />
+  <field name="content_type_facet" type="string" />
+  
+  <copyField source="content_type" dest="content_type_facet" maxChars="256"/>
+  
+  <field name="created_date" type="pdate"/>
 
   <!-- Media / Music search specific fields -->
   <field name="title" type="text_general"/>
+  
   <field name="artist" type="text_general"/>
+  <field name="artist_facet" type="string" />
+  <copyField source="artist" dest="artist_facet" maxChars="256"/>
+  
   <field name="album" type="text_general"/>
+  <field name="album_facet" type="string" />
+  <copyField source="album" dest="album_facet" maxChars="256"/>
+  
   <field name="genre" type="text_general"/>
-  <field name="year" type="text_general"/>
+  <field name="genre_facet" type="string" />
+  <copyField source="genre" dest="genre_facet" maxChars="256"/>
   
+  <field name="year" type="text_general"/>
+  <field name="year_facet" type="string" />
+  <copyField source="year" dest="year_facet" maxChars="256"/>
+
   <field name="tracknumber" type="text_general"/>
-  <field name="samplerate" type="text_general"/>
-  <field name="duration" type="text_general"/>
-  <field name="channels" type="text_general"/>
-  
+  <field name="samplerate" type="pint"/>
+  <field name="duration" type="pdouble"/>
+  <field name="channels" type="pint"/>
   
   <field name="_text_" type="text_general" multiValued="true" indexed="true" stored="false"/>
   <field name="content" type="text_general"/>
   <field name="date" type="pdates" indexed="true" stored="true" multiValued="false"/>
   
   <field name="text" type="text_general"/>
+  
   <field name="type" type="string" indexed="true" stored="true" multiValued="false" />
   <!--  we'll add 1 field for storing binary data on this document.  use with caution
         This field type contains base64 encoded binary data
diff --git a/src/main/resources/resource/WebGui/app/service/js/SolrGui.js b/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
index 60284c4e05..a1bfcfdad3 100644
--- a/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
@@ -12,7 +12,7 @@ angular.module('mrlapp.service.SolrGui', []).controller('SolrGuiCtrl', ['$scope'
     $scope.filters = [];
     // TODO: maybe some other fields..
     // TODO: support range facets
-    $scope.facetFields = ['type', 'xmpdm_artist', 'xmpdm_releasedate', 'xmpdm_genre','sender_type', 'sender','method'];
+    $scope.facetFields = ['type', 'artist_facet', 'album_facet', 'genre_facet', 'year_facet', 'sender_type', 'sender','method'];
     // GOOD TEMPLATE TO FOLLOW
     this.updateState = function(service) {
       $scope.service = service

From 9a5a10d48fe63ceb5086ce440b3e42ecd4dd2873 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Tue, 27 Jun 2023 10:04:37 -0400
Subject: [PATCH 15/54] sometimes this isn't just an int

---
 src/main/resources/resource/Solr/core1/conf/managed-schema | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/resources/resource/Solr/core1/conf/managed-schema b/src/main/resources/resource/Solr/core1/conf/managed-schema
index a7cfd14c36..5c5a46c87c 100755
--- a/src/main/resources/resource/Solr/core1/conf/managed-schema
+++ b/src/main/resources/resource/Solr/core1/conf/managed-schema
@@ -39,7 +39,7 @@
   <copyField source="year" dest="year_facet" maxChars="256"/>
 
   <field name="tracknumber" type="text_general"/>
-  <field name="samplerate" type="pint"/>
+  <field name="samplerate" type="pdouble"/>
   <field name="duration" type="pdouble"/>
   <field name="channels" type="pint"/>
   

From 63ed1580105288e31ffc4fd01ad3ee960a7d8cde Mon Sep 17 00:00:00 2001
From: GroG <grog@myrobotlab.org>
Date: Sat, 22 Jul 2023 19:17:02 -0700
Subject: [PATCH 16/54] Improved Cron and Cron history (#1317)

* Improved Cron and Cron history

* forgot one

* Teamwork fix of Hd44780
---
 .../java/org/myrobotlab/service/Cron.java     | 188 +++++++++++-------
 .../java/org/myrobotlab/service/Hd44780.java  |  86 ++++++--
 .../myrobotlab/service/config/CronConfig.java |   5 +-
 .../resource/WebGui/app/service/js/CronGui.js |  18 +-
 .../WebGui/app/service/views/CronGui.html     |  17 +-
 5 files changed, 206 insertions(+), 108 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/Cron.java b/src/main/java/org/myrobotlab/service/Cron.java
index a6826c9b25..e52e9fe2b5 100644
--- a/src/main/java/org/myrobotlab/service/Cron.java
+++ b/src/main/java/org/myrobotlab/service/Cron.java
@@ -1,8 +1,11 @@
 package org.myrobotlab.service;
 
 import java.io.Serializable;
+import java.util.ArrayList;
+import java.util.Date;
+import java.util.LinkedHashMap;
+import java.util.List;
 import java.util.Map;
-import java.util.UUID;
 
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.logging.Level;
@@ -10,6 +13,7 @@
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.config.CronConfig;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 import it.sauronsoftware.cron4j.Scheduler;
@@ -24,10 +28,15 @@
  * 
  */
 public class Cron extends Service {
-
+  
   public static class Task implements Serializable, Runnable {
 
     private static final long serialVersionUID = 1L;
+    /**
+     * reference to service
+     */
+    transient Cron cron;
+
     /**
      * cron pattern for this task
      */
@@ -44,7 +53,7 @@ public static class Task implements Serializable, Runnable {
     transient public String hash;
 
     /**
-     * unique id for the user to use
+     * id for the user to use
      */
     public String id;
 
@@ -53,11 +62,6 @@ public static class Task implements Serializable, Runnable {
      */
     public String method;
 
-    /**
-     * reference to service
-     */
-    transient Cron cron;
-
     /**
      * name of the target service
      */
@@ -81,12 +85,13 @@ public Task(Cron cron, String id, String cronPattern, String name, String method
 
     @Override
     public void run() {
-      if (cron != null) {
         log.info("{} Cron firing message {}->{}.{}", cron.getName(), name, method, data);
         cron.send(name, method, data);
-      } else {
-        log.error("cron service is null");
-      }
+        cron.history.add(new TaskHistory(id, new Date()));
+        if (cron.history.size() > cron.HISTORY_SIZE) {
+          cron.history.remove(0);
+        }
+        cron.broadcastState();
     }
 
     @Override
@@ -94,16 +99,41 @@ public String toString() {
       return String.format("%s, %s, %s, %s", id, cronPattern, name, method);
     }
   }
+  
+  public static class TaskHistory {
+    public String id;
+    public Date processedTime;
+    
+    public TaskHistory(String id, Date now) {
+      this.id = id;
+      this.processedTime = now;
+    }    
+  }
 
   public final static Logger log = LoggerFactory.getLogger(Cron.class);
 
   private static final long serialVersionUID = 1L;
 
+  /**
+   * history buffer of tasks that have been executed
+   */
+  final protected List<TaskHistory> history = new ArrayList<>();
+
+  /**
+   * max size of history buffer
+   */
+  final int HISTORY_SIZE = 30;
+  
   /**
    * the thing that translates all the cron pattern values and implements actual tasks
    */
   transient private Scheduler scheduler = new Scheduler();
 
+  /**
+   * map of tasks organized by id
+   */
+  public Map<String, Task> tasks = new LinkedHashMap<>();
+
   public Cron(String n, String id) {
     super(n, id);
   }
@@ -117,73 +147,89 @@ public Cron(String n, String id) {
    * @param method
    * @return
    */
-  public String addNamedTask(String id, String cron, String serviceName, String method) {
-    return addNamedTask(id, cron, serviceName, method, (Object[]) null);
+  public String addTask(String id, String cron, String serviceName, String method) {
+    return addTask(id, cron, serviceName, method, (Object[]) null);
   }
 
   /**
    * Add a named task with parameters
    * 
    * @param id
-   * @param cron
+   * @param cronPattern
    * @param serviceName
    * @param method
    * @param data
    * @return
    */
-  public String addNamedTask(String id, String cron, String serviceName, String method, Object... data) {
-    CronConfig c = (CronConfig) config;
-    Task task = new Task(this, id, cron, serviceName, method, data);
-    task.id = id;
-    task.hash = scheduler.schedule(cron, task);
-    c.tasks.put(id, task);
-    broadcastState();
+  public String addTask(String id, String cronPattern, String serviceName, String method, Object... data) {    
+    Task task = new Task(this, id, cronPattern, serviceName, method, data);
+    addTask(task);
     return id;
   }
 
+
   /**
    * 
    * @param task
    * @return
    */
-  public String addNamedTask(Task task) {
-    CronConfig c = (CronConfig) config;
+  public String addTask(Task task) {
+    if (tasks.containsKey(task.id)) {
+      log.info("descheduling prexisting task {} hash {}", task.id, task.hash);
+      scheduler.deschedule(task.id);
+    }
+    log.info("scheduling task {}", task.id);
     task.hash = scheduler.schedule(task.cronPattern, task);
-    c.tasks.put(task.id, task);
+    task.cron = this;
+    tasks.put(task.id, task);
     broadcastState();
     return task.id;
   }
 
-  /**
-   * Add a task with out parameters, the name will be generated guid
-   * 
-   * @param cron
-   * @param serviceName
-   * @param method
-   * @return
-   */
-  public String addTask(String cron, String serviceName, String method) {
-    String id = UUID.randomUUID().toString();
-    return addNamedTask(id, cron, serviceName, method, (Object[]) null);
+  @Override
+  public ServiceConfig apply(ServiceConfig c) {
+    // deschedule current tasks
+    removeAllTasks();
+    
+    // add new tasks
+    CronConfig config = (CronConfig)c;
+    for (Task task : config.tasks) {
+      addTask(task);
+    }
+    return c;
+  }
+
+  @Override
+  public ServiceConfig getConfig() {
+    CronConfig c = (CronConfig)config;
+    c.tasks = new ArrayList<>();
+    for (Task task: tasks.values()) {
+      c.tasks.add(task);
+    }
+    return c;
+  }
+
+  public Map<String, Task> getCronTasks() {
+    return tasks;
   }
 
   /**
-   * Add a task with parameters, the name will be generated guid
-   * 
-   * @param cron
-   * @param serviceName
-   * @param method
-   * @param data
+   * get a task from id
+   * @param id
    * @return
    */
-  public String addTask(String cron, String serviceName, String method, Object... data) {
-    String id = UUID.randomUUID().toString();
-    return addNamedTask(id, cron, serviceName, method, data);
+  public Task getTask(String id) {
+    return tasks.get(id);
   }
 
-  public Map<String, Task> getCronTasks() {
-    CronConfig c = (CronConfig) config;
-    return c.tasks;
+  /**
+   * removes all the tasks without stopping the scheduler
+   */
+  public void removeAllTasks() {
+    for (Task t : tasks.values()) {
+      scheduler.deschedule(t.hash);
+    }
+    tasks.clear();
   }
 
   /**
@@ -192,8 +238,7 @@ public Map<String, Task> getCronTasks() {
    * @return the removed task if it exists
    */
   public Task removeTask(String id) {
-    CronConfig c = (CronConfig) config;
-    Task t = c.tasks.remove(id);
+    Task t = tasks.remove(id);
     if (t != null) {
       scheduler.deschedule(t.hash);
     } else {
@@ -202,39 +247,22 @@ public Task removeTask(String id) {
     broadcastState();
     return t;
   }
-
+  
   /**
-   * removes all the tasks without stopping the scheduler
+   * start the schedular and all associated tasks
    */
-  public void removeAllTasks() {
-    CronConfig c = (CronConfig) config;
-    for (Task t : c.tasks.values()) {
-      scheduler.deschedule(t.hash);
+  public void start() {
+    if (!scheduler.isStarted()) {
+      scheduler.start();
     }
-    c.tasks.clear();
   }
-
+  
   @Override
   public void startService() {
     super.startService();
     start();
   }
-
-  @Override
-  public void stopService() {
-    super.stopService();
-    stop();
-  }
-
-  /**
-   * start the schedular and all associated tasks
-   */
-  public void start() {
-    if (!scheduler.isStarted()) {
-      scheduler.start();
-    }
-  }
-
+  
   /**
    * stop the schedular ad all associated tasks
    */
@@ -244,7 +272,14 @@ public void stop() {
       scheduler.stop();
     }
   }
+  
 
+  @Override
+  public void stopService() {
+    super.stopService();
+    stop();
+  }
+  
   public static void main(String[] args) {
     LoggingFactory.init(Level.INFO);
 
@@ -262,9 +297,9 @@ public static void main(String[] args) {
        * cron.addScheduledEvent("59 * * * *","arduino","digitalWrite", 11, 0);
        */
       // every odd minute
-      String id = cron.addNamedTask("led on", "1-59/2 * * * *", "mega", "digitalWrite", 13, 1);
+      String id = cron.addTask("led on", "1-59/2 * * * *", "mega", "digitalWrite", 13, 1);
       // every event minute
-      String id2 = cron.addNamedTask("led off", "*/2 * * * *", "mega", "digitalWrite", 13, 0);
+      String id2 = cron.addTask("led off", "*/2 * * * *", "mega", "digitalWrite", 13, 0);
 
       // Runtime.createAndStart("webgui", "WebGui");
 
@@ -272,4 +307,5 @@ public static void main(String[] args) {
       Logging.logError(e);
     }
   }
+  
 }
diff --git a/src/main/java/org/myrobotlab/service/Hd44780.java b/src/main/java/org/myrobotlab/service/Hd44780.java
index da1750d5c2..0cf65f4eb1 100644
--- a/src/main/java/org/myrobotlab/service/Hd44780.java
+++ b/src/main/java/org/myrobotlab/service/Hd44780.java
@@ -13,6 +13,7 @@
 import org.myrobotlab.service.config.Hd44780Config;
 import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.I2CControl;
+import org.myrobotlab.service.interfaces.TextListener;
 import org.slf4j.Logger;
 
 /**
@@ -24,7 +25,7 @@
  * @author Moz4r modified by Ray Edgley.
  * 
  */
-public class Hd44780 extends Service {
+public class Hd44780 extends Service implements TextListener {
 
   public final static Logger log = LoggerFactory.getLogger(Hd44780.class);
 
@@ -182,10 +183,12 @@ public void attachPcf8574(Pcf8574 pcf8574) {
    * 
    */
   public void display(String string, int line) {
+    log.info("display({},{})", string, line);
     if (!initialized) {
       init();
     }
     screenContent.put(line, string);
+    // FIXME a bit sloppy .. should publishText
     broadcastState();
     switch (line) {
       case 0:
@@ -198,7 +201,7 @@ public void display(String string, int line) {
         setDdramAddress((byte) 0x14);
         break;
       case 3:
-        setDdramAddress((byte) 0x3C);
+        setDdramAddress((byte) 0x54);
         break;
       default:
         error("line %d is invalid, valid line values are 0 - 3");
@@ -206,6 +209,31 @@ public void display(String string, int line) {
     lcdWriteDataString(string);
   }
 
+  /**
+   * Write text to the address at preferred location. Remember the line wrap is
+   * strange for this device.
+   * 
+   * @param address
+   *          - ddram address position
+   * @param text
+   *          - the text to write there
+   */
+  public void displayAt(int address, String text) {
+    setDdramAddress(address);
+    lcdWriteDataString(text);
+  }
+
+  /**
+   * display the text FIXME - should by default scroll if text is larger than
+   * the width of the hd
+   * 
+   * @param text
+   */
+  public void display(String text) {
+    // FIXME - lame, but going to default this way
+    display(text, 0);
+  }
+
   /**
    * Clear lcd and set to home.
    */
@@ -259,7 +287,8 @@ public void init() {
     } else {
       log.info("Init I2C Display");
 
-      setInterface(); // this commands ensures we are in 4 bit mode and our commands are in sync.
+      setInterface(); // this commands ensures we are in 4 bit mode and our
+                      // commands are in sync.
       setFunction(true, false); // Set the function Control.
       clearDisplay(); // Clear the Display and set DDRAM address 0.
       returnHome(); // Set DDRAM address 0 and return display home.
@@ -468,13 +497,14 @@ public void clearDisplay() {
    * @param address
    */
   public void setDdramAddress(int address) {
-    if (address < 80) { // Make sure the address is in a valid range
-      lcdWriteCmd((byte) (address | 0b10000000));
-    } else {
-      error("%d Outside allowed DDRAM Address range 0 - 79", address);
+    if (address < 0 || (address > 40 && address < 63) || address > 108) { 
+      error("%d Outside allowed DDRAM Address range 0 - 108", address);
+      return;
     }
+    lcdWriteCmd((byte) (address | 0b10000000));
   }
-
+  
+  
   /**
    * Set the address to read or write data to the Caracter Generator RAM. The
    * HD44780 has a built in 205 charater generator rom as well as a 8 charater
@@ -553,29 +583,37 @@ public boolean getVerifyBusyFlag() {
   }
 
   /**
-   * This method will first make sure the HD44780 is in a known state
-   * and that we are syncrnised to the state.
-   * It does this by setting the module into 8 bit mode
-   * then setting it back to 4 bit mode.
+   * This method will first make sure the HD44780 is in a known state and that
+   * we are syncrnised to the state. It does this by setting the module into 8
+   * bit mode then setting it back to 4 bit mode.
    */
   private void setInterface() {
-    byte Blight = 0b00001000; // The backlight bit is not used by the HD44780 chip.
+    byte Blight = 0b00001000; // The backlight bit is not used by the HD44780
+                              // chip.
     if (!backLight) {
       Blight = 0;
     }
     pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Set to 8 bit mode
-    pcf.writeRegister((byte) (0b00110000 | Blight));      // Strobe in command
+    pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command
     sleep(10);
-    pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Repeat the set to 8 bit command
-    pcf.writeRegister((byte) (0b00110000 | Blight));      // Strobe in command
+    pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Repeat the set to 8
+                                                          // bit command
+    pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command
     sleep(10);
-    pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Repeat the set to 8 bit command
-    pcf.writeRegister((byte) (0b00110000 | Blight));      // Strobe in command . We should now be in 8 bit mode and in sync
+    pcf.writeRegister((byte) (0b00110000 | En | Blight)); // Repeat the set to 8
+                                                          // bit command
+    pcf.writeRegister((byte) (0b00110000 | Blight)); // Strobe in command . We
+                                                     // should now be in 8 bit
+                                                     // mode and in sync
     sleep(10);
-    pcf.writeRegister((byte) (0b00100000 | En | Blight)); // Now set for 4 bit mode.
-    pcf.writeRegister((byte) (0b00100000 | Blight));      // Strobe in command. In theory, we should now be in 4 bit mode.
+    pcf.writeRegister((byte) (0b00100000 | En | Blight)); // Now set for 4 bit
+                                                          // mode.
+    pcf.writeRegister((byte) (0b00100000 | Blight)); // Strobe in command. In
+                                                     // theory, we should now be
+                                                     // in 4 bit mode.
     sleep(10);
   }
+
   /**
    * This method will write the cmd value to the instruction register then wait
    * until it is ready for the next instruction. Most commands are pretty quick
@@ -682,7 +720,7 @@ public static void main(String[] args) {
    */
   @Override
   public ServiceConfig getConfig() {
-    Hd44780Config config = (Hd44780Config)super.getConfig();
+    Hd44780Config config = (Hd44780Config) super.getConfig();
     if (pcfName != null) {
       config.controller = pcfName;
     }
@@ -710,4 +748,10 @@ public ServiceConfig apply(ServiceConfig c) {
     }
     return c;
   }
+
+  @Override
+  public void onText(String text) throws Exception {
+    display(text);
+  }
+
 }
\ No newline at end of file
diff --git a/src/main/java/org/myrobotlab/service/config/CronConfig.java b/src/main/java/org/myrobotlab/service/config/CronConfig.java
index 5bb0c50ff5..974526c1f2 100644
--- a/src/main/java/org/myrobotlab/service/config/CronConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/CronConfig.java
@@ -1,11 +1,12 @@
 package org.myrobotlab.service.config;
 
-import java.util.LinkedHashMap;
+import java.util.ArrayList;
+import java.util.List;
 
 import org.myrobotlab.service.Cron.Task;
 
 public class CronConfig extends ServiceConfig {
 
-  public LinkedHashMap<String, Task> tasks = new LinkedHashMap<>();
+  public List<Task> tasks = new ArrayList<>();
 
 }
diff --git a/src/main/resources/resource/WebGui/app/service/js/CronGui.js b/src/main/resources/resource/WebGui/app/service/js/CronGui.js
index 80ce7a109b..7fcf13e0ff 100644
--- a/src/main/resources/resource/WebGui/app/service/js/CronGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/CronGui.js
@@ -12,7 +12,7 @@ angular.module('mrlapp.service.CronGui', []).controller('CronGuiCtrl', ['$scope'
         cronPattern: null,
         name: null,
         method: null,
-        data: null        
+        data: null
     }
 
     // GOOD TEMPLATE TO FOLLOW
@@ -34,20 +34,24 @@ angular.module('mrlapp.service.CronGui', []).controller('CronGuiCtrl', ['$scope'
     }
 
     $scope.addNamedTask = function() {
-        if ($scope.parameters && $scope.parameters.length > 0){
+        if ($scope.parameters && $scope.parameters.length > 0) {
             $scope.newTask.data = JSON.parse($scope.parameters)
         } else {
             $scope.newTask.data = null
         }
-        
-        msg.send('addNamedTask', $scope.newTask)
+
+        msg.send('addTask', $scope.newTask)
     }
-    
+
     $scope.removeTask = function(id) {
         msg.send('removeTask', id)
     }
 
-
     msg.subscribe(this)
 }
-])
+]).filter('epochToLocalDate', function() {
+    return function(epochTime) {
+        return new Date(epochTime).toLocaleString();
+    }
+    ;
+});
diff --git a/src/main/resources/resource/WebGui/app/service/views/CronGui.html b/src/main/resources/resource/WebGui/app/service/views/CronGui.html
index 78f17783cb..c1f31bd3cd 100644
--- a/src/main/resources/resource/WebGui/app/service/views/CronGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/CronGui.html
@@ -8,13 +8,13 @@ <h3>Cron Tab</h3>
         <table class="table table-striped">
             <tr>
                 <th></th>
-                <th>name</th>
+                <th>id</th>
                 <th>cron</th>
                 <th>service</th>
                 <th>method</th>
                 <th>parameters</th>
             </tr>
-            <tr ng-repeat="(key, value) in service.config.tasks">
+            <tr ng-repeat="(key, value) in service.tasks">
                 <td>
                     <span ng-click="removeTask(value.id)" class="glyphicon glyphicon-remove red"></span>
                 </td>
@@ -52,6 +52,19 @@ <h3>Cron Tab</h3>
                     <button class="btn btn-primary" ng-click="addNamedTask();">add task</button>
                 </td>
             </tr>
+            <tr><td>History</td>
+                <td></td>
+                <td></td>
+                <td></td>
+                <td></td>
+                <td></td>
+            
+            </tr>
+            <tr ng-repeat="history in service.history | orderBy: '-processedTime'">
+                <td></td>
+                <td>{{history.id}}</td>
+                <td colspan="4">{{ history.processedTime | epochToLocalDate }}</td>
+            </tr>
         </table>
     </div>
 </div>

From 55d0163663825dd0aaa10568bc01e035c7f21532 Mon Sep 17 00:00:00 2001
From: GroG <grog@myrobotlab.org>
Date: Sat, 22 Jul 2023 20:15:51 -0700
Subject: [PATCH 17/54] Cron enhanced 2 (#1318)

* Improved Cron and Cron history

* forgot one

* Teamwork fix of Hd44780

* updated from review
---
 .../java/org/myrobotlab/service/Cron.java     |  2 +-
 .../java/org/myrobotlab/service/Hd44780.java  | 31 ++++++++++---------
 2 files changed, 17 insertions(+), 16 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/Cron.java b/src/main/java/org/myrobotlab/service/Cron.java
index e52e9fe2b5..b59271beae 100644
--- a/src/main/java/org/myrobotlab/service/Cron.java
+++ b/src/main/java/org/myrobotlab/service/Cron.java
@@ -132,7 +132,7 @@ public TaskHistory(String id, Date now) {
   /**
    * map of tasks organized by id
    */
-  public Map<String, Task> tasks = new LinkedHashMap<>();
+  protected Map<String, Task> tasks = new LinkedHashMap<>();
 
   public Cron(String n, String id) {
     super(n, id);
diff --git a/src/main/java/org/myrobotlab/service/Hd44780.java b/src/main/java/org/myrobotlab/service/Hd44780.java
index 0cf65f4eb1..2378ecfb28 100644
--- a/src/main/java/org/myrobotlab/service/Hd44780.java
+++ b/src/main/java/org/myrobotlab/service/Hd44780.java
@@ -164,7 +164,7 @@ public void attachPcf8574(Pcf8574 pcf8574) {
     pcf = pcf8574;
     isAttached = true;
     pcfName = pcf.getName();
-    pcf.writeRegister((byte) 0b11110000); // Make sure we initilise the PCF8574
+    pcf.writeRegister((byte) 0b11110000); // Make sure we initialize the PCF8574
                                           // output state
     broadcastState();
   }
@@ -177,7 +177,8 @@ public void attachPcf8574(Pcf8574 pcf8574) {
    *          display, only the first 16 characters will be used On the 4 line x
    *          20 display, when writing to Line 0, the 21st character will appear
    *          on line 2 When writing to line 1, the 21st character will appear
-   *          on line 3
+   *          on line 3. There is a gap in line 2, the setDramAddress method will 
+   *          check for valid addresses
    * @param line
    *          l
    * 
@@ -195,7 +196,7 @@ public void display(String string, int line) {
         setDdramAddress((byte) 0x00);
         break;
       case 1:
-        setDdramAddress((byte) 0x28);
+        setDdramAddress((byte) 0x40);
         break;
       case 2:
         setDdramAddress((byte) 0x14);
@@ -408,9 +409,9 @@ public boolean getBlinkEnable() {
   }
 
   /**
-   * Display on/off control. When the display os off, no charaters are displayed
-   * at all. The cursor is the line under the charater and may be on or off.
-   * Blink when set to on blinks the entire charater box where the cursor is.
+   * Display on/off control. When the display os off, no character are displayed
+   * at all. The cursor is the line under the character and may be on or off.
+   * Blink when set to on blinks the entire character box where the cursor is.
    * 
    * @param display
    *          true the display is on. false the display is off.
@@ -488,17 +489,17 @@ public void clearDisplay() {
    * memory. Each memory location corresponds to a position on the display For
    * both 2 x 16 displays and the 4 x 20 displays: Address 0 is the left most
    * character on the first line. Address 40 is the left most character on the
-   * second line. For the 4 x 20 dispalys: Address 20 is the left most character
+   * second line. For the 4 x 20 display: Address 20 is the left most character
    * on the third line. Address 60 is the left most character on the fourth
-   * line. A continous series of writes to the DDRAM will wrap from the end of
-   * the first line to the start of the thrid line, then back to the second line
+   * line. A continuous series of writes to the DDRAM will wrap from the end of
+   * the first line to the start of the third line, then back to the second line
    * and finally the fourth line.
    * 
    * @param address
    */
   public void setDdramAddress(int address) {
     if (address < 0 || (address > 40 && address < 63) || address > 108) { 
-      error("%d Outside allowed DDRAM Address range 0 - 108", address);
+      error("%d Outside allowed DDRAM Address range must valid range is 0-40 and 63-108", address);
       return;
     }
     lcdWriteCmd((byte) (address | 0b10000000));
@@ -506,11 +507,11 @@ public void setDdramAddress(int address) {
   
   
   /**
-   * Set the address to read or write data to the Caracter Generator RAM. The
-   * HD44780 has a built in 205 charater generator rom as well as a 8 charater
+   * Set the address to read or write data to the character Generator RAM. The
+   * HD44780 has a built in 205 character generator from as well as a 8 character
    * generator RAM. The only the lower 5 bits are used with 8 bytes allocated to
    * each of the 8 characters that may be used. Not that the last by of each
-   * charater is not used as this is where the cursor sits.
+   * character is not used as this is where the cursor sits.
    * 
    * @param address
    */
@@ -563,7 +564,7 @@ private void lcdWriteData(byte data) {
    * Set or clear the test busy flag in the HD44780. There are two ways of
    * ensuring the HD44780 is ready for the next instruction. You can either read
    * the instruction register until the MSB D7 is clear. Or you can wait a
-   * minimum time peiod that ensure the device is ready. The longest busy period
+   * minimum time period that ensure the device is ready. The longest busy period
    * is 10mS after a power reset.
    * 
    * @param setFlag
@@ -584,7 +585,7 @@ public boolean getVerifyBusyFlag() {
 
   /**
    * This method will first make sure the HD44780 is in a known state and that
-   * we are syncrnised to the state. It does this by setting the module into 8
+   * we are synchronized to the state. It does this by setting the module into 8
    * bit mode then setting it back to 4 bit mode.
    */
   private void setInterface() {

From 4141f1f5f5ae7af732c82b0b3b4f923f121ce9e5 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Mon, 24 Jul 2023 16:16:11 -0400
Subject: [PATCH 18/54] some local changes

---
 .../org/myrobotlab/service/AudioFile.java     |  1 +
 .../myrobotlab/service/DocumentPipeline.java  | 46 ++++++-------------
 .../org/myrobotlab/service/FileConnector.java | 13 ++++--
 .../java/org/myrobotlab/service/Solr.java     | 23 +++++-----
 .../WebGui/app/service/js/FileConnectorGui.js |  6 ++-
 .../resource/WebGui/app/service/js/SolrGui.js |  3 +-
 .../app/service/views/FileConnectorGui.html   |  2 +-
 7 files changed, 45 insertions(+), 49 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/AudioFile.java b/src/main/java/org/myrobotlab/service/AudioFile.java
index b7b4efb92b..b1ce0fe7e8 100644
--- a/src/main/java/org/myrobotlab/service/AudioFile.java
+++ b/src/main/java/org/myrobotlab/service/AudioFile.java
@@ -175,6 +175,7 @@ public AudioData play(String filename, boolean blocking) {
 
   public AudioData play(String filename, boolean blocking, Integer repeat, String track) {
 
+    log.info("Play called for Filename {}", filename);
     if (track == null || track.isEmpty()) {
       track = currentTrack;
     }
diff --git a/src/main/java/org/myrobotlab/service/DocumentPipeline.java b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
index c2edeaf46f..e578239625 100644
--- a/src/main/java/org/myrobotlab/service/DocumentPipeline.java
+++ b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
@@ -99,35 +99,31 @@ public void flush() {
 
   public static void main(String[] args) throws Exception {
 
-    LoggingFactory.init(Level.INFO);
-    
-    
-    AudioFile audiofile = (AudioFile)Runtime.start("audiofile", "AudioFile");
+    LoggingFactory.init("info");
+    Python python = (Python)Runtime.start("python", "Python");
     WebGui webgui = (WebGui)Runtime.start("webgui", "WebGui");
-
-    // start embedded solr
-    Solr solr = (Solr)Runtime.start("solr","Solr");
-    // solr.startEmbedded();
-    
-    // start the pipeline to process the files from the file system
+    // Solr 
+    Solr solr = (Solr)Runtime.start("solr", "Solr");
+    // the audio file service to play music
+    AudioFile audiofile = (AudioFile)Runtime.start("audiofile", "AudioFile");
+    // document pipeline to get metadata from the mp3s and other files.
     DocumentPipeline pipeline = (DocumentPipeline) Runtime.start("docproc", "DocumentPipeline");
-    // pipeline.workflowName = "default";
-    // create a workflow to load into that pipeline service
     WorkflowConfiguration workflowConfig = new WorkflowConfiguration("default");
     workflowConfig.setName("default");
-    workflowConfig.setNumWorkerThreads(16);
-    
+    // number of threads to extract metadata from the documents.
+    workflowConfig.setNumWorkerThreads(8);
+    // Some stages to get / stamp metadata on the documents being indexed.
     StageConfiguration stage1Config = new StageConfiguration();
     stage1Config.setStageClass("org.myrobotlab.document.transformer.SetStaticFieldValue");
     stage1Config.setStageName("SetTypeField");
     stage1Config.setStringParam("type", "file");
     workflowConfig.addStage(stage1Config);
-
+    // perform text extraction from the file using Apache Tika
     StageConfiguration stage2Config = new StageConfiguration();
     stage2Config.setStageClass("org.myrobotlab.document.transformer.TextExtractor");
     stage2Config.setStageName("TextExtractor");
     workflowConfig.addStage(stage2Config);
-
+    // rename some fields to be more human readable and to match the solr schema.
     StageConfiguration stage3Config = new StageConfiguration();
     stage3Config.setStageClass("org.myrobotlab.document.transformer.RenameFields");
     stage3Config.setStageName("RenameFields");
@@ -139,31 +135,19 @@ public static void main(String[] args) throws Exception {
     fieldNameMap.put("xmpdm_artist", "artist");
     fieldNameMap.put("dc_title", "title");
     fieldNameMap.put("xmpdm_album", "album");
-    
     stage3Config.setMapProperty("fieldNameMap", fieldNameMap);
     workflowConfig.addStage(stage3Config);;
-    
-    //stage3Config.
-    
-    // TODO: rename fields..
+    // TODO: rename more fields..
     // TODO: delete unnecessary fields.
-    //    StageConfiguration stage2Config = new StageConfiguration();
-    //    stage2Config.setStageClass("org.myrobotlab.document.transformer.SendToSolr");
-    //    stage2Config.setStageName("SendToSolr");
-    //    stage2Config.setStringParam("solrUrl", "http://phobos:8983/solr/graph");
-    //    workflowConfig.addStage(stage2Config);
-    
     pipeline.setConfig(workflowConfig);
     pipeline.initalize();
-
     // attach the pipeline to solr.
     // 
     pipeline.attachDocumentListener(solr.getName());
-    
     // start the file connector to scan the file system.
     // RSSConnector connector = (RSSConnector) Runtime.start("rss", "RSSConnector");
     FileConnector connector = (FileConnector) Runtime.start("fileconnector", "FileConnector");
-    connector.setDirectory("Z:\\Movies");
+    connector.setDirectory("Z:\\Music");
 
     // connector to pipeline connection
     connector.attachDocumentListener(pipeline.getName());
@@ -230,7 +214,7 @@ public void publishFlush() {
   @Override
   public ServiceConfig apply(ServiceConfig inConfig) {
     DocumentPipelineConfig config = (DocumentPipelineConfig)super.apply(inConfig);
-    // TODO Auto-generated method stub
+    // 
     this.workFlowConfig = config.workFlowConfig;
     return config;
   }
diff --git a/src/main/java/org/myrobotlab/service/FileConnector.java b/src/main/java/org/myrobotlab/service/FileConnector.java
index b4826f4517..a83f9e1209 100644
--- a/src/main/java/org/myrobotlab/service/FileConnector.java
+++ b/src/main/java/org/myrobotlab/service/FileConnector.java
@@ -43,21 +43,27 @@ public void setConfig(ConnectorConfig config) {
   public void startCrawling() {
     state = ConnectorState.RUNNING;
     Path startPath = Paths.get(((FileConnectorConfig)config).directory);
+    log.info("Started Crawling {}", startPath);
     try {
       Files.walkFileTree(startPath, this);
     } catch (IOException e) {
       // TODO Auto-generated catch block
       e.printStackTrace();
     }
+    // we're done.. publish a flush so other down stream components know to flush any partial batches they might have.
+    invoke("publishFlush");
     log.info("File Connector finished walking the tree.");
+    
     // TODO: should we flush here immediately?
     state = ConnectorState.STOPPED;
   }
 
   @Override
   public void stopCrawling() {
+    log.info("Stop crawling requested...");    
     interrupted = true;
     state = ConnectorState.INTERRUPTED;
+//    notify();
   }
 
   @Override
@@ -86,7 +92,10 @@ public FileVisitResult visitFile(Path file, BasicFileAttributes attrs) throws IO
 
   @Override
   public FileVisitResult visitFileFailed(Path file, IOException exc) throws IOException {
-    // throw exc;
+    if (interrupted) {
+      state = ConnectorState.INTERRUPTED;
+      return FileVisitResult.TERMINATE;
+    }
     String docId = getDocIdPrefix() + file.toFile().getAbsolutePath();
     Document doc = new Document(docId);
     doc.setField("type", "file");
@@ -95,7 +104,6 @@ public FileVisitResult visitFileFailed(Path file, IOException exc) throws IOExce
     // doc.setField("timestamp", new Date());
     feed(doc);
     log.warn("Exception processing {}", file, exc);
-
     // Keep going!!!
     return FileVisitResult.CONTINUE;
   }
@@ -106,7 +114,6 @@ public FileVisitResult postVisitDirectory(Path dir, IOException exc) throws IOEx
       throw exc;
     }
     return FileVisitResult.CONTINUE;
-
   }
 
   public String getDirectory() {
diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index d2cc36d0bf..86ef140a0c 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -535,13 +535,13 @@ public QueryResponse searchWithFacets(String queryString, int rows, int start, S
     query.setFacet(true);
     query.setFacetLimit(numFacetBuckets);
     query.setFacetMinCount(1);
-    
-    query.add("qf", "dc_title");
-    query.add("qf", "xmpdm_artist_txt_en");
-    query.add("qf", "xmpdm_releasedate");
-    query.add("qf", "filepath_txt_en");
-    query.add("qf", "xmpdm_album_txt_en");
-    query.add("qf", "xmpdm_genre_txt_en");
+    // default search fields.
+    query.add("qf", "title^10");
+    query.add("qf", "artist^5");
+    query.add("qf", "album^2");
+    query.add("qf", "genre");
+    query.add("qf", "year");
+
     query.setParam("defType", "edismax");
     query.setParam("q.op", "AND");
     // TODO: expose sorting in a fancier search method signature
@@ -550,10 +550,8 @@ public QueryResponse searchWithFacets(String queryString, int rows, int start, S
     for (String field : facetFields) {
       query.addFacetField(field);
     }
-
     for (String filter : (String[])filters) {
-      query.addFilterQuery(filter);
-      
+      query.addFilterQuery(filter);      
     }
 
     QueryResponse resp = null;
@@ -576,6 +574,7 @@ public String publishResults(QueryResponse resp) {
     // from the results  ( SolrDocumentList ) object, like the number found, the start offset
     // So we manually copy that info to top level items in the response so the webgui
     // can get at it.
+    // TODO: why are the facet buckets not ordered!!!
     long numFound = resp.getResults().getNumFound();
     long start = resp.getResults().getStart();
     Float maxScore = resp.getResults().getMaxScore();
@@ -589,6 +588,7 @@ public String publishResults(QueryResponse resp) {
     resp.getResponse().add("size", resp.getResults().size());
     // Now, let's convert the byte arrays to base64 image strings.
     for (SolrDocument d : resp.getResults()) {
+      // TODO: decide what to do based on the mime type...
       if (d.containsKey("bytes")) {
         // encode this as base 64 image data.
         // TODO: support multiple byte arrays.
@@ -598,9 +598,10 @@ public String publishResults(QueryResponse resp) {
       }
     }
 
-
     String jsonResponse = resp.jsonStr(); 
     // publish the json string of the response.
+    // System.err.println(jsonResponse);
+    
     return jsonResponse;
   };
 
diff --git a/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js b/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js
index ed7cae6f32..e67cce7115 100755
--- a/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/FileConnectorGui.js
@@ -34,13 +34,15 @@ angular.module('mrlapp.service.FileConnectorGui', []).controller('FileConnectorG
     
     };
     
-    $scope.startCrawling = function(filepath) {
+    $scope.startCrawling = function() {		
+		console.info("Start crawling>" + $scope.filepath + "<")
     	mrl.sendTo($scope.service.name, "setDirectory", $scope.filepath)
     	mrl.sendTo($scope.service.name, "startCrawling");
     }
 
-    $scope.stopCrawling = function(filepath) {
+    $scope.stopCrawling = function() {
     	// TODO: this doesn't seem to work.
+    	console.info("Stop crawling")
     	mrl.sendTo($scope.service.name, "stopCrawling");
     }
     
diff --git a/src/main/resources/resource/WebGui/app/service/js/SolrGui.js b/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
index a1bfcfdad3..470740667f 100644
--- a/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
@@ -13,6 +13,7 @@ angular.module('mrlapp.service.SolrGui', []).controller('SolrGuiCtrl', ['$scope'
     // TODO: maybe some other fields..
     // TODO: support range facets
     $scope.facetFields = ['type', 'artist_facet', 'album_facet', 'genre_facet', 'year_facet', 'sender_type', 'sender','method'];
+    $scope.facetFields = ['type', 'artist_facet', 'album_facet', 'genre_facet', 'year_facet', 'sender_type', 'sender','method', 'content_type_facet'];
     // GOOD TEMPLATE TO FOLLOW
     this.updateState = function(service) {
       $scope.service = service
@@ -98,7 +99,7 @@ angular.module('mrlapp.service.SolrGui', []).controller('SolrGuiCtrl', ['$scope'
     	// stop the audiofile if it's currently playing.
     	mrl.sendTo("audiofile", "stop");
     	// start the new song.
-    	mrl.sendTo("audiofile", "play", filepath[0]);
+    	mrl.sendTo("audiofile", "playFile", filepath[0]);
     	
     //	mrl.sendTo("foobar", "play", filepath[0]);
     //	mrl.sendTo("solr", "play", filepath[0]);
diff --git a/src/main/resources/resource/WebGui/app/service/views/FileConnectorGui.html b/src/main/resources/resource/WebGui/app/service/views/FileConnectorGui.html
index 3588ca0382..e307bb48ba 100755
--- a/src/main/resources/resource/WebGui/app/service/views/FileConnectorGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/FileConnectorGui.html
@@ -2,7 +2,7 @@
     File Traverser!  this service can scan a file system and publish documents to other services.
     <br/>
     <div>
-      <input class="form-control typeHereField" tabindex="2" type="text" ng-model="filepath" name="filepath" id="filepath" ng-init="" press-enter="getSessionResponse(utterance)" placeholder="type here"/>
+      <input class="form-control typeHereField" tabindex="2" type="text" ng-model="filepath" name="filepath" id="filepath" ng-init="" placeholder="type here"/>
       <button class="btn btn-default" ng-click="startCrawling()">Start Crawl</button>
       <button class="btn btn-default" ng-click="stopCrawling()">Stop Crawl</button>
     </div>

From 7c9de6493a5e131fcdb74426d3ef11f70f999abb Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Mon, 24 Jul 2023 16:27:05 -0400
Subject: [PATCH 19/54] small cleanup

---
 .../document/transformer/TextExtractor.java    | 18 +++++++-----------
 1 file changed, 7 insertions(+), 11 deletions(-)

diff --git a/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java b/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
index 9e477f1797..7427ac9ea6 100644
--- a/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
+++ b/src/main/java/org/myrobotlab/document/transformer/TextExtractor.java
@@ -4,6 +4,7 @@
 import java.io.FileInputStream;
 import java.io.FileNotFoundException;
 import java.io.IOException;
+import java.io.InputStream;
 import java.io.StringWriter;
 import java.util.List;
 
@@ -73,34 +74,29 @@ public List<Document> processDocument(Document doc) {
       }
 
       if (f.length() == 0) {
-        // TODO: this is a zero byte file.  
+        // This is a zero byte file, there's no data to try to extract...  
         log.info("zero byte file {}", f.getAbsolutePath());
         continue;
       }
       
-      FileInputStream binaryData = null;
+      InputStream binaryData = null;
       try {
         binaryData = new FileInputStream(f);
-      } catch (FileNotFoundException e1) {
+      } catch (FileNotFoundException e) {
         // This should never happen.
-        log.warn("Document {} not found.", doc.getId(), e1);
+        log.warn("Document {} not found.", doc.getId(), e);
         continue;
       }
-      // InputStream binaryData = null;
 
       Metadata metadata = new Metadata();
       StringWriter textData = new StringWriter();
       BodyContentHandler bch = new BodyContentHandler(textData);
       try {
         parser.parse(binaryData, bch, metadata, parseCtx);
-      //} catch (IOException e) {
-        // TODO Auto-generated catch block
-       // e.printStackTrace();
       } catch (TikaException|IOException|SAXException e) {
-        // TODO Auto-generated catch block
-        e.printStackTrace();
         log.warn("Error processing {} :", doc.getId(), e);
-        doc.setField("error", e);
+        // Accumulate any errors on the document.
+        doc.addToField("error", e);
       }
 
       doc.addToField(textField, textData.toString());

From f0332dc3d2c5d132a5c3d7a3250b16097f9f5115 Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Mon, 24 Jul 2023 21:03:13 -0700
Subject: [PATCH 20/54] bad network bug fix

---
 src/main/java/org/myrobotlab/framework/Service.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/myrobotlab/framework/Service.java b/src/main/java/org/myrobotlab/framework/Service.java
index 971956b5e3..df0d189811 100644
--- a/src/main/java/org/myrobotlab/framework/Service.java
+++ b/src/main/java/org/myrobotlab/framework/Service.java
@@ -1693,7 +1693,7 @@ public void send(String name, String method, Object... data) {
     // if you know the service is local - use same thread
     // to call directly
     ServiceInterface si = Runtime.getService(name);
-    if (si != null) {
+    if (si != null && CodecUtils.isLocal(name)) {
       invokeOn(true, si, method, data);
       return;
     }

From 0f6e9900d78dea78c6a3d28f4be51d745220082e Mon Sep 17 00:00:00 2001
From: GroG <grog@myrobotlab.org>
Date: Wed, 26 Jul 2023 06:41:52 -0700
Subject: [PATCH 21/54] gateway fix (#1320)

* gateway fix

* fixed unit test

* corrected adjusted updated

* reverted back to original unit test

* formatting and organized imports
---
 src/main/java/org/myrobotlab/net/WsClient.java   |  5 +++++
 .../java/org/myrobotlab/service/Runtime.java     |  6 +++---
 .../myrobotlab/service/interfaces/Gateway.java   |  4 ++--
 src/main/resources/resource/WebGui/app/mrl.js    |  6 ++++--
 .../java/org/myrobotlab/service/RuntimeTest.java | 16 +++++++---------
 5 files changed, 21 insertions(+), 16 deletions(-)

diff --git a/src/main/java/org/myrobotlab/net/WsClient.java b/src/main/java/org/myrobotlab/net/WsClient.java
index 2a5bec262d..8ea7c0ea2f 100644
--- a/src/main/java/org/myrobotlab/net/WsClient.java
+++ b/src/main/java/org/myrobotlab/net/WsClient.java
@@ -139,6 +139,11 @@ public void onMessage(WebSocket webSocket, String text) {
       log.debug(String.format("MESSAGE: %s", text));
     }
     if (handler != null) {
+      if ("X".equals(text)) {
+        // ignore Atmosphere does a weird sending of X characters I assume
+        // to make sure the connection is unbroken
+        return;
+      } 
       handler.onRemoteMessage(uuid, text);
     }
   }
diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java
index 5aaec4a951..bd8782961e 100644
--- a/src/main/java/org/myrobotlab/service/Runtime.java
+++ b/src/main/java/org/myrobotlab/service/Runtime.java
@@ -2442,11 +2442,11 @@ public void connect(String url) {
       // runtime@{id}
       // subscribe to "describe"
       MRLListener listener = new MRLListener("describe", getFullName(), "onDescribe");
-      Message msg = Message.createMessage(getFullName(), "runtime", "addListener", listener);
-      client2.send(CodecUtils.toJson(msg));
+      Message msg = Message.createMessage(getFullName(), "runtime", "addListener", listener);      
+      client2.send(CodecUtils.toJsonMsg(msg));
 
       // send describe
-      client2.send(CodecUtils.toJson(getDescribeMsg(null)));
+      client2.send(CodecUtils.toJsonMsg(getDescribeMsg(null)));
 
     } catch (Exception e) {
       log.error("connect to {} giving up {}", url, e.getMessage());
diff --git a/src/main/java/org/myrobotlab/service/interfaces/Gateway.java b/src/main/java/org/myrobotlab/service/interfaces/Gateway.java
index ffda17d6d7..783ec951ff 100644
--- a/src/main/java/org/myrobotlab/service/interfaces/Gateway.java
+++ b/src/main/java/org/myrobotlab/service/interfaces/Gateway.java
@@ -82,8 +82,8 @@ default Message getDescribeMsg(String connId) {
             "runtime",
             "describe",
             new Object[] {
-                    FILL_UUID_MAGIC_VAL,
-                    new DescribeQuery(Platform.getLocalInstance().getId(), connId)
+                FILL_UUID_MAGIC_VAL,
+                new DescribeQuery(Platform.getLocalInstance().getId(), connId)
             }
             );
   }
diff --git a/src/main/resources/resource/WebGui/app/mrl.js b/src/main/resources/resource/WebGui/app/mrl.js
index 6b91095d48..78ed75225b 100644
--- a/src/main/resources/resource/WebGui/app/mrl.js
+++ b/src/main/resources/resource/WebGui/app/mrl.js
@@ -959,10 +959,12 @@ angular.module('mrlapp.mrl', []).provider('mrl', [function() {
 
         let createPanel = function(fullname, type, x, y, width, height, zIndex, data) {
 
+            let displayName = fullname.endsWith(_self.remoteId)?_self.getShortName(fullname):fullname
+            console.error('createPanel', _self.remoteId, displayName)
             let panel = {
                 simpleName: _self.getSimpleName(type),
                 name: fullname,
-                displayName: _self.getShortName(fullname),
+                displayName: displayName,
 
                 //the state the loading of the template is in (loading, loaded, notfound) - probably can be removed
                 templatestatus: null,
@@ -1107,7 +1109,7 @@ angular.module('mrlapp.mrl', []).provider('mrl', [function() {
             }
 
             panels[newPanel.name].name = newPanel.name
-            panels[newPanel.name].displayName = _self.getShortName(newPanel.name)
+            panels[newPanel.name].displayName = _self.getShortName(newPanel.name) 
             if (newPanel.simpleName) {
                 panels[newPanel.name].simpleName = newPanel.simpleName
             }
diff --git a/src/test/java/org/myrobotlab/service/RuntimeTest.java b/src/test/java/org/myrobotlab/service/RuntimeTest.java
index 17853abca2..50c6c03268 100644
--- a/src/test/java/org/myrobotlab/service/RuntimeTest.java
+++ b/src/test/java/org/myrobotlab/service/RuntimeTest.java
@@ -53,21 +53,19 @@ public void testGetLocalHardwareAddresses() {
     List<String> addresses = Runtime.getLocalHardwareAddresses();
     Assert.assertNotNull(addresses);
   }
-  
+
   @Test
   public void registerRemoteService() {
-    
+
     Registration registration = new Registration("remoteId", "clock", "Clock");
     Runtime.register(registration);
-    
-    Clock clock = (Clock)Runtime.getService("clock@remoteId");
+
+    Clock clock = (Clock) Runtime.getService("clock@remoteId");
     Assert.assertNotNull(clock);
-    
+
     // cleanup
     Runtime.release("clock@remoteId");
   }
-  
-  
 
   @Test
   public void testGetLocalServices() {
@@ -113,7 +111,7 @@ public void testGetDescribeMessage() {
     assertEquals("Incorrect data length", 2, msg.data.length);
     assertEquals("Incorrect UUID for describe message", Gateway.FILL_UUID_MAGIC_VAL, msg.data[0]);
     assertTrue("Incorrect message second parameter type", DescribeQuery.class.isAssignableFrom(msg.data[1].getClass()));
-    assertEquals("Incorrect UUID in describe query", "testUUID", ((DescribeQuery)msg.data[1]).uuid);
+    assertEquals("Incorrect UUID in describe query", "testUUID", ((DescribeQuery) msg.data[1]).uuid);
   }
 
-}
\ No newline at end of file
+}

From f40681210ce7d05ce4d126da4179b60a1011e303 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Wed, 26 Jul 2023 17:37:30 -0400
Subject: [PATCH 22/54] triming down the result page a bit.

---
 .../WebGui/app/service/views/SolrGui.html     | 19 ++++++++++++++++---
 1 file changed, 16 insertions(+), 3 deletions(-)

diff --git a/src/main/resources/resource/WebGui/app/service/views/SolrGui.html b/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
index 9f717b8c22..1ea5abab6f 100644
--- a/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
@@ -38,9 +38,21 @@
     <td>
     <table class="table table-striped">
       <tr ng-repeat="result in solrResults.response track by $index" class="ng-scope">
-        <td>
-          <br/>
+		<td>
+	      <!-- we want to conditionally render a different template depending on the type of doc it is. -->
+	      <div ng-if="result.content_type == 'audio/mpeg'">
+			  <!-- here we can render specific fields like artist/album/song.. -->
+			  <a ng-click="playFile(result.filepath)">{{result.title[0]}}</a> <br/>
+			  Artist: {{result.artist[0]}} <br/>
+			  Album: {{result.album[0]}} Year: {{result.year[0]}} <br/> 
+			  Genre: {{result.genre[0]}} <br/>
+			  Filepath:  {{result.filepath[0]}}
+		  </div>
+		  <!-- unknown result type... render all fields. -->
+		  <div ng-if="result.content_type != 'audio/mpeg'">
+			  <!-- this is not a song.. -->
           <b>Doc: {{$index + startOffset + 1}}</b>
+          
           <table class="searchResult" class>
             <tr ng-repeat="(key, value) in result">
               <td><strong>{{key}}</strong></td>
@@ -49,7 +61,8 @@
               <td ng-if="key != 'bytes' && key != 'filepath'">{{value}}</td> 
             </tr>
           </table>
-         <!--  <div class="chatBalloon{{chatContent.type}}"><div class="chatContent" ng-bind-html="chatContent.text"></div></div>  -->
+         
+         </div>
         </td>
       </tr>
     </table>

From 7899ba0863fc7ebb55d365986f37acee4dd15ff3 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Thu, 27 Jul 2023 15:01:34 -0400
Subject: [PATCH 23/54] making solr flush it's partial batch if a commit is
 invoked.

---
 src/main/java/org/myrobotlab/service/Solr.java | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index 86ef140a0c..043287d923 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -134,13 +134,17 @@ public void deleteEmbeddedIndex() throws SolrServerException, IOException {
    * @throws IOException
    *           boom
    */
-  public void startEmbedded(String path) throws SolrServerException, IOException {
+  public synchronized void startEmbedded(String path) throws SolrServerException, IOException {
     // let's extract our default configs into the directory/
     // FileIO.extract(Util.getResourceDir() , "Solr/core1", path);
     // FileIO.extract(Util.getResourceDir() , "Solr/solr.xml", path +
     // File.separator + "solr.xml");
     // load up the solr core container and start solr
-
+    if (embeddedSolrServer != null) {
+      log.info("Embedded solr already running.");
+      return;
+    }
+    
     // FIXME - a bit unsatisfactory
     File f = new File(getDataInstanceDir());
     f.mkdirs();
@@ -222,6 +226,9 @@ private ProcessingStatus flushDocumentBatch(boolean forceFlush) {
    * 
    */
   public void commit() {
+    // if we are explicitly calling a commit.. first flush any partial batch
+    // followed by the commit.
+    flushDocumentBatch(true);
     try {
       if (embeddedSolrServer != null) {
         embeddedSolrServer.commit();

From b784c4ab3cc3380dd18947e2fa576ea4bfdb9194 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Thu, 27 Jul 2023 17:33:17 -0400
Subject: [PATCH 24/54] adding a default mediasearch config that will crawl the
 folder z:\Music

---
 .../resource/config/mediasearch/audiofile.yml | 15 ++++++++
 .../resource/config/mediasearch/docproc.yml   | 36 +++++++++++++++++++
 .../config/mediasearch/fileconnector.yml      | 11 ++++++
 .../resource/config/mediasearch/python.yml    | 11 ++++++
 .../resource/config/mediasearch/runtime.yml   | 20 +++++++++++
 .../resource/config/mediasearch/security.yml  |  4 +++
 .../resource/config/mediasearch/solr.yml      |  6 ++++
 .../resource/config/mediasearch/webgui.yml    | 10 ++++++
 8 files changed, 113 insertions(+)
 create mode 100755 src/main/resources/resource/config/mediasearch/audiofile.yml
 create mode 100755 src/main/resources/resource/config/mediasearch/docproc.yml
 create mode 100755 src/main/resources/resource/config/mediasearch/fileconnector.yml
 create mode 100755 src/main/resources/resource/config/mediasearch/python.yml
 create mode 100755 src/main/resources/resource/config/mediasearch/runtime.yml
 create mode 100755 src/main/resources/resource/config/mediasearch/security.yml
 create mode 100755 src/main/resources/resource/config/mediasearch/solr.yml
 create mode 100755 src/main/resources/resource/config/mediasearch/webgui.yml

diff --git a/src/main/resources/resource/config/mediasearch/audiofile.yml b/src/main/resources/resource/config/mediasearch/audiofile.yml
new file mode 100755
index 0000000000..f7864e5f28
--- /dev/null
+++ b/src/main/resources/resource/config/mediasearch/audiofile.yml
@@ -0,0 +1,15 @@
+!!org.myrobotlab.service.config.AudioFileConfig
+audioListeners: [
+  ]
+currentPlaylist: default
+currentTrack: default
+listeners: null
+mute: false
+peakDelayMs: null
+peakMultiplier: 100.0
+peakSampleInterval: 15.0
+peers: null
+playlists: {
+  }
+type: AudioFile
+volume: 1.0
diff --git a/src/main/resources/resource/config/mediasearch/docproc.yml b/src/main/resources/resource/config/mediasearch/docproc.yml
new file mode 100755
index 0000000000..159c6fd091
--- /dev/null
+++ b/src/main/resources/resource/config/mediasearch/docproc.yml
@@ -0,0 +1,36 @@
+!!org.myrobotlab.service.config.DocumentPipelineConfig
+listeners:
+- callback: onFlush
+  listener: solr
+  method: publishFlush
+- callback: onDocument
+  listener: solr
+  method: publishDocument
+peers: null
+type: DocumentPipeline
+workFlowConfig:
+  config: {
+    }
+  name: default
+  numWorkerThreads: 8
+  queueLength: 50
+  stages:
+  - config:
+      type: file
+    stageClass: org.myrobotlab.document.transformer.SetStaticFieldValue
+    stageName: SetTypeField
+  - config: {
+      }
+    stageClass: org.myrobotlab.document.transformer.TextExtractor
+    stageName: TextExtractor
+  - config:
+      fieldNameMap:
+        xmpdm_duration: duration
+        xmpdm_genre: genre
+        dc_title: title
+        xmpdm_tracknumber: tracknumber
+        xmpdm_artist: artist
+        xmpdm_album: album
+        xmpdm_releasedate: year
+    stageClass: org.myrobotlab.document.transformer.RenameFields
+    stageName: RenameFields
diff --git a/src/main/resources/resource/config/mediasearch/fileconnector.yml b/src/main/resources/resource/config/mediasearch/fileconnector.yml
new file mode 100755
index 0000000000..f505ff3e98
--- /dev/null
+++ b/src/main/resources/resource/config/mediasearch/fileconnector.yml
@@ -0,0 +1,11 @@
+!!org.myrobotlab.service.config.FileConnectorConfig
+directory: Z:\Music
+listeners:
+- callback: onFlush
+  listener: docproc
+  method: publishFlush
+- callback: onDocument
+  listener: docproc
+  method: publishDocument
+peers: null
+type: FileConnector
diff --git a/src/main/resources/resource/config/mediasearch/python.yml b/src/main/resources/resource/config/mediasearch/python.yml
new file mode 100755
index 0000000000..c372d6ec5d
--- /dev/null
+++ b/src/main/resources/resource/config/mediasearch/python.yml
@@ -0,0 +1,11 @@
+!!org.myrobotlab.service.config.PythonConfig
+listeners: null
+modulePaths:
+- resource\Python\modules
+peers: null
+scriptRootDir: C:\dev\workspace.mrl4\myrobotlab\data\Python\python
+startScripts: [
+  ]
+stopScripts: [
+  ]
+type: Python
diff --git a/src/main/resources/resource/config/mediasearch/runtime.yml b/src/main/resources/resource/config/mediasearch/runtime.yml
new file mode 100755
index 0000000000..9e2fb0c0a5
--- /dev/null
+++ b/src/main/resources/resource/config/mediasearch/runtime.yml
@@ -0,0 +1,20 @@
+!!org.myrobotlab.service.config.RuntimeConfig
+enableCli: true
+id: null
+listeners: [
+  ]
+locale: null
+logLevel: info
+peers: null
+registry:
+- runtime
+- security
+- python
+- webgui
+- solr
+- audiofile
+- docproc
+- fileconnector
+resource: resource
+type: Runtime
+virtual: false
diff --git a/src/main/resources/resource/config/mediasearch/security.yml b/src/main/resources/resource/config/mediasearch/security.yml
new file mode 100755
index 0000000000..aa33d68612
--- /dev/null
+++ b/src/main/resources/resource/config/mediasearch/security.yml
@@ -0,0 +1,4 @@
+!!org.myrobotlab.service.config.ServiceConfig
+listeners: null
+peers: null
+type: Security
diff --git a/src/main/resources/resource/config/mediasearch/solr.yml b/src/main/resources/resource/config/mediasearch/solr.yml
new file mode 100755
index 0000000000..34aba0b58b
--- /dev/null
+++ b/src/main/resources/resource/config/mediasearch/solr.yml
@@ -0,0 +1,6 @@
+!!org.myrobotlab.service.config.SolrConfig
+embedded: true
+listeners: null
+peers: null
+solrUrl: http://localhost:8983/solr
+type: Solr
diff --git a/src/main/resources/resource/config/mediasearch/webgui.yml b/src/main/resources/resource/config/mediasearch/webgui.yml
new file mode 100755
index 0000000000..4744de99ba
--- /dev/null
+++ b/src/main/resources/resource/config/mediasearch/webgui.yml
@@ -0,0 +1,10 @@
+!!org.myrobotlab.service.config.WebGuiConfig
+autoStartBrowser: true
+enableMdns: false
+listeners: null
+peers: null
+port: 8888
+resources:
+- ./resource/WebGui/app
+- ./resource
+type: WebGui

From f92549a5ad2d8c52729760579700099a6e7b725a Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Thu, 27 Jul 2023 18:18:24 -0400
Subject: [PATCH 25/54] some of APs feedback

---
 .../document/transformer/Configuration.java           |  9 ++-------
 .../document/transformer/StageConfiguration.java      |  4 ----
 src/main/java/org/myrobotlab/service/Solr.java        |  8 ++------
 .../resources/resource/config/mediasearch/python.yml  | 11 -----------
 .../resources/resource/config/mediasearch/runtime.yml |  1 -
 5 files changed, 4 insertions(+), 29 deletions(-)
 delete mode 100755 src/main/resources/resource/config/mediasearch/python.yml

diff --git a/src/main/java/org/myrobotlab/document/transformer/Configuration.java b/src/main/java/org/myrobotlab/document/transformer/Configuration.java
index 2479c433ee..366266093e 100644
--- a/src/main/java/org/myrobotlab/document/transformer/Configuration.java
+++ b/src/main/java/org/myrobotlab/document/transformer/Configuration.java
@@ -8,7 +8,7 @@
 import com.thoughtworks.xstream.XStream;
 import com.thoughtworks.xstream.io.xml.StaxDriver;
 
-public class Configuration implements Serializable {
+public abstract class Configuration implements Serializable {
 
   // TODO: add a map type.
   // TODO: push the name/class onto this ?
@@ -22,14 +22,9 @@ public class Configuration implements Serializable {
    * 
    */
   private static final long serialVersionUID = 1L;
-  public HashMap<String, Object> config = null;
-  // private XStream xstream = null;
+  public HashMap<String, Object> config = new HashMap<String, Object>();
 
   public Configuration() {
-    config = new HashMap<String, Object>();
-    // figure that we need to be able to serialize / deserialize
-    // TODO: consider a faster driver / serializer
-    // xstream = new XStream(new StaxDriver());
   }
 
   public void setStringParam(String name, String value) {
diff --git a/src/main/java/org/myrobotlab/document/transformer/StageConfiguration.java b/src/main/java/org/myrobotlab/document/transformer/StageConfiguration.java
index 0359931814..6243f41c88 100644
--- a/src/main/java/org/myrobotlab/document/transformer/StageConfiguration.java
+++ b/src/main/java/org/myrobotlab/document/transformer/StageConfiguration.java
@@ -4,20 +4,16 @@
 
 public class StageConfiguration extends Configuration {
 
-  // private HashMap<String, Object> config = null;
-
   private String stageName = "defaultStage";
   private String stageClass = "org.myrobotlab.document.transformer.AbstractStage";
 
   public StageConfiguration(String stageName, String stageClass) {
-    config = new HashMap<String, Object>();
     this.stageName = stageName;
     this.stageClass = stageClass;
   }
 
   public StageConfiguration() {
     // depricate this constructor?
-    config = new HashMap<String, Object>();
   }
 
   @Override
diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index 043287d923..5445f607f0 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -177,9 +177,7 @@ public synchronized void startEmbedded(String path) throws SolrServerException,
    */
   public void addDocument(SolrInputDocument doc) {
     // Always batch!
-    ArrayList<SolrInputDocument> docs = new ArrayList<SolrInputDocument>();
-    docs.add(doc);
-    addDocuments(docs);
+    addDocuments(List.of(doc));
   }
 
   /**
@@ -670,11 +668,9 @@ private SolrInputDocument convertDocument(Document doc) {
   @Override
   public ProcessingStatus onDocument(Document doc) {
     // always be batching when sending docs.
-    ArrayList<Document> docs = new ArrayList<Document>();
-    docs.add(doc);
     // TODO: we want to add to the current batch to send..  
     // and make sure we have a thread flushing the batch if it gets too old.
-    return onDocuments(docs);
+    return onDocuments(List.of(doc));
   }
 
   @Override
diff --git a/src/main/resources/resource/config/mediasearch/python.yml b/src/main/resources/resource/config/mediasearch/python.yml
deleted file mode 100755
index c372d6ec5d..0000000000
--- a/src/main/resources/resource/config/mediasearch/python.yml
+++ /dev/null
@@ -1,11 +0,0 @@
-!!org.myrobotlab.service.config.PythonConfig
-listeners: null
-modulePaths:
-- resource\Python\modules
-peers: null
-scriptRootDir: C:\dev\workspace.mrl4\myrobotlab\data\Python\python
-startScripts: [
-  ]
-stopScripts: [
-  ]
-type: Python
diff --git a/src/main/resources/resource/config/mediasearch/runtime.yml b/src/main/resources/resource/config/mediasearch/runtime.yml
index 9e2fb0c0a5..cf77865501 100755
--- a/src/main/resources/resource/config/mediasearch/runtime.yml
+++ b/src/main/resources/resource/config/mediasearch/runtime.yml
@@ -9,7 +9,6 @@ peers: null
 registry:
 - runtime
 - security
-- python
 - webgui
 - solr
 - audiofile

From cce9205c56a4e36bc271f4e2d2ca74d06d1f4cee Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Thu, 27 Jul 2023 19:22:51 -0400
Subject: [PATCH 26/54] make the document pipeline initalize in the apply
 method.

---
 .../java/org/myrobotlab/service/DocumentPipeline.java     | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/main/java/org/myrobotlab/service/DocumentPipeline.java b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
index e578239625..2f1dc0de22 100644
--- a/src/main/java/org/myrobotlab/service/DocumentPipeline.java
+++ b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
@@ -152,7 +152,7 @@ public static void main(String[] args) throws Exception {
     // connector to pipeline connection
     connector.attachDocumentListener(pipeline.getName());
 
-    Runtime.saveConfig("musicsearch");
+    Runtime.saveConfig("mediasearch");
     // start the crawl!
     boolean doCrawl = false;
     if (doCrawl) {
@@ -216,6 +216,12 @@ public ServiceConfig apply(ServiceConfig inConfig) {
     DocumentPipelineConfig config = (DocumentPipelineConfig)super.apply(inConfig);
     // 
     this.workFlowConfig = config.workFlowConfig;
+    try {
+      initalize();
+    } catch (ClassNotFoundException e) {
+      log.error("Error initializing the document pipeline.", e);
+      // TODO: shoiuld we throw some runtime here?
+    }
     return config;
   }
 

From da06ebe51b9fc166491db809afba67518dac8611 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Thu, 27 Jul 2023 19:45:23 -0400
Subject: [PATCH 27/54] minor ui clean up and increase the number of results
 displayed.

---
 src/main/java/org/myrobotlab/service/Solr.java                 | 2 +-
 src/main/resources/resource/WebGui/app/service/js/SolrGui.js   | 2 +-
 .../resources/resource/WebGui/app/service/views/SolrGui.html   | 3 ++-
 3 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index 5445f607f0..3ccaf4dc53 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -532,7 +532,7 @@ public QueryResponse search(String queryString, int rows, int start, boolean mos
    */
   public QueryResponse searchWithFacets(String queryString, int rows, int start, String[] facetFields, String[] filters) {
     log.info("Searching for (with facets): {}", queryString);
-    int numFacetBuckets = 20;
+    int numFacetBuckets = 50;
     SolrQuery query = new SolrQuery();
     query.set("q", queryString);
     query.setRows(rows);
diff --git a/src/main/resources/resource/WebGui/app/service/js/SolrGui.js b/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
index 470740667f..33366c77a7 100644
--- a/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
@@ -8,7 +8,7 @@ angular.module('mrlapp.service.SolrGui', []).controller('SolrGuiCtrl', ['$scope'
     $scope.startOffset = 0;
     $scope.endOffset = 0;
     $scope.numFound = 0;
-    $scope.pageSize = 20;
+    $scope.pageSize = 50;
     $scope.filters = [];
     // TODO: maybe some other fields..
     // TODO: support range facets
diff --git a/src/main/resources/resource/WebGui/app/service/views/SolrGui.html b/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
index 1ea5abab6f..1f380f05b8 100644
--- a/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
@@ -42,7 +42,8 @@
 	      <!-- we want to conditionally render a different template depending on the type of doc it is. -->
 	      <div ng-if="result.content_type == 'audio/mpeg'">
 			  <!-- here we can render specific fields like artist/album/song.. -->
-			  <a ng-click="playFile(result.filepath)">{{result.title[0]}}</a> <br/>
+			  <div ng-if="result.title[0]"><a ng-click="playFile(result.filepath)">{{result.title[0]}}</a></div>
+			  <div ng-if="!result.title[0]"><a ng-click="playFile(result.filepath)">{{result.filepath[0]}}</a></div>
 			  Artist: {{result.artist[0]}} <br/>
 			  Album: {{result.album[0]}} Year: {{result.year[0]}} <br/> 
 			  Genre: {{result.genre[0]}} <br/>

From 2ee3e40ae40b268f9180559609a43aa51aa90a50 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Fri, 28 Jul 2023 01:48:57 -0400
Subject: [PATCH 28/54] don't use a local config, small ui updates

---
 src/main/java/org/myrobotlab/service/Solr.java             | 4 ++--
 .../resources/resource/WebGui/app/service/js/SolrGui.js    | 2 +-
 .../resource/WebGui/app/service/views/SolrGui.html         | 7 ++++---
 3 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index 3ccaf4dc53..cd455375b5 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -69,7 +69,7 @@
  */
 public class Solr extends Service implements DocumentListener, TextListener, MessageListener {
 
-  private SolrConfig config;
+
   private static final String CORE_NAME = "core1";
   public final static Logger log = LoggerFactory.getLogger(Solr.class);
   private static final long serialVersionUID = 1L;
@@ -1166,7 +1166,7 @@ public void releaseService() {
   @Override
   public ServiceConfig apply(ServiceConfig inConfig) {
     // 
-    this.config = (SolrConfig)super.apply(inConfig);
+    SolrConfig config = (SolrConfig)super.apply(inConfig);
     if (config.embedded) {
       // 
       try {
diff --git a/src/main/resources/resource/WebGui/app/service/js/SolrGui.js b/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
index 33366c77a7..1db0666642 100644
--- a/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/SolrGui.js
@@ -60,7 +60,7 @@ angular.module('mrlapp.service.SolrGui', []).controller('SolrGuiCtrl', ['$scope'
     
     // run the search based on the current query params selected.
     $scope.execSearch = function() {
-      mrl.sendTo($scope.service.name, "searchWithFacets", $scope.queryString, 10, $scope.startOffset, $scope.facetFields, $scope.filters);
+      mrl.sendTo($scope.service.name, "searchWithFacets", $scope.queryString, $scope.pageSize, $scope.startOffset, $scope.facetFields, $scope.filters);
     }
     
     $scope.filter = function(field, value) {
diff --git a/src/main/resources/resource/WebGui/app/service/views/SolrGui.html b/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
index 1f380f05b8..210ddc84e4 100644
--- a/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/SolrGui.html
@@ -44,9 +44,10 @@
 			  <!-- here we can render specific fields like artist/album/song.. -->
 			  <div ng-if="result.title[0]"><a ng-click="playFile(result.filepath)">{{result.title[0]}}</a></div>
 			  <div ng-if="!result.title[0]"><a ng-click="playFile(result.filepath)">{{result.filepath[0]}}</a></div>
-			  Artist: {{result.artist[0]}} <br/>
-			  Album: {{result.album[0]}} Year: {{result.year[0]}} <br/> 
-			  Genre: {{result.genre[0]}} <br/>
+			  <div ng-if="result.artist[0]">Artist: {{result.artist[0]}}</div>
+			  <div ng-if="result.album[0]">Album: {{result.album[0]}}</div> 
+			  <div ng-if="result.year[0]">Year: {{result.year[0]}}</div>
+			  <div ng-if="result.genre[0]">Genre: {{result.genre[0]}}</div>
 			  Filepath:  {{result.filepath[0]}}
 		  </div>
 		  <!-- unknown result type... render all fields. -->

From b91e60197ecda0385765a43843e9b829d4dfa58f Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Sat, 29 Jul 2023 06:32:26 -0700
Subject: [PATCH 29/54] opencv vp needs to be transient

---
 src/main/java/org/myrobotlab/service/OpenCV.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/myrobotlab/service/OpenCV.java b/src/main/java/org/myrobotlab/service/OpenCV.java
index 78d6214b32..b18858bad4 100644
--- a/src/main/java/org/myrobotlab/service/OpenCV.java
+++ b/src/main/java/org/myrobotlab/service/OpenCV.java
@@ -550,7 +550,7 @@ public static IplImage cropImage(IplImage img, CvRect rect) {
 
   boolean undockDisplay = false;
 
-  final private VideoProcessor vp = new VideoProcessor();
+  final transient private VideoProcessor vp = new VideoProcessor();
 
   Integer width = null;
 

From 8bf4f662a67ddceb4489187fccd908ffcbabb837 Mon Sep 17 00:00:00 2001
From: GroG <grog@myrobotlab.org>
Date: Sat, 29 Jul 2023 20:59:32 -0700
Subject: [PATCH 30/54] pir fix (#1322)

---
 .../java/org/myrobotlab/codec/CodecUtils.java |  10 +
 .../org/myrobotlab/framework/Service.java     |  55 +++--
 src/main/java/org/myrobotlab/service/Pir.java | 189 +++++++++++-------
 .../myrobotlab/service/config/PirConfig.java  |   1 +
 .../resource/WebGui/app/service/js/PirGui.js  |  42 +++-
 .../WebGui/app/service/views/PirGui.html      |  14 +-
 .../resource/WebGui/app/widget/oscope.js      |   2 +-
 7 files changed, 215 insertions(+), 98 deletions(-)

diff --git a/src/main/java/org/myrobotlab/codec/CodecUtils.java b/src/main/java/org/myrobotlab/codec/CodecUtils.java
index 9401452e04..d1b50fa6fc 100644
--- a/src/main/java/org/myrobotlab/codec/CodecUtils.java
+++ b/src/main/java/org/myrobotlab/codec/CodecUtils.java
@@ -1634,5 +1634,15 @@ public static String toBase64(byte[] bytes) {
   public static byte[] fromBase64(String input) {
     return Base64.getDecoder().decode(input);
   }
+  
+  public static String removeEnd(final String str, final String remove) {
+    if (str == null || str.length() == 0 || remove == null || remove.length() == 0) {
+        return str;
+    }
+    if (str.endsWith(remove)) {
+        return str.substring(0, str.length() - remove.length());
+    }
+    return str;
+}
 
 }
diff --git a/src/main/java/org/myrobotlab/framework/Service.java b/src/main/java/org/myrobotlab/framework/Service.java
index df0d189811..3bee512f48 100644
--- a/src/main/java/org/myrobotlab/framework/Service.java
+++ b/src/main/java/org/myrobotlab/framework/Service.java
@@ -25,6 +25,7 @@
 
 package org.myrobotlab.framework;
 
+// java or mrl imports only - no dependencies !
 import java.io.File;
 import java.io.IOException;
 import java.io.PrintWriter;
@@ -54,7 +55,6 @@
 import java.util.TreeSet;
 import java.util.concurrent.CopyOnWriteArrayList;
 
-import org.apache.commons.lang3.StringUtils;
 import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.framework.interfaces.Attachable;
 import org.myrobotlab.framework.interfaces.Broadcaster;
@@ -1012,22 +1012,47 @@ public String[] getMethodNames() {
   public Method[] getMethods() {
     return this.getClass().getMethods();
   }
-
+  
+  /**
+   * Returns a map containing all interface names from the class hierarchy and the interface hierarchy of the
+   * current class.
+   *
+   * @return A map containing all interface names.
+   */
   public Map<String, String> getInterfaceSet() {
-    Map<String, String> ret = new TreeMap<>();
-    Class<?> c = getClass();
-    while (c != Object.class) {
-
-      Class<?>[] interfaces = c.getInterfaces();
-      for (Class<?> interfaze : interfaces) {
-        // ya silly :P - but gson's default conversion of a HashSet is an
-        // array
-        ret.put(interfaze.getName(), interfaze.getName());
+      Map<String, String> ret = new TreeMap<>();
+      Set<Class<?>> visitedClasses = new HashSet<>();
+      getAllInterfacesHelper(getClass(), ret, visitedClasses);
+      return ret;
+  }
+
+  /**
+   * Recursively traverses the class hierarchy and the interface hierarchy to add all interface names to the
+   * specified map.
+   *
+   * @param c              The class to start the traversal from.
+   * @param ret            The map to store the interface names.
+   * @param visitedClasses A set to keep track of visited classes to avoid infinite loops.
+   */
+  private void getAllInterfacesHelper(Class<?> c, Map<String, String> ret, Set<Class<?>> visitedClasses) {
+      if (c != null && !visitedClasses.contains(c)) {
+          // Add interfaces from the current class
+          Class<?>[] interfaces = c.getInterfaces();
+          for (Class<?> interfaze : interfaces) {
+              ret.put(interfaze.getName(), interfaze.getName());
+          }
+
+          // Add interfaces from interfaces implemented by the current class
+          for (Class<?> interfaze : interfaces) {
+              getAllInterfacesHelper(interfaze, ret, visitedClasses);
+          }
+
+          // Recursively traverse the superclass hierarchy
+          visitedClasses.add(c);
+          getAllInterfacesHelper(c.getSuperclass(), ret, visitedClasses);
       }
-      c = c.getSuperclass();
-    }
-    return ret;
   }
+  
 
   public Message getMsg() throws InterruptedException {
     return inbox.getMsg();
@@ -1424,7 +1449,7 @@ public ServiceConfig getConfig() {
           // so doesn't conflict with remote routes
           Listener newConfigListener = new Listener(
                   listener.topicMethod,
-                  StringUtils.removeEnd(
+                  CodecUtils.removeEnd(
                           listener.callbackName,
                           '@' + Platform.getLocalInstance().getId()
                   ),
diff --git a/src/main/java/org/myrobotlab/service/Pir.java b/src/main/java/org/myrobotlab/service/Pir.java
index 21269b2dbd..bc5f35328c 100644
--- a/src/main/java/org/myrobotlab/service/Pir.java
+++ b/src/main/java/org/myrobotlab/service/Pir.java
@@ -1,13 +1,18 @@
 package org.myrobotlab.service;
 
+import java.util.ArrayList;
+import java.util.List;
+
+import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.framework.Service;
-import org.myrobotlab.framework.interfaces.ServiceInterface;
+import org.myrobotlab.framework.TimeoutException;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.config.PirConfig;
 import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.PinData;
 import org.myrobotlab.service.interfaces.PinArrayControl;
+import org.myrobotlab.service.interfaces.PinDefinition;
 import org.myrobotlab.service.interfaces.PinListener;
 import org.slf4j.Logger;
 
@@ -24,103 +29,96 @@ public class Pir extends Service implements PinListener {
    */
   Boolean active = null;
 
-  /**
-   * The pin to be used as a string. Example "D4" or "A0".
-   */
-  // String pin;
-
-  transient PinArrayControl pinControl;
-
   /**
    * Timestamp of the last poll.
    */
   Long lastChangeTs = null;
 
-  boolean attached = false;
+  protected boolean isAttached = false;
 
   public Pir(String n, String id) {
     super(n, id);
-    registerForInterfaceChange(PinArrayControl.class);
   }
 
   @Deprecated /* use attach(String) or attachPinArrayControl(PinArrayControl) */
   public void attach(PinArrayControl control, String pin) {
     setPin(pin);
-    attachPinArrayControl(control);
+    attachPinArrayControl(control.getName());
   }
 
   @Override
   public void attach(String name) {
-    ServiceInterface si = Runtime.getService(name);
-    if (si instanceof PinArrayControl) {
-      attachPinArrayControl((PinArrayControl) si);
-    } else {
-      error("do not know how to attach to %s of type %s", name, si.getSimpleName());
-    }
+    attachPinArrayControl(name);
   }
 
-  public void attachPinArrayControl(PinArrayControl control) {
+  public void setPinArrayControl(String control) {
     PirConfig c = (PirConfig) config;
-    try {
-      this.pinControl = control;
-      c.controller = control.getName();
-
-      if (c.pin == null) {
-        error("pin should be set before attaching");
-      }
-      pinControl.attach(getName());
-      attached = true;
-      broadcastState();
-    } catch (Exception e) {
-      error(e);
-    }
+    c.controller = control;
   }
 
-  @Override
-  public void detach(String name) {
+  public void attachPinArrayControl(String control) {
     PirConfig c = (PirConfig) config;
+
+    if (control == null) {
+      error("controller cannot be null");
+      return;
+    }
+
+    if (c.pin == null) {
+      error("pin should be set before attaching");
+      return;
+    }
+
+    c.controller = CodecUtils.getShortName(control);
+
+    // fire and forget
+    send(c.controller, "attach", getName());
+    // assume worky
+    isAttached = true;
     
-    ServiceInterface si = Runtime.getService(name);
-    if (si instanceof PinArrayControl && c.pin != null) {
-      // FIXME - problem - what if someone else is using this pin ?
-      // FIXME - should disable in the context of this service's name
-      ((PinArrayControl) si).disablePin(c.pin);
-      detachPinArrayControl((PinArrayControl) si);
-    } 
+    // enable if configured
+    if (c.enable) {
+        send(c.controller, "enablePin", c.pin, c.rate);
+    }
     
-    active = null;
-    c.enable = false;
-    attached = false;
     broadcastState();
   }
 
-  public void detachPinArrayControl(PinArrayControl control) {
+  @Override
+  public void detach(String name) {
+    detachPinArrayControl(name);
+  }
+
+  /**
+   * FIXME - use interface of service names not direct references
+   * 
+   * @param control
+   */
+  public void detachPinArrayControl(String control) {
     PirConfig c = (PirConfig) config;
 
-    try {
       if (control == null) {
         log.info("detaching null");
         return;
       }
 
       if (c.controller != null) {
-        if (!c.controller.equals(control.getName())) {
-          log.warn("attempting to detach {} but this pir is attached to {}", control.getName(), c.controller);
+        if (!c.controller.equals(control)) {
+          log.warn("attempting to detach {} but this pir is attached to {}", control, c.controller);
           return;
         }
       }
 
-      // FYI - we could detach like this without a reference - good for remote
-      // send(controllerName, "detach", getName());
-      pinControl.detach(getName());
+      // disable
+      disable();
+
+      send(c.controller, "detach", getName());
+      // c.controller = null; left as configuration .. "last controller"
 
-      this.pinControl = null;
-      c.controller = null;
+      // detached
+      isAttached = false;
 
       broadcastState();
-    } catch (Exception e) {
-      error(e);
-    }
   }
 
   /**
@@ -132,8 +130,8 @@ public void detachPinArrayControl(PinArrayControl control) {
   public void disable() {
     PirConfig c = (PirConfig) config;
 
-    if (pinControl != null && c.pin != null) {
-      pinControl.disablePin(c.pin);
+    if (c.controller != null && c.pin != null) {
+      send(c.controller, "disablePin", c.pin);
     }
 
     c.enable = false;
@@ -158,7 +156,7 @@ public void enable() {
   public void enable(int rateHz) {
     PirConfig c = (PirConfig) config;
 
-    if (pinControl == null) {
+    if (c.controller == null) {
       error("pin control not set");
       return;
     }
@@ -168,13 +166,14 @@ public void enable(int rateHz) {
       return;
     }
 
-    if (rateHz < 1) {
+    if (rateHz < 0) {
       error("invalid poll rate - default is 1 Hz valid value is > 0");
       return;
     }
 
     c.rate = rateHz;
-    pinControl.enablePin(c.pin, rateHz);
+    /* PinArrayControl.enablePin */
+    send(c.controller, "enablePin", c.pin, rateHz);
     c.enable = true;
     broadcastState();
   }
@@ -219,8 +218,12 @@ public boolean isEnabled() {
   @Override
   public ServiceConfig apply(ServiceConfig c) {
     PirConfig config = (PirConfig) super.apply(c);
+    
+    if (config.controller != null) {
+      attach(config.controller);;
+    }
 
-    if (config.enable) {
+    if (config.enable) {      
       enable(config.rate);
     } else {
       disable();
@@ -228,16 +231,29 @@ public ServiceConfig apply(ServiceConfig c) {
 
     return c;
   }
+  
+  @Override
+  public ServiceConfig getConfig() {
+    PirConfig c = (PirConfig)super.getConfig();
+    if (c.controller != null) {
+      // it makes sense that the controller should always be local for a PIR
+      // but in general this is bad practice on 2 levels
+      // 1. in some other context it might make sense not to be local
+      // 2. it should just be another listener on ServiceConfig.listener
+      c.controller=CodecUtils.getShortName(c.controller);
+    }
+    return c;
+  }
 
   @Override
   public void onPin(PinData pindata) {
-
+    PirConfig c = (PirConfig) config;
     log.debug("onPin {}", pindata);
 
     boolean sense = (pindata.value != 0);
 
-    // sparse publishing only on state change
-    if (active == null || active != sense) {
+    // sparse publishing only on state change 
+    if (active == null || active != sense && c.enable) {
       // state change
       invoke("publishSense", sense);
       active = sense;
@@ -255,11 +271,11 @@ public Boolean publishSense(Boolean b) {
   }
 
   public void publishPirOn() {
-    log.info("publishPirOn");
+    log.debug("publishPirOn");
   }
 
   public void publishPirOff() {
-    log.info("publishPirOff");
+    log.debug("publishPirOff");
   }
 
   /**
@@ -277,7 +293,6 @@ public void setPin(String pin) {
   @Deprecated /* use attach(String) */
   public void setPinArrayControl(PinArrayControl pinControl) {
     PirConfig c = (PirConfig) config;
-    this.pinControl = pinControl;
     c.controller = pinControl.getName();
   }
 
@@ -304,23 +319,53 @@ public Long getLastChangeTs() {
     return lastChangeTs;
   }
 
+  /**
+   * This returns the pin list of the selected PinArrayControl. This allows
+   * dynamic selection of a pin based on a query to a PinArrayControl. It would
+   * be advisable that other services manage pins in the same way. Where
+   * "selecting" the controller's name, returns the possible list of pins to
+   * attach.
+   * 
+   * @return
+   * @throws InterruptedException
+   * @throws TimeoutException
+   */
+  @SuppressWarnings("unchecked")
+  public List<PinDefinition> getPinList(String pinArrayControl) {
+    List<PinDefinition> pinList = new ArrayList<>();
+    try {
+      if (pinArrayControl != null) {
+        pinList = (List<PinDefinition>) sendBlocking(pinArrayControl, "getPinList");
+      }
+    } catch (Exception e) {
+      error(e);
+    }
+    return pinList;
+  }
+
   public static void main(String[] args) {
     try {
 
       LoggingFactory.init("info");
 
-      Pir pir = (Pir) Runtime.start("pir", "Pir");
-      pir.setPin("D6");
 
-      Runtime.start("webgui", "WebGui");
-      Arduino mega = (Arduino) Runtime.start("mega", "Arduino");
-      mega.connect("/dev/ttyACM2");
+      // Runtime.start("webgui", "WebGui");
+      
+      // standard install - develop and debug using config
+      Runtime.main(new String[] {"--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python"});
+          
 
       boolean done = true;
       if (done) {
         return;
       }
 
+      Pir pir = (Pir) Runtime.start("pir", "Pir");
+      pir.setPin("D23");
+      
+      Arduino mega = (Arduino) Runtime.start("mega", "Arduino");
+      mega.connect("/dev/ttyACM71");
+
       mega.attach(pir);
 
       // Runtime.setAllVirtual(true);
diff --git a/src/main/java/org/myrobotlab/service/config/PirConfig.java b/src/main/java/org/myrobotlab/service/config/PirConfig.java
index c1413bb9f1..3d67430959 100644
--- a/src/main/java/org/myrobotlab/service/config/PirConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/PirConfig.java
@@ -14,6 +14,7 @@ public class PirConfig extends ServiceConfig {
 
   /**
    * poll rate in Hz
+   * FIXME change to double or float to support 0.01 Hz
    */
   public int rate = 1;
   
diff --git a/src/main/resources/resource/WebGui/app/service/js/PirGui.js b/src/main/resources/resource/WebGui/app/service/js/PirGui.js
index cef3c00463..a19bb57b78 100644
--- a/src/main/resources/resource/WebGui/app/service/js/PirGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/PirGui.js
@@ -12,8 +12,14 @@ angular.module('mrlapp.service.PirGui', []).controller('PirGuiCtrl', ['$scope',
     // GOOD TEMPLATE TO FOLLOW
     this.updateState = function(service) {
         $scope.service = service
-        $scope.options.attachName = service.config.controller        
+        $scope.options.attachName = service.config.controller
         $scope.options.isAttached = service.attached
+        $scope.options.interface = 'PinArrayControl'
+
+        // since attach broadcasts we'll get the pin list here
+        if ($scope?.service?.config?.controller) {
+            msg.send('getPinList', $scope.service.config.controller)
+        }
     }
 
     // init scope variables
@@ -27,6 +33,13 @@ angular.module('mrlapp.service.PirGui', []).controller('PirGuiCtrl', ['$scope',
             _self.updateState(data)
             $scope.$apply()
             break
+        case 'onPinList':
+            $scope.pinList = []
+            for (var pinDef of data) {
+                $scope.pinList.push(pinDef.pin)
+            }
+            $scope.$apply()
+            break
         case 'onSense':
             console.info('onSense', data)
             $scope.service.active = data
@@ -41,6 +54,9 @@ angular.module('mrlapp.service.PirGui', []).controller('PirGuiCtrl', ['$scope',
     _self.selectController = function(controller) {
         //$scope.service.controllerName = controller
         $scope.service.config.controller = controller
+        // get the pin list of the selected controller
+        msg.send('setPinArrayControl', controller)
+        msg.send('getPinList', controller)
     }
 
     $scope.options = {
@@ -53,6 +69,7 @@ angular.module('mrlapp.service.PirGui', []).controller('PirGuiCtrl', ['$scope',
     $scope.attach = function() {
         msg.send('setPin', $scope.service.config.pin)
         msg.send('attach', $scope.service.config.controller)
+        msg.send('enable')
     }
 
     $scope.detach = function() {
@@ -67,8 +84,10 @@ angular.module('mrlapp.service.PirGui', []).controller('PirGuiCtrl', ['$scope',
     }
 
     $scope.setPin = function() {
-        msg.send('setPin', $scope.service.config.pin)
-        msg.send('broadcastState')
+        if ($scope.service.config.pin) {
+            msg.send('setPin', $scope.service.config.pin)
+            msg.send('broadcastState')
+        }
     }
 
     $scope.disable = function() {
@@ -76,7 +95,24 @@ angular.module('mrlapp.service.PirGui', []).controller('PirGuiCtrl', ['$scope',
         msg.send('broadcastState')
     }
 
+    $scope.getActiveImage = function() {
+        if ($scope.service.active) {
+            return '../../green.png'
+        } else if ($scope.service.active === false) {
+            return '../../red.png'
+        } else {
+            // undefined / unknown
+            return '../../grey.png'
+        }
+    }
+
     msg.subscribe('publishSense')
+    msg.subscribe('getPinList')
+
+    if ($scope?.service?.config?.controller) {
+        msg.send('getPinList', $scope.service.config.controller)
+    }
+
     msg.subscribe(this)
 }
 ])
diff --git a/src/main/resources/resource/WebGui/app/service/views/PirGui.html b/src/main/resources/resource/WebGui/app/service/views/PirGui.html
index 5a1f8fe4e2..e359428b82 100644
--- a/src/main/resources/resource/WebGui/app/service/views/PirGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/PirGui.html
@@ -1,21 +1,21 @@
 <div class="row">
     <div class="col-md-6">
         <br/>
-        <img ng-src="{{(service.active)?'../../green.png':'../../grey.png'}}"/> poll rate {{service.config.rate}} hz
+        <img ng-src="{{getActiveImage()}}"/> poll rate {{service.config.rate}} hz
         <br/>
         <br/>
         <form class="form-inline" role="forms">
             <div class="row">
                 <attach options='options'/>
                 pin
-                <select ng-disabled="service.attached" class="form-control" ng-model="service.config.pin" ng-change="setPin()" ng-options="item for item in pinList">
+                <select uib-dropdown-menu ng-disabled="service.attached" class="form-control" ng-model="service.config.pin" ng-change="setPin()" ng-options="item for item in pinList">
                     <option>{{item}}</option>
                 </select>
-                <button ng-show="!service.attached" type="button" class="btn btn-default" ng-click="attach()">attach</button>
-                <button ng-show="service.attached" type="button" class="btn btn-default" ng-click="detach()">detach</button>
-                <button class="form-control" ng-show="service.config.controller && !service.config.enable" ng-click="enable()">enable</button>
-                <button class="form-control" ng-show="service.config.controller && service.config.enable" ng-click="disable()">disable</button>
+                <button ng-show="!service.isAttached" type="button" class="btn btn-default" ng-click="attach()">attach</button>
+                <button ng-show="service.isAttached" type="button" class="btn btn-default" ng-click="detach()">detach</button>
+                <button class="form-control" ng-show="service.isAttached && !service.config.enable" ng-click="enable()">enable</button>
+                <button class="form-control" ng-show="service.isAttached && service.config.enable" ng-click="disable()">disable</button>
             </div>
         </form>
     </div>
-</div>
+</div>
\ No newline at end of file
diff --git a/src/main/resources/resource/WebGui/app/widget/oscope.js b/src/main/resources/resource/WebGui/app/widget/oscope.js
index f779cafa2d..11cc94c2c0 100644
--- a/src/main/resources/resource/WebGui/app/widget/oscope.js
+++ b/src/main/resources/resource/WebGui/app/widget/oscope.js
@@ -165,7 +165,7 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) {
                         // move to last position...
                         ctx.moveTo(trace.x0, trace.y0)
                         trace.x1++
-                        trace.y1 = c
+                        trace.y1 = y
                         // draw line to x1,y1 
                         ctx.lineTo(trace.x1, trace.y1)
                         // save current values

From 915041714f3491e29de4afa2e206eaf349a403c2 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Tue, 1 Aug 2023 16:36:00 -0400
Subject: [PATCH 31/54] regenerating the pom and excluding logging dependencies
 from tika imports.

---
 pom.xml                                       | 72 ++++++++++++++-----
 .../service/meta/DocumentPipelineMeta.java    | 12 ++++
 .../org/myrobotlab/service/meta/Py4jMeta.java |  4 +-
 3 files changed, 70 insertions(+), 18 deletions(-)

diff --git a/pom.xml b/pom.xml
index 51a199ce89..88df131fb3 100644
--- a/pom.xml
+++ b/pom.xml
@@ -163,10 +163,6 @@
 <!-- Duplicate entry for com.squareup.okhttp3-okhttp-3.9.0 skipping -->
 <!-- AzureTranslator end -->
 
-<!-- BodyPart begin -->
-<!-- Duplicate entry for org.apache.commons-commons-lang3-3.3.2 skipping -->
-<!-- BodyPart end -->
-
 <!-- BoofCv begin -->
   <dependency>
     <groupId>org.boofcv</groupId>
@@ -305,18 +301,62 @@
 <!-- Docker end -->
 
 <!-- DocumentPipeline begin -->
-  <!-- https://mvnrepository.com/artifact/org.apache.tika/tika-core -->
-<dependency>
-    <groupId>org.apache.tika</groupId>
-    <artifactId>tika-core</artifactId>
-    <version>2.8.0</version>
-</dependency>
-  <dependency>
-    <groupId>org.apache.tika</groupId>
-    <artifactId>tika-parser-audiovideo-module</artifactId>
-    <version>2.8.0</version>
-  </dependency>
-    
+  <dependency>
+    <groupId>org.apache.tika</groupId>
+    <artifactId>tika-core</artifactId>
+    <version>2.8.0</version>
+    <scope>provided</scope>
+      <exclusions>
+        <exclusion>
+          <groupId>org.slf4j</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+        <exclusion>
+          <groupId>log4j</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+        <exclusion>
+          <groupId>org.apache.logging.log4j</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+        <exclusion>
+          <groupId>com.fasterxml.jackson.core</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+        <exclusion>
+          <groupId>io.netty</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+      </exclusions>
+  </dependency>
+  <dependency>
+    <groupId>org.apache.tika</groupId>
+    <artifactId>tika-parser-audiovideo-module</artifactId>
+    <version>2.8.0</version>
+    <scope>provided</scope>
+      <exclusions>
+        <exclusion>
+          <groupId>org.slf4j</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+        <exclusion>
+          <groupId>log4j</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+        <exclusion>
+          <groupId>org.apache.logging.log4j</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+        <exclusion>
+          <groupId>com.fasterxml.jackson.core</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+        <exclusion>
+          <groupId>io.netty</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+      </exclusions>
+  </dependency>
   <dependency>
     <groupId>org.apache.opennlp</groupId>
     <artifactId>opennlp-tools</artifactId>
diff --git a/src/main/java/org/myrobotlab/service/meta/DocumentPipelineMeta.java b/src/main/java/org/myrobotlab/service/meta/DocumentPipelineMeta.java
index 3ec1139e97..3a179e93be 100644
--- a/src/main/java/org/myrobotlab/service/meta/DocumentPipelineMeta.java
+++ b/src/main/java/org/myrobotlab/service/meta/DocumentPipelineMeta.java
@@ -17,7 +17,19 @@ public DocumentPipelineMeta() {
     addDescription("This service will pass a document through a document processing pipeline made up of transformers");
     addCategory("ingest");
     addDependency("org.apache.tika", "tika-core", "2.8.0");
+    exclude("org.slf4j", "*");
+    exclude("log4j", "*");
+    exclude("org.apache.logging.log4j", "*");
+    exclude("com.fasterxml.jackson.core", "*");
+    exclude("io.netty", "*");
+
     addDependency("org.apache.tika", "tika-parser-audiovideo-module", "2.8.0");
+    exclude("org.slf4j", "*");
+    exclude("log4j", "*");
+    exclude("org.apache.logging.log4j", "*");
+    exclude("com.fasterxml.jackson.core", "*");
+    exclude("io.netty", "*");
+
     
     addDependency("org.apache.opennlp", "opennlp-tools", "1.6.0");
     addDependency("net.objecthunter", "exp4j", "0.4.8");
diff --git a/src/main/java/org/myrobotlab/service/meta/Py4jMeta.java b/src/main/java/org/myrobotlab/service/meta/Py4jMeta.java
index def9039a53..f0a36ea333 100644
--- a/src/main/java/org/myrobotlab/service/meta/Py4jMeta.java
+++ b/src/main/java/org/myrobotlab/service/meta/Py4jMeta.java
@@ -22,8 +22,8 @@ public Py4jMeta() {
 
     // Used just as a Python exe redistributable.
     // ABSOLUTELY NO JNI/JNA IS USED
-    addDependency("org.bytedeco", "cpython-platform", "3.10.8-1.5.8");
-    addDependency("org.bytedeco", "cpython", "3.10.8-1.5.8");
+    addDependency("org.bytedeco", "cpython-platform", "3.11.3-1.5.9");
+    addDependency("org.bytedeco", "cpython", "3.11.3-1.5.9");
   }
 
 }

From 41688a3f820b5668a1968894efb4213091a6f7d8 Mon Sep 17 00:00:00 2001
From: kwatters <kwatters@kmwllc.com>
Date: Tue, 1 Aug 2023 17:08:17 -0400
Subject: [PATCH 32/54] reverting py4j update

---
 pom.xml                                                 | 4 ++--
 src/main/java/org/myrobotlab/service/meta/Py4jMeta.java | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/pom.xml b/pom.xml
index 88df131fb3..02b55ea8ac 100644
--- a/pom.xml
+++ b/pom.xml
@@ -1283,13 +1283,13 @@
   <dependency>
     <groupId>org.bytedeco</groupId>
     <artifactId>cpython-platform</artifactId>
-    <version>3.11.3-1.5.9</version>
+    <version>3.10.8-1.5.8</version>
     <scope>provided</scope>
   </dependency>
   <dependency>
     <groupId>org.bytedeco</groupId>
     <artifactId>cpython</artifactId>
-    <version>3.11.3-1.5.9</version>
+    <version>3.10.8-1.5.8</version>
     <scope>provided</scope>
   </dependency>
 <!-- Py4j end -->
diff --git a/src/main/java/org/myrobotlab/service/meta/Py4jMeta.java b/src/main/java/org/myrobotlab/service/meta/Py4jMeta.java
index f0a36ea333..def9039a53 100644
--- a/src/main/java/org/myrobotlab/service/meta/Py4jMeta.java
+++ b/src/main/java/org/myrobotlab/service/meta/Py4jMeta.java
@@ -22,8 +22,8 @@ public Py4jMeta() {
 
     // Used just as a Python exe redistributable.
     // ABSOLUTELY NO JNI/JNA IS USED
-    addDependency("org.bytedeco", "cpython-platform", "3.11.3-1.5.9");
-    addDependency("org.bytedeco", "cpython", "3.11.3-1.5.9");
+    addDependency("org.bytedeco", "cpython-platform", "3.10.8-1.5.8");
+    addDependency("org.bytedeco", "cpython", "3.10.8-1.5.8");
   }
 
 }

From 3f0800a29b07ead19525fe1b60865d4be15a4ced Mon Sep 17 00:00:00 2001
From: GroG <grog@myrobotlab.org>
Date: Thu, 3 Aug 2023 18:58:57 -0700
Subject: [PATCH 33/54] Fixed path to msg in service api (#1324)

* fixed path to msg

* update

* terse parsing cherry picked

* fixed unit tests

* no quote params is not an option

* regenned pom
---
 pom.xml                                       |    5 -
 .../java/org/myrobotlab/codec/ApiSwagger.java |  283 +-
 .../java/org/myrobotlab/codec/CodecUtils.java | 2660 ++++++++---------
 .../org/myrobotlab/codec/MethodCache.java     |   79 -
 .../codec/PolymorphicSerializer.java          |   65 -
 .../GsonPolymorphicTypeAdapterFactory.java    |  112 -
 .../org/myrobotlab/framework/MethodCache.java |   19 +-
 .../org/myrobotlab/framework/Service.java     |    2 +-
 .../java/org/myrobotlab/framework/Status.java |    2 +-
 .../myrobotlab/framework/TypeConverter.java   |    2 -
 src/main/java/org/myrobotlab/i2c/I2CBus.java  |    2 +-
 .../org/myrobotlab/process/InProcessCli.java  |   19 +-
 .../java/org/myrobotlab/service/Clock.java    |   13 +-
 .../org/myrobotlab/service/GoogleSearch.java  |    1 -
 .../java/org/myrobotlab/service/Mqtt.java     |    2 +-
 .../org/myrobotlab/service/MqttBroker.java    |   25 +-
 .../java/org/myrobotlab/service/WebGui.java   |   55 +-
 .../java/org/myrobotlab/service/Xmpp.java     |    2 +-
 .../myrobotlab/service/meta/RuntimeMeta.java  |    5 +-
 .../org/myrobotlab/codec/CodecUtilsTest.java  |   82 +
 .../codec/json/GsonPolymorphicTest.java       |  128 -
 .../service/RuntimeProcessTest.java           |   26 +-
 .../org/myrobotlab/service/WebGuiTest.java    |   20 +-
 .../myrobotlab/service/data/LocaleTest.java   |   15 +-
 .../interfaces/SpeechSynthesisTest.java       |   15 +-
 25 files changed, 1614 insertions(+), 2025 deletions(-)
 delete mode 100644 src/main/java/org/myrobotlab/codec/MethodCache.java
 delete mode 100644 src/main/java/org/myrobotlab/codec/PolymorphicSerializer.java
 delete mode 100644 src/main/java/org/myrobotlab/codec/json/GsonPolymorphicTypeAdapterFactory.java
 delete mode 100644 src/test/java/org/myrobotlab/codec/json/GsonPolymorphicTest.java

diff --git a/pom.xml b/pom.xml
index 02b55ea8ac..3dfa83b437 100644
--- a/pom.xml
+++ b/pom.xml
@@ -1342,11 +1342,6 @@
     <artifactId>logback-classic</artifactId>
     <version>1.2.3</version>
   </dependency>
-  <dependency>
-    <groupId>com.google.code.gson</groupId>
-    <artifactId>gson</artifactId>
-    <version>2.8.5</version>
-  </dependency>
   <dependency>
     <groupId>net.bytebuddy</groupId>
     <artifactId>byte-buddy</artifactId>
diff --git a/src/main/java/org/myrobotlab/codec/ApiSwagger.java b/src/main/java/org/myrobotlab/codec/ApiSwagger.java
index 1dbf0d4f24..628a0a483e 100644
--- a/src/main/java/org/myrobotlab/codec/ApiSwagger.java
+++ b/src/main/java/org/myrobotlab/codec/ApiSwagger.java
@@ -1,219 +1,138 @@
 package org.myrobotlab.codec;
 
-import java.io.IOException;
-import java.io.OutputStream;
 import java.lang.reflect.Method;
 import java.lang.reflect.Modifier;
 import java.lang.reflect.Parameter;
-import java.util.Arrays;
+import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
-import java.util.stream.Stream;
+import java.util.TreeMap;
 
-import org.myrobotlab.framework.Message;
-import org.myrobotlab.framework.interfaces.MessageSender;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.service.Runtime;
 import org.myrobotlab.service.Servo;
 import org.slf4j.Logger;
-
-import com.google.gson.Gson;
-import com.google.gson.JsonArray;
-import com.google.gson.JsonObject;
-import com.google.gson.JsonParser;
+import org.yaml.snakeyaml.DumperOptions;
+import org.yaml.snakeyaml.Yaml;
 
 public class ApiSwagger {
 
   public final static Logger log = LoggerFactory.getLogger(Runtime.class);
-
-  public Object process(MessageSender sender, OutputStream out, Message msgFromUri, String data) {
-
-    return null;
+  
+  static final Map<Class<?>, String> primitiveMap = new HashMap<>();
+  static {
+  primitiveMap.put(int.class, "integer");
+  primitiveMap.put(long.class, "integer");
+  primitiveMap.put(float.class, "number");
+  primitiveMap.put(double.class, "number");
+  primitiveMap.put(short.class, "integer");
+  primitiveMap.put(byte.class, "integer");
+  primitiveMap.put(boolean.class, "boolean");
+  primitiveMap.put(char.class, "string");
+  primitiveMap.put(Integer.class, "integer");
+  primitiveMap.put(Long.class, "integer");
+  primitiveMap.put(Float.class, "number");
+  primitiveMap.put(Double.class, "number");
+  primitiveMap.put(Short.class, "integer");
+  primitiveMap.put(Byte.class, "integer");
+  primitiveMap.put(Boolean.class, "boolean");
+  primitiveMap.put(Character.class, "string");
   }
 
-  // edit these to adjust environments
-  private String[][] serverEndpoints = new String[][] { { "http://170.2.107.118:3333/api", "dev" },
-      { "http://qdtmeutelcebl03.azure-qa-eastus.us164.corpintra.net:3333/api", "qaEast" },
-      { "http://stnascvdl009.us164.corpintra.net:2500/proxy?target=http://pdtmeutelcebl02.azure-prd-eastus.us164.corpintra.net:3333/api", "prodEast" } };
-
-  public JsonObject createHeaders() {
-    JsonObject obj = new JsonObject();
-
-    // swagger version
-    obj.addProperty("openapi", "3.0.0");
-
-    // info
-    obj.add("info",
-        new JsonParser().parse("{" + "\"description\": \"Entity Broker Auto-generated documentation\"," + "\"title\": \"Entity Broker API\"," + "\"version\": \"1.0.0\"" + "}"));
-
-    // host
-    JsonArray servers = new JsonArray();
-    for (String[] s : serverEndpoints) {
-      JsonObject temp = new JsonObject();
-      temp.addProperty("url", s[0]);
-      temp.addProperty("description", s[1]);
-      servers.add(temp);
+  
+  public static String toPrimitive(Class<?> clazz) {
+    if (primitiveMap.containsKey(clazz)) {
+      return primitiveMap.get(clazz);
+    } else {
+      return "string";
     }
-    obj.add("servers", servers);
-
-    // schemes
-    // obj.add("schemes", new JsonParser().parse("[\"https\"]"));
-
-    return obj;
   }
 
-  public Map<String, String> getSwagger() throws IOException {
-    JsonObject data = createHeaders();
-
-    /*
-     * ClassPath cp =
-     * ClassPath.from(Thread.currentThread().getContextClassLoader());
-     * Class<?>[] classes =
-     * cp.getTopLevelClasses("com.daimler.eb.endpoint").asList().stream().map((
-     * c) -> c.load()).toArray(Class<?>[]::new);
-     */
-    Class<?>[] classes = new Class<?>[] { Runtime.class, Servo.class };
-    data.add("paths", getPaths(classes));
-
-    // convert to a Map<String,String>
-    return new Gson().fromJson(data.toString(), new HashMap<String, String>().getClass());
-  }
-
-  public JsonObject getPaths(Class<?>[] classes) {
-    // get all the methods
-    Method[] methods = Arrays.stream(classes).parallel().map(c -> c.getDeclaredMethods()).reduce(new Method[] {},
-        (x, y) -> Stream.concat(Arrays.stream(x), Arrays.stream(y)).toArray(Method[]::new));
-
-    // filter out all non-inherited and non-public methods and map each
-    // method to a JSON Object describing its GET / POST
-    /*
-     * { "get":{ "path":..., ... }, "post":{ "path":..., ... }, }
-     */
-    JsonObject[] methodDetails = Arrays.stream(methods).parallel()
-        .filter(m -> Modifier.isPublic(m.getModifiers()) && !m.getName().equals("main") && !Modifier.isStatic(m.getModifiers())).map((m) -> {
-          JsonObject get = new JsonObject();
-          JsonObject post = new JsonObject();
-
-          // construct the api path
-          Parameter[] params = m.getParameters();
-          String paramNames = "";
-          for (Parameter p : params)
-            paramNames += "/{" + p.getName() + "}";
-
-          String apiPathGet = "/" + m.getDeclaringClass().getSimpleName() + "/" + m.getName() + paramNames;
-          String apiPathPost = "/" + m.getDeclaringClass().getSimpleName() + "/" + m.getName();
-
-          // get properties & map each parameter t a JsonObject
-          get.addProperty("apiPath", apiPathGet);
-          get.add("tags", new JsonParser().parse("[" + m.getDeclaringClass().getSimpleName() + "]"));
-          get.add("responses", new JsonParser().parse("{" + "\"200\": {" + "\"description\": \"successful response\"" + "}" + "}"));
-          JsonObject[] paramDetails = Arrays.stream(params).parallel().map((p) -> {
-            JsonObject obj = new JsonObject();
-            obj.addProperty("name", p.getName());
-            obj.addProperty("in", "path");
-            obj.addProperty("required", true);
-            obj.add("schema", getSchemaFromType(p.getType().getSimpleName()));
-            return obj;
-          }).toArray(JsonObject[]::new);
-          JsonArray parameters = new JsonArray();
-          for (JsonObject pd : paramDetails)
-            parameters.add(pd);
-          get.add("parameters", parameters);
-
-          // post properties
-          post.addProperty("apiPath", apiPathPost);
-          post.add("tags", new JsonParser().parse("[" + m.getDeclaringClass().getSimpleName() + "]"));
-          post.add("responses", new JsonParser().parse("{" + "\"200\": {" + "\"description\": \"successful response\"" + "}" + "}"));
-
-          JsonObject requestBody = new JsonObject();
-          requestBody.addProperty("required", true);
-          JsonObject requestBodyContent = new JsonObject();
-          requestBody.add("content", requestBodyContent);
-          JsonObject rbcAppJson = new JsonObject();
-          requestBodyContent.add("application/json", rbcAppJson);
-          JsonObject postBodySchema = new JsonObject();
-          postBodySchema.addProperty("type", "array");
-          postBodySchema.addProperty("minItems", params.length);
-          postBodySchema.addProperty("maxItems", params.length);
-          JsonObject arrayItems = new JsonObject();
-          JsonArray types = new JsonArray();
-          for (Parameter p : params) {
-            types.add(getSchemaFromType(p.getType().getSimpleName()));
-          }
-          arrayItems.add("oneOf", types);
-          postBodySchema.add("items", arrayItems);
-          rbcAppJson.add("schema", postBodySchema);
-          post.add("requestBody", requestBody);
-
-          JsonObject res = new JsonObject();
-          res.add("get", get);
-          res.add("post", post);
-          return res;
-        }).toArray(JsonObject[]::new);
-
-    // convert each method get/post info to distinct get/post infos
-    JsonObject res = new JsonObject();
-    for (JsonObject m : methodDetails) {
-      // if both GET/POST have same path, then combine into one object
-      if (m.get("get").getAsJsonObject().get("apiPath").equals(m.get("post").getAsJsonObject().get("apiPath"))) {
-        res.add(m.get("get").getAsJsonObject().get("apiPath").getAsString(), m);
-      } else { // otherwise, separate them into different objects
-        JsonObject g = new JsonObject();
-        g.add("get", m.get("get"));
-        res.add(m.get("get").getAsJsonObject().get("apiPath").getAsString(), g);
-
-        JsonObject p = new JsonObject();
-        p.add("post", m.get("post"));
-        res.add(m.get("post").getAsJsonObject().get("apiPath").getAsString(), p);
+  public static String generateSwaggerYaml(Class<?> clazz) {
+    Map<String, Object> swaggerData = new TreeMap<>();
+    Map<String, Object> paths = new TreeMap<>();
+
+    Method[] methods = clazz.getMethods();
+    for (Method method : methods) {
+      if (Modifier.isPublic(method.getModifiers())) {
+        String prefix = "/" + method.getName(); // Method name is used as the path
+        String path = prefix;
+
+        Class<?>[] parameterTypes = method.getParameterTypes();
+        // Parameter names are only available if compiled with -parameters
+        Parameter[] params = method.getParameters();
+        
+        List<Map<String,Object>> paramArray = new ArrayList<>();
+        
+        
+        for (int i = 0; i < parameterTypes.length; i++) {
+          Parameter param = params[i];
+          String paramName = "param" + i; // Using param0, param1, etc. as path
+                                          // variable names
+          // only available with compiler -parameters option
+          paramName = param.getName();
+          
+          Map<String, Object> paramDetail = new TreeMap<>();
+          
+          paramDetail.put("in", "path");
+          paramDetail.put("name", paramName);
+          paramDetail.put("required", true);
+          Map<String,Object>paramSchema = new TreeMap<>();
+          paramDetail.put("schema", paramSchema);
+          paramSchema.put("type", toPrimitive(param.getType()));
+          
+          paramArray.add(paramDetail);
+          path = path + "/{"+paramName+"}";
+        }
+
+        // Create the path entry for the method
+        Map<String, Object> data = new TreeMap<>();
+        
+        Map<String, Object> get = new TreeMap<>();
+        data.put("get", get);
+        List<String> tags = new ArrayList<>();
+        get.put("tags", tags);
+        tags.add(clazz.getSimpleName());
+        get.put("parameters", paramArray);
+        Map<String, Object> responses = new TreeMap<>();
+        get.put("responses", responses);
+        Map<String, Object> http_200 = new TreeMap<>();
+        responses.put("200", http_200);
+        http_200.put("description", "OK");
+        Map<String, Object> content = new TreeMap<>();
+        Map<String, Object> json = new TreeMap<>();
+        http_200.put("content", content);
+        content.put("application/json", json);
+        Map<String, Object> schema = new TreeMap<>();
+        json.put("schema", schema);
+
+
+        paths.put(path, data);
       }
-
-      m.get("get").getAsJsonObject().remove("apiPath");
-      m.get("post").getAsJsonObject().remove("apiPath");
     }
 
-    return res;
+    swaggerData.put("paths", paths);
+
+    // Convert to YAML
+    Yaml yaml = new Yaml(getDumperOptions());
+    return yaml.dump(swaggerData);
   }
 
-  private JsonObject getSchemaFromType(String s) {
-    JsonObject res = new JsonObject();
-    s = s.toLowerCase();
-    if (s.equals("String"))
-      res.addProperty("type", "string");
-    else if (s.equals("int"))
-      res.addProperty("type", "integer");
-    else if (s.equals("boolean"))
-      res.addProperty("type", "boolean");
-    else if (s.equals("double") || s.equals("float") || s.equals("long") || s.equals("byte"))
-      res.addProperty("type", "number");
-    else if (s.contains("[]")) {
-      res.addProperty("type", "array");
-      res.add("items", getSchemaFromType(s.substring(0, s.length() - 2)));
-    } else
-      res.addProperty("type", "object");
-
-    return res;
+  private static DumperOptions getDumperOptions() {
+    DumperOptions options = new DumperOptions();
+    options.setDefaultFlowStyle(DumperOptions.FlowStyle.BLOCK);
+    return options;
   }
 
   public static void main(String[] args) {
     try {
-      List<String> myList = Arrays.asList("a1", "a2", "b1", "c2", "c1");
-
-      myList.stream()
-          // .filter(s -> s.startsWith("c"))
-          .map(String::toUpperCase).map(s -> s + "blah").map(s -> s + "oink").sorted().forEach(System.out::println);
-
-      ApiSwagger swagger = new ApiSwagger();
-
-      log.info("{}", CodecUtils.toJson(swagger.getSwagger()));
+   
+      // log.info("{}", CodecUtils.toJson(ApiSwagger.generateSwaggerYaml(Servo.class)));
+      log.info("{}", ApiSwagger.generateSwaggerYaml(Servo.class));
     } catch (Exception e) {
       log.error("main threw", e);
     }
   }
 
-  public Object process(MessageSender webgui, String apiKey, String uri, String uuid, OutputStream out, String json) throws Exception {
-    // TODO Auto-generated method stub
-    return null;
-  }
-
 }
diff --git a/src/main/java/org/myrobotlab/codec/CodecUtils.java b/src/main/java/org/myrobotlab/codec/CodecUtils.java
index d1b50fa6fc..77756b5e2d 100644
--- a/src/main/java/org/myrobotlab/codec/CodecUtils.java
+++ b/src/main/java/org/myrobotlab/codec/CodecUtils.java
@@ -1,6 +1,5 @@
 package org.myrobotlab.codec;
 
-
 import java.io.BufferedOutputStream;
 import java.io.ByteArrayOutputStream;
 import java.io.FileOutputStream;
@@ -29,7 +28,6 @@
 import java.util.Set;
 import java.util.stream.Collectors;
 
-import org.myrobotlab.codec.json.GsonPolymorphicTypeAdapterFactory;
 import org.myrobotlab.codec.json.JacksonPolymorphicModule;
 import org.myrobotlab.codec.json.JacksonPrettyPrinter;
 import org.myrobotlab.codec.json.JsonDeserializationException;
@@ -62,1499 +60,1485 @@
 import com.fasterxml.jackson.databind.module.SimpleModule;
 import com.fasterxml.jackson.databind.type.TypeFactory;
 import com.fasterxml.jackson.module.noctordeser.NoCtorDeserModule;
-import com.google.gson.Gson;
-import com.google.gson.GsonBuilder;
-import com.google.gson.internal.LinkedTreeMap;
 
 /**
  * handles all encoding and decoding of MRL messages or api(s) assumed context -
  * services can add an assumed context as a prefix
  * /api/returnEncoding/inputEncoding/service/method/param1/param2/ ...
  * <p>
- * xmpp for example assumes (/api/string/gson)/service/method/param1/param2/ ...
+ * xmpp for example assumes (/api/string/json)/service/method/param1/param2/ ...
  * <p>
  * scheme = alpha *( alpha | digit | "+" | "-" | "." ) Components of all URIs: [
  * &lt;scheme&gt;:]&lt;scheme-specific-part&gt;[#&lt;fragment&gt;]
  * <p>
  * branch API test 5
  *
- * @see <a href="http://stackoverflow.com/questions/3641722/valid-characters-for-uri-schemes">Valid characters for URI schemes</a>
+ * @see <a href=
+ *      "http://stackoverflow.com/questions/3641722/valid-characters-for-uri-schemes">Valid
+ *      characters for URI schemes</a>
  */
 public class CodecUtils {
 
-    public final static Logger log = LoggerFactory.getLogger(CodecUtils.class);
-    /**
-     * The string to be used to specify the API in URIs,
-     * with leading and trailing slash.
-     */
-    public final static String PARAMETER_API = "/api/";
-    /**
-     * The string to be used in URIs to specify the API
-     */
-    public final static String PREFIX_API = "api";
-    /**
-     * The MIME type used to specify JSON data.
-     *
-     * @see <a href="https://developer.mozilla.org/en-US/docs/Web/HTTP/Basics_of_HTTP/MIME_types">MIME types</a>
-     */
-    public final static String MIME_TYPE_JSON = "application/json";
+  public final static Logger log = LoggerFactory.getLogger(CodecUtils.class);
+  /**
+   * The string to be used to specify the API in URIs, with leading and trailing
+   * slash.
+   */
+  public final static String PARAMETER_API = "/api/";
+  /**
+   * The string to be used in URIs to specify the API
+   */
+  public final static String PREFIX_API = "api";
+  /**
+   * The MIME type used to specify JSON data.
+   *
+   * @see <a href=
+   *      "https://developer.mozilla.org/en-US/docs/Web/HTTP/Basics_of_HTTP/MIME_types">MIME
+   *      types</a>
+   */
+  public final static String MIME_TYPE_JSON = "application/json";
 
-    // mime-types
-    /**
-     * Whether we are using the GSON JSON backend or not. If false,
-     * use Jackson.
-     * TODO Replace with enum to allow extension for multiple backends
-     */
-    public static final boolean USING_GSON = false;
-    /**
-     * The key used to locate type information
-     * in a JSON dictionary. This is used to serialize
-     * type information into the JSON and to deserialize
-     * JSON into the correct type.
-     */
-    public static final String CLASS_META_KEY = "class";
-    /**
-     * Set of all known wrapper types, which are classes that correspond to
-     * Java primitives (plus {@link Void}).
-     *
-     * @see <a href="https://www.w3schools.com/java/java_wrapper_classes.asp">Java Wrapper Classes</a>
-     */
-    public static final Set<Class<?>> WRAPPER_TYPES = new HashSet<>(
-            Arrays.asList(Boolean.class, Character.class, Byte.class, Short.class, Integer.class, Long.class,
-                    Float.class, Double.class, Void.class));
-    /**
-     * Set of the fully-qualified (AKA canonical) names of {@link #WRAPPER_TYPES}.
-     *
-     * @see <a href="https://www.w3schools.com/java/java_wrapper_classes.asp">Java Wrapper Classes</a>
-     */
-    public static final Set<String> WRAPPER_TYPES_CANONICAL =
-            WRAPPER_TYPES.stream().map(Object::getClass).map(Class::getCanonicalName).collect(Collectors.toSet());
-    public static final String API_MESSAGES = "messages";
-    public static final String API_SERVICE = "service";
+  /**
+   * The key used to locate type information in a JSON dictionary. This is used
+   * to serialize type information into the JSON and to deserialize JSON into
+   * the correct type.
+   */
+  public static final String CLASS_META_KEY = "class";
+  /**
+   * Set of all known wrapper types, which are classes that correspond to Java
+   * primitives (plus {@link Void}).
+   *
+   * @see <a href="https://www.w3schools.com/java/java_wrapper_classes.asp">Java
+   *      Wrapper Classes</a>
+   */
+  public static final Set<Class<?>> WRAPPER_TYPES = new HashSet<>(
+      Arrays.asList(Boolean.class, Character.class, Byte.class, Short.class, Integer.class, Long.class, Float.class, Double.class, Void.class));
+  /**
+   * Set of the fully-qualified (AKA canonical) names of {@link #WRAPPER_TYPES}.
+   *
+   * @see <a href="https://www.w3schools.com/java/java_wrapper_classes.asp">Java
+   *      Wrapper Classes</a>
+   */
+  public static final Set<String> WRAPPER_TYPES_CANONICAL = WRAPPER_TYPES.stream().map(Object::getClass).map(Class::getCanonicalName).collect(Collectors.toSet());
+  public static final String API_MESSAGES = "messages";
+  public static final String API_SERVICE = "service";
 
-    /**
-     * The path from a top-level URL to the messages API
-     * endpoint.
-     * <p></p>
-     * FIXME This should be moved to WebGui,
-     *  CodecUtils should have no knowledge of URLs
-     */
-    public static final String API_MESSAGES_PATH = PARAMETER_API + API_MESSAGES;
+  /**
+   * The path from a top-level URL to the messages API endpoint.
+   * <p>
+   * </p>
+   * FIXME This should be moved to WebGui, CodecUtils should have no knowledge
+   * of URLs
+   */
+  public static final String API_MESSAGES_PATH = PARAMETER_API + API_MESSAGES;
 
+  /**
+   * The path from a top-level URL to the service API endpoint.
+   * <p>
+   * </p>
+   * FIXME This should be moved to WebGui, CodecUtils should have no knowledge
+   * of URLs
+   */
+  public static final String API_SERVICE_PATH = PARAMETER_API + API_SERVICE;
+  /**
+   * use {@link MethodCache}
+   */
+  @Deprecated
+  final static HashMap<String, Method> methodCache = new HashMap<String, Method>();
+  /**
+   * a method signature map based on name and number of methods - the String[]
+   * will be the keys into the methodCache A method key is generated by input
+   * from some encoded protocol - the method key is object name + method name +
+   * parameter number - this returns a full method signature key which is used
+   * to look up the method in the methodCache
+   */
+  final static HashMap<String, ArrayList<Method>> methodOrdinal = new HashMap<String, ArrayList<Method>>();
+  final static HashSet<String> objectsCached = new HashSet<String>();
+  /**
+   * Equivalent to {@link #MIME_TYPE_JSON}
+   */
+  @Deprecated
+  static final String JSON = "application/javascript";
 
-    /**
-     * The path from a top-level URL to the service API
-     * endpoint.
-     * <p></p>
-     * FIXME This should be moved to WebGui,
-     *  CodecUtils should have no knowledge of URLs
-     */
-    public static final String API_SERVICE_PATH = PARAMETER_API + API_SERVICE;
-    /**
-     * use {@link MethodCache}
-     */
-    @Deprecated
-    final static HashMap<String, Method> methodCache = new HashMap<String, Method>();
-    /**
-     * a method signature map based on name and number of methods - the String[]
-     * will be the keys into the methodCache A method key is generated by input
-     * from some encoded protocol - the method key is object name + method name +
-     * parameter number - this returns a full method signature key which is used
-     * to look up the method in the methodCache
-     */
-    final static HashMap<String, ArrayList<Method>> methodOrdinal = new HashMap<String, ArrayList<Method>>();
-    final static HashSet<String> objectsCached = new HashSet<String>();
-    /**
-     * Equivalent to {@link #MIME_TYPE_JSON}
-     */
-    @Deprecated
-    static final String JSON = "application/javascript";
-    /**
-     * The type that GSON uses when it attempts to deserialize
-     * without knowing the target type, e.g. if the target
-     * is {@link Object}.
-     */
-    private static final Class<?> GSON_DEFAULT_OBJECT_TYPE = LinkedTreeMap.class;
-    /**
-     * The type that Jackson uses when it attempts to deserialize
-     * without knowing the target type, e.g. if the target
-     * is {@link Object} and no field matching {@link #CLASS_META_KEY}
-     * is found.
-     */
-    private static final Class<?> JACKSON_DEFAULT_OBJECT_TYPE = LinkedHashMap.class;
-    /**
-     * The type that the chosen JSON backend uses when it attempts to deserialize
-     * without knowing the target type, e.g. if the target
-     * is {@link Object} and no field matching {@link #CLASS_META_KEY}
-     * is found.
-     */
-    public static final Class<?> JSON_DEFAULT_OBJECT_TYPE = (USING_GSON) ? GSON_DEFAULT_OBJECT_TYPE : JACKSON_DEFAULT_OBJECT_TYPE;
-    
-    /**
-     * Default type for single parameter fromJson(String json), we initially assume this type 
-     */
-    public static final Class<?> DEFAULT_OBJECT_TYPE = LinkedHashMap.class;
-    
-    
-    /**
-     * The {@link Gson} object used for JSON operations when the selected backend is
-     * Gson.
-     *
-     * @see #USING_GSON
-     */
-    private static final Gson gson = new GsonBuilder().registerTypeAdapterFactory(new GsonPolymorphicTypeAdapterFactory())
-            .setDateFormat("yyyy-MM-dd HH:mm:ss.SSS").serializeNulls().disableHtmlEscaping().create();
-    /**
-     * The {@link Gson} object used to pretty-print JSON.
-     */
-    private static final Gson prettyGson = new GsonBuilder().registerTypeAdapterFactory(new GsonPolymorphicTypeAdapterFactory())
-            .setDateFormat("yyyy-MM-dd HH:mm:ss.SSS").setPrettyPrinting().disableHtmlEscaping().create();
-    /**
-     * The Jackson {@link ObjectMapper} used for JSON operations when
-     * the selected backend is Jackson.
-     *
-     * @see #USING_GSON
-     */
-    private static final ObjectMapper mapper = new ObjectMapper();
+  /**
+   * The type that Jackson uses when it attempts to deserialize without knowing
+   * the target type, e.g. if the target is {@link Object} and no field matching
+   * {@link #CLASS_META_KEY} is found.
+   */
+  private static final Class<?> JACKSON_DEFAULT_OBJECT_TYPE = LinkedHashMap.class;
+  /**
+   * The type that the chosen JSON backend uses when it attempts to deserialize
+   * without knowing the target type, e.g. if the target is {@link Object} and
+   * no field matching {@link #CLASS_META_KEY} is found.
+   */
+  public static final Class<?> JSON_DEFAULT_OBJECT_TYPE = JACKSON_DEFAULT_OBJECT_TYPE;
 
+  /**
+   * Default type for single parameter fromJson(String json), we initially
+   * assume this type
+   */
+  public static final Class<?> DEFAULT_OBJECT_TYPE = LinkedHashMap.class;
 
-    /**
-     * The pretty printer to be used with {@link #mapper}
-     * when {@link #USING_GSON} equals false, i.e. we're using Jackson.
-     */
-    private static final PrettyPrinter jacksonPrettyPrinter = new JacksonPrettyPrinter();
+  /**
+   * The Jackson {@link ObjectMapper} used for JSON operations when the selected
+   * backend is Jackson.
+   *
+   */
+  private static final ObjectMapper mapper = new ObjectMapper();
 
-    /**
-     * The {@link TypeFactory} used to generate type information for
-     * {@link #mapper} when the selected backend is Jackson.
-     * <p>
-     * No analogue exists for Gson, as it uses a different mechanism
-     * to represent types.
-     *
-     * @see #USING_GSON
-     */
-    private static final TypeFactory typeFactory = TypeFactory.defaultInstance();
+  /**
+   * The pretty printer to be used with {@link #mapper} 
+   */
+  private static final PrettyPrinter jacksonPrettyPrinter = new JacksonPrettyPrinter();
 
-    //Class initializer to setup mapper when the class is loaded
-    static {
-        //This allows Jackson to work just like GSON when no default constructor is available
-        mapper.registerModule(new NoCtorDeserModule());
+  /**
+   * The {@link TypeFactory} used to generate type information for
+   * {@link #mapper} when the selected backend is Jackson.
+   * <p>
+   */
+  private static final TypeFactory typeFactory = TypeFactory.defaultInstance();
 
-        SimpleModule proxySerializerModule = new SimpleModule();
-        proxySerializerModule.addSerializer(Proxy.class, new ProxySerializer());
-        mapper.registerModule(proxySerializerModule);
+  // Class initializer to setup mapper when the class is loaded
+  static {
+    // This allows Jackson to when no default constructor is
+    // available
+    mapper.registerModule(new NoCtorDeserModule());
 
-        //Actually add our polymorphic support
-        mapper.registerModule(JacksonPolymorphicModule.getPolymorphicModule());
+    SimpleModule proxySerializerModule = new SimpleModule();
+    proxySerializerModule.addSerializer(Proxy.class, new ProxySerializer());
+    mapper.registerModule(proxySerializerModule);
 
-        //Disables Jackson's automatic property detection
-        mapper.setVisibility(PropertyAccessor.ALL, JsonAutoDetect.Visibility.NONE);
-        mapper.setVisibility(PropertyAccessor.FIELD, JsonAutoDetect.Visibility.ANY);
-//        mapper.setVisibility(PropertyAccessor.SETTER, JsonAutoDetect.Visibility.PUBLIC_ONLY);
-        mapper.configure(SerializationFeature.FAIL_ON_EMPTY_BEANS, false);
+    // Actually add our polymorphic support
+    mapper.registerModule(JacksonPolymorphicModule.getPolymorphicModule());
 
-        //Make jackson behave like gson in that unknown properties are ignored
-        mapper.configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false);
-    }
+    // Disables Jackson's automatic property detection
+    mapper.setVisibility(PropertyAccessor.ALL, JsonAutoDetect.Visibility.NONE);
+    mapper.setVisibility(PropertyAccessor.FIELD, JsonAutoDetect.Visibility.ANY);
+    // mapper.setVisibility(PropertyAccessor.SETTER,
+    // JsonAutoDetect.Visibility.PUBLIC_ONLY);
+    mapper.configure(SerializationFeature.FAIL_ON_EMPTY_BEANS, false);
 
-    /**
-     * Ensures a service type name is fully qualified.
-     * If the type name is short, it will assume the type
-     * exists in the {@code org.myrobotlab.service} package.
-     *
-     * @param type The service type name, either shortened or
-     *             fully qualified.
-     * @return Null if type is null, otherwise fully qualified name.
-     */
-    public static String makeFullTypeName(String type) {
-        if (type == null) {
-            return null;
-        }
-        if (!type.contains(".")) {
-            return String.format("org.myrobotlab.service.%s", type);
-        }
-        return type;
-    }
+    // Make jackson behave such that unknown properties are ignored
+    mapper.configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, true);
 
-    /**
-     * Capitalize the first character of the given string
-     *
-     * @param line The string to be capitalized
-     * @return The capitalized version of line.
-     */
-    public static String capitalize(final String line) {
-        return Character.toUpperCase(line.charAt(0)) + line.substring(1);
-    }
+  }
 
-    /**
-     * Deserializes a JSON string into the target object
-     * (or subclass of if {@link #CLASS_META_KEY} exists)
-     * using the selected JSON backend.
-     *
-     * @param json  The JSON to be deserialized in String form
-     * @param clazz The target class. If a class is not supplied the default class returned will be an {@link #DEFAULT_OBJECT_TYPE}
-     * @param <T>   The type of the target class.
-     * @return An object of the specified class (or a subclass of) with the state
-     * given by the json. Null is an allowed return object.
-     * @throws JsonDeserializationException if an error during deserialization occurs.
-     * @see #USING_GSON
-     */
-    @SuppressWarnings("unchecked")
-    public static <T> /*@Nullable*/ T fromJson(/*@Nonnull*/ String json, /*@Nonnull*/ Class<T> clazz) {
-        try {
-            if (USING_GSON) {
-                if (clazz == null) {
-                  clazz = (Class<T>)DEFAULT_OBJECT_TYPE;
-                }
-                return gson.fromJson(json, clazz);
-            } else {
-              if (clazz == null) {
-
-                JsonParser parser = mapper.getFactory().createParser(json);
-                
-                // "peek" at the next token to determine its type
-                JsonToken token = parser.nextToken();
-
-                if (token == JsonToken.START_OBJECT) {
-                  clazz = (Class<T>)Map.class;
-                } else if (token == JsonToken.START_ARRAY) {
-                  clazz = (Class<T>)ArrayList.class;
-                } else if (token.isScalarValue()) {
-                  JsonNode node = mapper.readTree(json);
-                  if (node.isInt()) {
-                      return mapper.readValue(json, (Class<T>)Integer.class);
-                  } else if (node.isBoolean()) {
-                    return mapper.readValue(json, (Class<T>)Boolean.class);
-                  } else if (node.isNumber()) {
-                      return mapper.readValue(json, (Class<T>)Double.class);
-                  } else if (node.isTextual()) {
-                    return mapper.readValue(json, (Class<T>)String.class);
-                  }
-                } else {
-                    log.error("could not derive type from peeking json {}", json);
-                }
-                
-                parser.close();
-                
-              }
-              return mapper.readValue(json, clazz);
-            }
-        } catch (Exception e) {
-            throw new JsonDeserializationException(e);
-        }
+  /**
+   * Ensures a service type name is fully qualified. If the type name is short,
+   * it will assume the type exists in the {@code org.myrobotlab.service}
+   * package.
+   *
+   * @param type
+   *          The service type name, either shortened or fully qualified.
+   * @return Null if type is null, otherwise fully qualified name.
+   */
+  public static String makeFullTypeName(String type) {
+    if (type == null) {
+      return null;
     }
+    if (!type.contains(".")) {
+      return String.format("org.myrobotlab.service.%s", type);
+    }
+    return type;
+  }
 
-    /**
-     * Deserializes a JSON string into the target object
-     * (or subclass of if {@link #CLASS_META_KEY} exists)
-     * using the selected JSON backend.
-     *
-     * @param json          The JSON to be deserialized in String form
-     * @param genericClass  The target class.
-     * @param parameterized The list of types used as the genericClass type parameters
-     *                      of genericClass.
-     * @param <T>           The type of the target class.
-     * @return An object of the specified class (or a subclass of) with the state
-     * given by the json. Null is an allowed return object.
-     * @throws JsonDeserializationException if an error during deserialization occurs.
-     * @see #USING_GSON
-     */
-    public static <T> /*@Nullable*/ T fromJson(/*@Nonnull*/ String json, /*@Nonnull*/ Class<?> genericClass,
-                                           /*@Nonnull*/ Class<?>... parameterized) {
-        try {
-            if (USING_GSON) {
-                return gson.fromJson(json, getType(genericClass, parameterized));
-            }
-
-            return mapper.readValue(json, typeFactory.constructParametricType(genericClass, parameterized));
-        } catch (Exception e) {
-            throw new JsonDeserializationException(e);
+  /**
+   * Capitalize the first character of the given string
+   *
+   * @param line
+   *          The string to be capitalized
+   * @return The capitalized version of line.
+   */
+  public static String capitalize(final String line) {
+    return Character.toUpperCase(line.charAt(0)) + line.substring(1);
+  }
+
+  /**
+   * Deserializes a JSON string into the target object (or subclass of if
+   * {@link #CLASS_META_KEY} exists) using the selected JSON backend.
+   *
+   * @param json
+   *          The JSON to be deserialized in String form
+   * @param clazz
+   *          The target class. If a class is not supplied the default class
+   *          returned will be an {@link #DEFAULT_OBJECT_TYPE}
+   * @param <T>
+   *          The type of the target class.
+   * @return An object of the specified class (or a subclass of) with the state
+   *         given by the json. Null is an allowed return object.
+   * @throws JsonDeserializationException
+   *           if an error during deserialization occurs.
+   */
+  @SuppressWarnings("unchecked")
+  public static <T> /* @Nullable */ T fromJson(/* @Nonnull */ String json,
+      /* @Nonnull */ Class<T> clazz) {
+    try {
+      if (clazz == null) {
+
+        JsonParser parser = mapper.getFactory().createParser(json);
+
+        // "peek" at the next token to determine its type
+        JsonToken token = parser.nextToken();
+
+        if (token == JsonToken.START_OBJECT) {
+          clazz = (Class<T>) Map.class;
+        } else if (token == JsonToken.START_ARRAY) {
+          clazz = (Class<T>) ArrayList.class;
+        } else if (token.isScalarValue()) {
+          JsonNode node = mapper.readTree(json);
+          if (node.isInt()) {
+            return mapper.readValue(json, (Class<T>) Integer.class);
+          } else if (node.isBoolean()) {
+            return mapper.readValue(json, (Class<T>) Boolean.class);
+          } else if (node.isNumber()) {
+            return mapper.readValue(json, (Class<T>) Double.class);
+          } else if (node.isTextual()) {
+            return mapper.readValue(json, (Class<T>) String.class);
+          }
+        } else {
+          log.error("could not derive type from peeking json {}", json);
         }
+
+        parser.close();
+
+      }
+      return mapper.readValue(json, clazz);
+    } catch (Exception e) {
+      throw new JsonDeserializationException(e);
     }
+  }
 
-    /**
-     * Deserializes a json string into the type represented by
-     * {@link T}. {@code type} must must match {@link T} exactly,
-     * otherwise the deserializers may not deserialize into T.
-     *
-     * @param json A string encoded in JSON
-     * @param type Reified type information to pass to the deserializers
-     * @return An instance of T decoded from the json
-     * @param <T> The type to deserialize into
-     * @throws JsonDeserializationException if the selected deserializer throws an exception
-     */
-    public static <T> /*@Nullable*/ T fromJson(/*@NonNull*/ String json, /*@NonNull*/ StaticType<T> type) {
-        return fromJson(json, type.getType());
+  /**
+   * Deserializes a JSON string into the target object (or subclass of if
+   * {@link #CLASS_META_KEY} exists) using the selected JSON backend.
+   *
+   * @param json
+   *          The JSON to be deserialized in String form
+   * @param genericClass
+   *          The target class.
+   * @param parameterized
+   *          The list of types used as the genericClass type parameters of
+   *          genericClass.
+   * @param <T>
+   *          The type of the target class.
+   * @return An object of the specified class (or a subclass of) with the state
+   *         given by the json. Null is an allowed return object.
+   * @throws JsonDeserializationException
+   *           if an error during deserialization occurs.
+   */
+  public static <T> /* @Nullable */ T fromJson(/* @Nonnull */ String json,
+      /* @Nonnull */ Class<?> genericClass, /* @Nonnull */ Class<?>... parameterized) {
+    try {
+      return mapper.readValue(json, typeFactory.constructParametricType(genericClass, parameterized));
+    } catch (Exception e) {
+      throw new JsonDeserializationException(e);
     }
+  }
 
-    /**
-     * Deserializes a JSON string into the target object
-     * (or subclass of if {@link #CLASS_META_KEY} exists)
-     * using the selected JSON backend.
-     *
-     * @param json The JSON to be deserialized in String form
-     * @param type The target type.
-     * @param <T>  The type of the target class.
-     * @return An object of the specified class (or a subclass of) with the state
-     * given by the json. Null is an allowed return object.
-     * @throws JsonDeserializationException if an error during deserialization occurs.
-     * @see #USING_GSON
-     */
-    public static <T> /*@Nullable*/ T fromJson(/*@Nonnull*/ String json, /*@Nonnull*/ Type type) {
-        try {
-            if (USING_GSON) {
-                return gson.fromJson(json, type);
-            }
-            return mapper.readValue(json, typeFactory.constructType(type));
-        } catch (Exception e) {
-            throw new JsonDeserializationException(e);
-        }
+  /**
+   * Deserializes a json string into the type represented by {@link T}.
+   * {@code type} must must match {@link T} exactly, otherwise the deserializers
+   * may not deserialize into T.
+   *
+   * @param json
+   *          A string encoded in JSON
+   * @param type
+   *          Reified type information to pass to the deserializers
+   * @return An instance of T decoded from the json
+   * @param <T>
+   *          The type to deserialize into
+   * @throws JsonDeserializationException
+   *           if the selected deserializer throws an exception
+   */
+  public static <T> /* @Nullable */ T fromJson(/* @NonNull */ String json,
+      /* @NonNull */ StaticType<T> type) {
+    return fromJson(json, type.getType());
+  }
+
+  /**
+   * Deserializes a JSON string into the target object (or subclass of if
+   * {@link #CLASS_META_KEY} exists) using the selected JSON backend.
+   *
+   * @param json
+   *          The JSON to be deserialized in String form
+   * @param type
+   *          The target type.
+   * @param <T>
+   *          The type of the target class.
+   * @return An object of the specified class (or a subclass of) with the state
+   *         given by the json. Null is an allowed return object.
+   * @throws JsonDeserializationException
+   *           if an error during deserialization occurs.
+   */
+  public static <T> /* @Nullable */ T fromJson(/* @Nonnull */ String json,
+      /* @Nonnull */ Type type) {
+    try {
+      return mapper.readValue(json, typeFactory.constructType(type));
+    } catch (Exception e) {
+      throw new JsonDeserializationException(e);
     }
+  }
 
-    /**
-     * Convert the given JSON string
-     * into an equivalent tree map.
-     *
-     * @param json The json to be converted
-     * @return The json in a tree map form
-     * @throws JsonDeserializationException if deserialization fails
-     */
-    @SuppressWarnings("unchecked")
-    public static LinkedTreeMap<String, Object> toTree(String json) {
-        try {
-            if (USING_GSON) {
-                return gson.fromJson(json, LinkedTreeMap.class);
-            }
-            return (LinkedTreeMap<String, Object>) mapper.readValue(json, LinkedTreeMap.class);
-        } catch (Exception e) {
-            throw new JsonDeserializationException(e);
-        }
+  /**
+   * Convert the given JSON string into an equivalent tree map.
+   *
+   * @param json
+   *          The json to be converted
+   * @return The json in a tree map form
+   * @throws JsonDeserializationException
+   *           if deserialization fails
+   */
+  @SuppressWarnings("unchecked")
+  public static LinkedHashMap<String, Object> toTree(String json) {
+    try {
+      return (LinkedHashMap<String, Object>) mapper.readValue(json, LinkedHashMap.class);
+    } catch (Exception e) {
+      throw new JsonDeserializationException(e);
     }
+  }
 
-    public static Type getType(final Class<?> rawClass, final Class<?>... parameterClasses) {
-        return new ParameterizedType() {
-            @Override
-            public Type[] getActualTypeArguments() {
-                return parameterClasses;
-            }
+  public static Type getType(final Class<?> rawClass, final Class<?>... parameterClasses) {
+    return new ParameterizedType() {
+      @Override
+      public Type[] getActualTypeArguments() {
+        return parameterClasses;
+      }
 
-            @Override
-            public Type getRawType() {
-                return rawClass;
-            }
+      @Override
+      public Type getRawType() {
+        return rawClass;
+      }
 
-            @Override
-            public Type getOwnerType() {
-                return null;
-            }
+      @Override
+      public Type getOwnerType() {
+        return null;
+      }
 
-        };
-    }
+    };
+  }
 
-    static public byte[] getBytes(Object o) throws IOException {
-        ByteArrayOutputStream byteStream = new ByteArrayOutputStream(5000);
-        ObjectOutputStream os = new ObjectOutputStream(new BufferedOutputStream(byteStream));
-        os.flush();
-        os.writeObject(o);
-        os.flush();
-        return byteStream.toByteArray();
-    }
+  static public byte[] getBytes(Object o) throws IOException {
+    ByteArrayOutputStream byteStream = new ByteArrayOutputStream(5000);
+    ObjectOutputStream os = new ObjectOutputStream(new BufferedOutputStream(byteStream));
+    os.flush();
+    os.writeObject(o);
+    os.flush();
+    return byteStream.toByteArray();
+  }
 
-    /**
-     * Gets the short name of a service. A
-     * short name is the name of the service without
-     * any runtime IDs, meaning no '@' signs.
-     *
-     * @param name The service name to be converted
-     * @return The simple name of the service. If null,
-     * will return null, and if already a simple name
-     * then will return name
-     */    
-    static public String getShortName(String name) {
-        if (name == null) {
-            return null;
-        }
-        if (name.contains("@")) {
-            return name.substring(0, name.indexOf("@"));
-        } else {
-            return name;
-        }
+  /**
+   * Gets the short name of a service. A short name is the name of the service
+   * without any runtime IDs, meaning no '@' signs.
+   *
+   * @param name
+   *          The service name to be converted
+   * @return The simple name of the service. If null, will return null, and if
+   *         already a simple name then will return name
+   */
+  static public String getShortName(String name) {
+    if (name == null) {
+      return null;
+    }
+    if (name.contains("@")) {
+      return name.substring(0, name.indexOf("@"));
+    } else {
+      return name;
     }
-        
+  }
 
-    // TODO
-    // public static Object encode(Object, encoding) - dispatches appropriately
-    //should be simple using an enum and map to a new Encoder functional interface
+  // TODO
+  // public static Object encode(Object, encoding) - dispatches appropriately
+  // should be simple using an enum and map to a new Encoder functional
+  // interface
 
-    /**
-     * Gets the instance id from a service name
-     *
-     * @param name the name of the instance
-     * @return the name of the instance
-     */
-    static public String getId(String name) {
-        if (name == null) {
-            return null;
-        }
-        if (name.contains("@")) {
-            return name.substring(name.lastIndexOf("@") + 1);
-        } else {
-            return null;
-        }
+  /**
+   * Gets the instance id from a service name
+   *
+   * @param name
+   *          the name of the instance
+   * @return the name of the instance
+   */
+  static public String getId(String name) {
+    if (name == null) {
+      return null;
     }
+    if (name.contains("@")) {
+      return name.substring(name.lastIndexOf("@") + 1);
+    } else {
+      return null;
+    }
+  }
 
-    /**
-     * Normalizes a service name to its full
-     * name, if not already. A full name consists of
-     * two parts: the short name that identifies the service
-     * in the context of its own runtime, and the Runtime ID,
-     * that identifies the service's runtime from others in the network.
-     * The two parts are separated by an {@code @} symbol.
-     * <p>
-     * If this method is given a short name, it is assumed to be local
-     * to this runtime, and it is normalized with the ID of this runtime.
-     * If the name is already a full name, then it is returned unmodified.
-     * @param name The service name to normalize
-     * @return The normalized (full) name, or null if name is null
-     */
-    public static String getFullName(String name) {
-        if (name == null) {
-            return null;
-        }
+  /**
+   * Normalizes a service name to its full name, if not already. A full name
+   * consists of two parts: the short name that identifies the service in the
+   * context of its own runtime, and the Runtime ID, that identifies the
+   * service's runtime from others in the network. The two parts are separated
+   * by an {@code @} symbol.
+   * <p>
+   * If this method is given a short name, it is assumed to be local to this
+   * runtime, and it is normalized with the ID of this runtime. If the name is
+   * already a full name, then it is returned unmodified.
+   * 
+   * @param name
+   *          The service name to normalize
+   * @return The normalized (full) name, or null if name is null
+   */
+  public static String getFullName(String name) {
+    if (name == null) {
+      return null;
+    }
 
-        if (getId(name) == null) {
-            return name + '@' + Platform.getLocalInstance().getId();
-        } else {
-            return name;
-        }
+    if (getId(name) == null) {
+      return name + '@' + Platform.getLocalInstance().getId();
+    } else {
+      return name;
     }
+  }
 
-    /**
-     * Checks whether two service names are equal by first normalizing
-     * each. If a name does not have a runtime ID, it is assumed to be
-     * a local service.
-     * @param name1 The first service name
-     * @param name2 The second service name
-     * @return Whether the two names are effectively equal
-     */
-    public static boolean checkServiceNameEquality(String name1, String name2) {
-        return Objects.equals(getFullName(name1), getFullName(name2));
+  /**
+   * Checks whether two service names are equal by first normalizing each. If a
+   * name does not have a runtime ID, it is assumed to be a local service.
+   * 
+   * @param name1
+   *          The first service name
+   * @param name2
+   *          The second service name
+   * @return Whether the two names are effectively equal
+   */
+  public static boolean checkServiceNameEquality(String name1, String name2) {
+    return Objects.equals(getFullName(name1), getFullName(name2));
+  }
+
+  /**
+   * Converts a topic method name to the name of the method that is used for
+   * callbacks. Usually this involves prepending the string "on", removing any
+   * "get" or "publish" prefix, and converting it all to proper camelCase.
+   *
+   * @param topicMethod
+   *          The topic method name, such as "publishState"
+   * @return The name for the callback method, such as "onState"
+   */
+  static public String getCallbackTopicName(String topicMethod) {
+    // replacements
+    if (topicMethod.startsWith("publish")) {
+      return String.format("on%s", capitalize(topicMethod.substring("publish".length())));
+    } else if (topicMethod.startsWith("get")) {
+      return String.format("on%s", capitalize(topicMethod.substring("get".length())));
     }
 
-    /**
-     * Converts a topic method name to the name of the method that is
-     * used for callbacks. Usually this involves prepending the string
-     * "on", removing any "get" or "publish" prefix, and converting
-     * it all to proper camelCase.
-     *
-     * @param topicMethod The topic method name, such as "publishState"
-     * @return The name for the callback method, such as "onState"
-     */
-    static public String getCallbackTopicName(String topicMethod) {
-        // replacements
-        if (topicMethod.startsWith("publish")) {
-            return String.format("on%s", capitalize(topicMethod.substring("publish".length())));
-        } else if (topicMethod.startsWith("get")) {
-            return String.format("on%s", capitalize(topicMethod.substring("get".length())));
-        }
+    // no replacement - just pefix and capitalize
+    // FIXME - subscribe to onMethod --- gets ---> onOnMethod :P
+    return String.format("on%s", capitalize(topicMethod));
+  }
 
-        // no replacement - just pefix and capitalize
-        // FIXME - subscribe to onMethod --- gets ---> onOnMethod :P
-        return String.format("on%s", capitalize(topicMethod));
+  /**
+   * Gets a String representation of a Message
+   *
+   * @param msg
+   *          The message
+   * @return The String representation of the message
+   */
+  static public String getMsgKey(Message msg) {
+    if (msg.sendingMethod != null) {
+      return String.format("%s.%s --> %s.%s(%s) - %d", msg.sender, msg.sendingMethod, msg.name, msg.method, CodecUtils.getParameterSignature(msg.data), msg.msgId);
+    } else {
+      return String.format("%s --> %s.%s(%s) - %d", msg.sender, msg.name, msg.method, CodecUtils.getParameterSignature(msg.data), msg.msgId);
     }
+  }
 
-    /**
-     * Gets a String representation of a Message
-     *
-     * @param msg The message
-     * @return The String representation of the message
-     */
-    static public String getMsgKey(Message msg) {
-        if (msg.sendingMethod != null) {
-            return String.format("%s.%s --> %s.%s(%s) - %d", msg.sender, msg.sendingMethod, msg.name, msg.method, CodecUtils.getParameterSignature(msg.data), msg.msgId);
+  /**
+   * Get a String representing the data in method parameter form, i.e. each
+   * element is separated by a comma. Only {@link #WRAPPER_TYPES} and
+   * {@link MRLListener} will be directly converted to string form using
+   * {@link Object#toString()}, all other types will be represented as their
+   * class's simple name.
+   *
+   * @param data
+   *          The list of objects to be represented as a parameter list string.
+   * @return The string representing the data array
+   */
+  static public String getParameterSignature(final Object[] data) {
+    if (data == null) {
+      return "";
+    }
+
+    StringBuffer ret = new StringBuffer();
+    for (int i = 0; i < data.length; ++i) {
+      if (data[i] != null) {
+        Class<?> c = data[i].getClass(); // not all data types are safe
+        // toString() e.g.
+        // SerializableImage
+        // if (c == String.class || c == Integer.class || c == Boolean.class ||
+        // c == Float.class || c == MRLListener.class) {
+        if (WRAPPER_TYPES.stream().anyMatch(n -> n.equals(c)) || MRLListener.class.equals(c)) {
+          ret.append(data[i].toString());
         } else {
-            return String.format("%s --> %s.%s(%s) - %d", msg.sender, msg.name, msg.method, CodecUtils.getParameterSignature(msg.data), msg.msgId);
+          String type = data[i].getClass().getCanonicalName();
+          String shortTypeName = type.substring(type.lastIndexOf(".") + 1);
+          ret.append(shortTypeName);
         }
-    }
 
-    /**
-     * Get a String representing the data in method parameter form,
-     * i.e. each element is separated by a comma. Only {@link #WRAPPER_TYPES}
-     * and {@link MRLListener} will be directly converted to string form using
-     * {@link Object#toString()}, all other types will be represented as their class's
-     * simple name.
-     *
-     * @param data The list of objects to be represented as a parameter list string.
-     * @return The string representing the data array
-     */
-    static public String getParameterSignature(final Object[] data) {
-        if (data == null) {
-            return "";
+        if (data.length != i + 1) {
+          ret.append(",");
         }
+      } else {
+        ret.append("null");
+      }
 
-        StringBuffer ret = new StringBuffer();
-        for (int i = 0; i < data.length; ++i) {
-            if (data[i] != null) {
-                Class<?> c = data[i].getClass(); // not all data types are safe
-                // toString() e.g.
-                // SerializableImage
-                //if (c == String.class || c == Integer.class || c == Boolean.class || c == Float.class || c == MRLListener.class) {
-                if (WRAPPER_TYPES.stream().anyMatch(n -> n.equals(c)) || MRLListener.class.equals(c)) {
-                    ret.append(data[i].toString());
-                } else {
-                    String type = data[i].getClass().getCanonicalName();
-                    String shortTypeName = type.substring(type.lastIndexOf(".") + 1);
-                    ret.append(shortTypeName);
-                }
-
-                if (data.length != i + 1) {
-                    ret.append(",");
-                }
-            } else {
-                ret.append("null");
-            }
+    }
+    return ret.toString();
 
-        }
-        return ret.toString();
+  }
 
+  static public String getServiceType(String inType) {
+    if (inType == null) {
+      return null;
+    }
+    if (inType.contains(".")) {
+      return inType;
     }
+    return String.format("org.myrobotlab.service.%s", inType);
+  }
 
-    static public String getServiceType(String inType) {
-        if (inType == null) {
-            return null;
-        }
-        if (inType.contains(".")) {
-            return inType;
-        }
-        return String.format("org.myrobotlab.service.%s", inType);
+  /**
+   * Deserializes a message and its data from a JSON string representation into
+   * a fully decoded Message object. This method will first attempt to use the
+   * method cache to determine what types the data elements should be
+   * deserialized to, and if the method cache lookup fails it relies on the
+   * virtual "class" field of the JSON to provide the type information.
+   *
+   * @param jsonData
+   *          The serialized Message in JSON form
+   * @return A completely decoded Message object. Null is allowed if the JSON
+   *         represented null.
+   * @throws JsonDeserializationException
+   *           if jsonData is malformed
+   */
+  public static /* @Nullable */ Message jsonToMessage(/* @Nonnull */ String jsonData) {
+    if (log.isDebugEnabled()) {
+      log.debug("Deserializing message: {}", jsonData);
     }
+    Message msg = fromJson(jsonData, Message.class);
 
-    /**
-     * Deserializes a message and its data from a JSON
-     * string representation into a fully decoded Message
-     * object. This method will first attempt to use the
-     * method cache to determine what types the data
-     * elements should be deserialized to, and if the method
-     * cache lookup fails it relies on the virtual "class"
-     * field of the JSON to provide the type information.
-     *
-     * @param jsonData The serialized Message in JSON form
-     * @return A completely decoded Message object. Null is allowed if the JSON
-     *  represented null.
-     * @throws JsonDeserializationException if jsonData is malformed
-     */
-    public static /*@Nullable*/ Message jsonToMessage(/*@Nonnull*/ String jsonData) {
-      if (log.isDebugEnabled()) {
-        log.debug("Deserializing message: {}",jsonData);
-      }
-        Message msg = fromJson(jsonData, Message.class);
+    if (msg == null) {
+      log.warn("Null message within json, probably shouldn't happen");
+      return null;
+    }
+    return decodeMessageParams(msg);
+  }
 
-        if (msg == null) {
-            log.warn("Null message within json, probably shouldn't happen");
-            return null;
+  /**
+   * Performs the second-stage decoding of a Message with JSON-encoded data
+   * parameters. This method is meant to be a helper for the top-level Message
+   * decoding methods to go straight from the various codecs to a completely
+   * decoded Message.
+   * <p>
+   * Package visibility to allow alternative codecs to use this method.
+   * </p>
+   * <p>
+   * </p>
+   * <h2>Implementation Details</h2> There are important caveats to note when
+   * using this method as a result of the implementation chosen.
+   * <p>
+   * If the method msg invokes is contained within the {@link MethodCache},
+   * there exists type information for the data parameters and they can be
+   * deserialized into the correct type using this method.
+   * </p>
+   * <p>
+   * However, if no such method exists within the cache this method falls back
+   * on using the embedded virtual meta field ({@link #CLASS_META_KEY}). Since
+   * there is no type information available, there are two main caveats to using
+   * this fallback method:
+   * </p>
+   *
+   * <ol>
+   * <li>Without the type information from the method cache we have no way of
+   * knowing whether to interpret an array as an array of Objects or as a List
+   * (or even what implementor of List to use)</li>
+   * </ol>
+   *
+   *
+   * @param msg
+   *          The Message object containing the json-encoded data parameters.
+   *          This object will be modified in-place
+   * @return A fully-decoded Message
+   * @throws JsonDeserializationException
+   *           if any of the data parameters are malformed JSON
+   */
+  public static /* @Nonnull */ Message decodeMessageParams(/* @Nonnull */ Message msg) {
+    String serviceName = msg.getFullName();
+    Class<?> clazz = Runtime.getClass(serviceName);
+
+    // Nullability of clazz is checked with this, if null
+    // falls back to virt class field
+    boolean useVirtClassField = clazz == null;
+    if (!useVirtClassField) {
+      try {
+        Object[] params = MethodCache.getInstance().getDecodedJsonParameters(clazz, msg.method, msg.data);
+        if (params == null)
+          useVirtClassField = true;
+        else {
+          msg.data = params;
         }
-        return decodeMessageParams(msg);
+        msg.encoding = null;
+      } catch (RuntimeException e) {
+        log.info(String.format("MethodCache lookup fail: %s.%s", serviceName, msg.method));
+        // Fallback to virtual class field
+        useVirtClassField = true;
+      }
     }
 
-    /**
-     * Performs the second-stage decoding of a Message
-     * with JSON-encoded data parameters. This method is meant
-     * to be a helper for the top-level Message decoding methods
-     * to go straight from the various codecs to a completely decoded Message.
-     * <p>
-     * Package visibility to allow alternative codecs to use this method.
-     * </p>
-     *<p></p>
-     * <h2>Implementation Details</h2>
-     * There are important caveats to note when using
-     * this method as a result of the implementation chosen.
-     * <p>
-     *     If the method msg invokes is contained within the
-     *     {@link MethodCache}, there exists type information
-     *     for the data parameters and they can be deserialized
-     *     into the correct type using this method.
-     * </p>
-     * <p>
-     *     However, if no such method exists within
-     *     the cache this method falls back on using the
-     *     embedded virtual meta field ({@link #CLASS_META_KEY}).
-     *     Since there is no type information available, there are two
-     *     main caveats to using this fallback method:
-     * </p>
-     *
-     *     <ol>
-     *         <li>GSON has edge cases for arrays of objects, since
-     * we don't know what type is contained within the array we are forced
-     * to deserialize it to an array of Objects, but GSON skips our custom
-     * deserializer for the Object type. So an array of objects that are not
-     * primitives nor Strings *will* deserialize incorrectly unless
-     * we are using Jackson.</li>
-     *          <li>Without the type information from the method cache we have
-     * no way of knowing whether to interpret an array as an array of Objects
-     * or as a List (or even what implementor of List to use)</li>
-     *      </ol>
-     *
-     *
-     * @param msg The Message object containing the json-encoded data parameters.
-     *            This object will be modified in-place
-     * @return A fully-decoded Message
-     * @throws JsonDeserializationException if any of the data parameters are malformed JSON
-     */
-    static /*@Nonnull*/ Message decodeMessageParams(/*@Nonnull*/ Message msg) {
-        String serviceName = msg.getFullName();
-        Class<?> clazz = Runtime.getClass(serviceName);
-
-        //Nullability of clazz is checked with this, if null
-        //falls back to virt class field
-        boolean useVirtClassField = clazz == null;
-        if (!useVirtClassField) {
-            try {
-                Object[] params = MethodCache.getInstance().getDecodedJsonParameters(clazz, msg.method, msg.data);
-                if (params == null)
-                    useVirtClassField = true;
-                else {
-                    msg.data = params;
-                }
-                msg.encoding = null;
-            } catch (RuntimeException e) {
-                log.info(String.format("MethodCache lookup fail: %s.%s", serviceName, msg.method));
-                // Fallback to virtual class field
-                useVirtClassField = true;
-            }
+    // Not an else since useVirtClassField can be set in the above if block
+    if (useVirtClassField && msg.data != null) {
+      for (int i = 0; i < msg.data.length; i++) {
+        if (msg.data[i] instanceof String) {
+
+          if (isBoolean((String) msg.data[i])) {
+            msg.data[i] = makeBoolean((String) msg.data[i]);
+          } else if (isInteger((String) msg.data[i])) {
+            msg.data[i] = makeInteger((String) msg.data[i]);
+          } else if (isDouble((String) msg.data[i])) {
+            msg.data[i] = makeDouble((String) msg.data[i]);
+          } else if (((String) msg.data[i]).startsWith("\"")) {
+            msg.data[i] = fromJson((String) msg.data[i], String.class);
+          } else if (((String) msg.data[i]).startsWith("[")) {
+            // Array, deserialize to ArrayList to maintain compat with jackson
+            msg.data[i] = fromJson((String) msg.data[i], ArrayList.class);
+          } else {
+            // Object
+            // Serializable should cover everything of interest
+
+            msg.data[i] = fromJson((String) msg.data[i], Serializable.class);
+          }
+
+          if (msg.data[i] != null && JSON_DEFAULT_OBJECT_TYPE.isAssignableFrom(msg.data[i].getClass())) {
+            log.warn("Deserialized parameter to default object type. " + "Possibly missing virtual class field: " + msg.data[i]);
+          }
+        } else {
+          log.error("Attempted fallback Message decoding with virtual class field but " + "parameter is not String: %s");
         }
+      }
+      msg.encoding = null;
+    }
 
-        // Not an else since useVirtClassField can be set in the above if block
-        if (useVirtClassField) {
-            for (int i = 0; i < msg.data.length; i++) {
-                if (msg.data[i] instanceof String) {
-                    // GSON ignores custom deserializers when going to Object
-                    if (!USING_GSON) {
-                        msg.data[i] = fromJson((String) msg.data[i], Object.class);
-                    } else {
-                        // Workaround because GSON won't deserialize a primitive when
-                        // given serializable
-                        if (isBoolean((String) msg.data[i])) {
-                            msg.data[i] = makeBoolean((String) msg.data[i]);
-                        } else if(isInteger((String) msg.data[i])) {
-                            msg.data[i] = makeInteger((String) msg.data[i]);
-                        } else if (isDouble((String) msg.data[i])) {
-                            msg.data[i] = makeDouble((String) msg.data[i]);
-                        } else if (((String) msg.data[i]).startsWith("\"")) {
-                            msg.data[i] = fromJson((String) msg.data[i], String.class);
-                        } else if(((String) msg.data[i]).startsWith("[")) {
-                            // Array, deserialize to ArrayList to maintain compat with jackson
-                            msg.data[i] = fromJson((String) msg.data[i], ArrayList.class);
-                        } else {
-                            // Object
-                            // Serializable should cover everything of interest
-                            
-                            msg.data[i] = fromJson((String) msg.data[i], Serializable.class);
-                        }
-
-                    }
-
-                    if (msg.data[i] != null && JSON_DEFAULT_OBJECT_TYPE.isAssignableFrom(msg.data[i].getClass())) {
-                        log.warn("Deserialized parameter to default object type. " +
-                                "Possibly missing virtual class field: " +
-                                msg.data[i]);
-                    }
-                } else {
-                    log.error(
-                            "Attempted fallback Message decoding with virtual class field but " +
-                                    "parameter is not String: %s"
-                    );
-                }
-            }
-            msg.encoding = null;
-        }
+    return msg;
+  }
 
-        return msg;
-    }
+  /**
+   * most lossy protocols need conversion of parameters into correctly typed
+   * elements this method is used to query a candidate method to see if a simple
+   * conversion is possible
+   *
+   * @param clazz
+   *          the class
+   * @return true/false
+   */
+  public static boolean isSimpleType(Class<?> clazz) {
+    return WRAPPER_TYPES.contains(clazz) || clazz == String.class;
+  }
 
-    public static Message gsonToMsg(String gsonData) {
-        return gson.fromJson(gsonData, Message.class);
-    }
+  public static boolean isWrapper(Class<?> clazz) {
+    return WRAPPER_TYPES.contains(clazz);
+  }
 
-    /**
-     * most lossy protocols need conversion of parameters into correctly typed
-     * elements this method is used to query a candidate method to see if a simple
-     * conversion is possible
-     *
-     * @param clazz the class
-     * @return true/false
-     */
-    public static boolean isSimpleType(Class<?> clazz) {
-        return WRAPPER_TYPES.contains(clazz) || clazz == String.class;
+  public static boolean isWrapper(String className) {
+    return WRAPPER_TYPES_CANONICAL.contains(className);
+  }
+
+  /**
+   * Converts a snake_case String to a camelCase variant.
+   *
+   * @param s
+   *          A String written in snake_case
+   * @return The same String but converted to camelCase
+   */
+  static public String toCamelCase(String s) {
+    String[] parts = s.split("_");
+    String camelCaseString = "";
+    for (String part : parts) {
+      camelCaseString = camelCaseString + toCCase(part);
     }
+    return String.format("%s%s", camelCaseString.substring(0, 1).toLowerCase(), camelCaseString.substring(1));
+  }
+
+  /**
+   * Capitalizes the first character of the string while the rest is set to
+   * lower case.
+   *
+   * @param s
+   *          The string
+   * @return A String that is all lower case except for the first character
+   */
+  static public String toCCase(String s) {
+    return s.substring(0, 1).toUpperCase() + s.substring(1).toLowerCase();
+  }
 
-    public static boolean isWrapper(Class<?> clazz) {
-        return WRAPPER_TYPES.contains(clazz);
+  /**
+   * Convert an Object to its JSON string form using the chosen JSON backend.
+   *
+   * @param o
+   *          The object to be converted
+   * @return The object in String JSON form
+   * @throws JsonSerializationException
+   *           if serialization fails
+   */
+  public static String toJson(Object o) {
+    try {
+      return mapper.writeValueAsString(o);
+    } catch (Exception e) {
+      throw new JsonSerializationException(e);
     }
+  }
 
-    public static boolean isWrapper(String className) {
-        return WRAPPER_TYPES_CANONICAL.contains(className);
+  /**
+   * Convert an object to JSON using the chosen backend and write the result to
+   * the specified output stream.
+   *
+   * @param out
+   *          The OutputStream that the resultant JSON will be written to.
+   * @param obj
+   *          The object that will be converted to JSON.
+   * @throws IOException
+   *           if writing to the output stream fails
+   * @throws JsonSerializationException
+   *           if an exception occurs during serialization.
+   */
+  static public void toJson(OutputStream out, Object obj) throws IOException {
+    String json;
+    try {
+      json = mapper.writeValueAsString(obj);
+    } catch (Exception jsonProcessingException) {
+      throw new JsonSerializationException(jsonProcessingException);
     }
+    if (json != null)
+      out.write(json.getBytes());
+  }
 
-    /**
-     * Converts a snake_case String to a camelCase variant.
-     *
-     * @param s A String written in snake_case
-     * @return The same String but converted to camelCase
-     */
-    static public String toCamelCase(String s) {
-        String[] parts = s.split("_");
-        String camelCaseString = "";
-        for (String part : parts) {
-            camelCaseString = camelCaseString + toCCase(part);
-        }
-        return String.format("%s%s", camelCaseString.substring(0, 1).toLowerCase(), camelCaseString.substring(1));
-    }
+  // === method signatures begin ===
 
-    /**
-     * Capitalizes the first character of the string while the rest is
-     * set to lower case.
-     *
-     * @param s The string
-     * @return A String that is all lower case except for the first character
-     */
-    static public String toCCase(String s) {
-        return s.substring(0, 1).toUpperCase() + s.substring(1).toLowerCase();
+  /**
+   * Convert the given object to JSON, as if the object were an instance of the
+   * given class.
+   *
+   * @param o
+   *          The object to be serialized
+   * @param clazz
+   *          The class to treat the object as
+   * @return The resultant JSON string
+   * @throws JsonSerializationException
+   *           if an exception occurs during serialization
+   */
+  public static String toJson(Object o, Class<?> clazz) {
+    try {
+      return mapper.writerFor(clazz).writeValueAsString(o);
+    } catch (Exception e) {
+      throw new JsonSerializationException(e);
     }
+  }
 
-    /**
-     * Convert an Object to its JSON string form using the chosen
-     * JSON backend.
-     *
-     * @param o The object to be converted
-     * @return The object in String JSON form
-     * @throws JsonSerializationException if serialization fails
-     * @see #USING_GSON
-     */
-    public static String toJson(Object o) {
-        try {
-            if (USING_GSON) {
-                return gson.toJson(o);
-            }
-
-            return mapper.writeValueAsString(o);
-        } catch (Exception e) {
-            throw new JsonSerializationException(e);
-        }
+  /**
+   * Serialize the given object to JSON using the selected JSON backend and
+   * write the result to a file with the given filename.
+   *
+   * @param o
+   *          The object to be serialized
+   * @param filename
+   *          The name of the file to write the JSON to
+   * @throws IOException
+   *           if writing to the file fails
+   * @throws JsonSerializationException
+   *           if serialization throws an exception
+   */
+  public static void toJsonFile(Object o, String filename) throws IOException {
+    byte[] json;
+    try {
+      json = mapper.writeValueAsBytes(o);
+    } catch (Exception e) {
+      throw new JsonSerializationException(e);
     }
 
-    /**
-     * Convert an object to JSON using the chosen backend
-     * and write the result to the specified output stream.
-     *
-     * @param out The OutputStream that the resultant JSON will be
-     *            written to.
-     * @param obj The object that will be converted to JSON.
-     * @throws IOException                if writing to the output stream fails
-     * @throws JsonSerializationException if an exception occurs during serialization.
-     * @see #USING_GSON
-     */
-    static public void toJson(OutputStream out, Object obj) throws IOException {
-        String json;
-        try {
-            if (USING_GSON) {
-                json = gson.toJson(obj);
-            } else {
-                json = mapper.writeValueAsString(obj);
-            }
-        } catch (Exception jsonProcessingException) {
-            throw new JsonSerializationException(jsonProcessingException);
-        }
-        if (json != null)
-            out.write(json.getBytes());
+    // try-wth-resources, ensures a file is closed even if an exception is
+    // thrown
+    try (FileOutputStream fos = new FileOutputStream(filename)) {
+      fos.write(json);
     }
+  }
 
-    // === method signatures begin ===
-
-    /**
-     * Convert the given object to JSON, as if the object were
-     * an instance of the given class.
-     *
-     * @param o     The object to be serialized
-     * @param clazz The class to treat the object as
-     * @return The resultant JSON string
-     * @throws JsonSerializationException if an exception occurs during serialization
-     * @see #USING_GSON
-     */
-    public static String toJson(Object o, Class<?> clazz) {
-        try {
-            if (USING_GSON) {
-                return gson.toJson(o, clazz);
-            }
-
-            return mapper.writerFor(clazz).writeValueAsString(o);
-        } catch (Exception e) {
-            throw new JsonSerializationException(e);
-        }
-    }
+  /**
+   * Converts a given String from camelCase to snake_case, setting the entire
+   * string to be lowercase.
+   *
+   * @param camelCase
+   *          The camelCase string to be converted
+   * @return The string in snake_case form
+   */
+  static public String toUnderScore(String camelCase) {
+    return toUnderScore(camelCase, false);
+  }
 
-    /**
-     * Serialize the given object to JSON using the selected
-     * JSON backend and write the result to a file with the
-     * given filename.
-     *
-     * @param o        The object to be serialized
-     * @param filename The name of the file to write the JSON to
-     * @throws IOException                if writing to the file fails
-     * @throws JsonSerializationException if serialization throws an exception
-     */
-    public static void toJsonFile(Object o, String filename) throws IOException {
-        byte[] json;
-        try {
-            if (USING_GSON) {
-                json = gson.toJson(o).getBytes();
-            } else {
-                json = mapper.writeValueAsBytes(o);
-            }
-        } catch (Exception e) {
-            throw new JsonSerializationException(e);
+  /**
+   * Converts a given String from camelCase to snake_case, If toLowerCase is
+   * true, the entire string will be set to lower case. If false, it will be set
+   * to uppercase, and if null the casing will not be changed.
+   *
+   * @param camelCase
+   *          The camelCase string to be converted
+   * @param toLowerCase
+   *          Whether the entire string should be lowercase, uppercase, or not
+   *          changed (null)
+   * @return The string in snake_case form
+   */
+  static public String toUnderScore(String camelCase, Boolean toLowerCase) {
+
+    byte[] a = camelCase.getBytes();
+    boolean lastLetterLower = false;
+    StringBuilder sb = new StringBuilder();
+    for (int i = 0; i < a.length; ++i) {
+      boolean currentCaseUpper = Character.isUpperCase(a[i]);
+
+      Character newChar = null;
+      if (toLowerCase != null) {
+        if (toLowerCase) {
+          newChar = (char) Character.toLowerCase(a[i]);
+        } else {
+          newChar = (char) Character.toUpperCase(a[i]);
         }
+      } else {
+        newChar = (char) a[i];
+      }
 
-        //try-wth-resources, ensures a file is closed even if an exception is thrown
-        try (FileOutputStream fos = new FileOutputStream(filename)) {
-            fos.write(json);
-        }
+      sb.append(String.format("%s%c", (lastLetterLower && currentCaseUpper) ? "_" : "", newChar));
+      lastLetterLower = !currentCaseUpper;
     }
 
-    /**
-     * Converts a given String from camelCase to snake_case,
-     * setting the entire string to be lowercase.
-     *
-     * @param camelCase The camelCase string to be converted
-     * @return The string in snake_case form
-     */
-    static public String toUnderScore(String camelCase) {
-        return toUnderScore(camelCase, false);
-    }
+    return sb.toString();
 
-    /**
-     * Converts a given String from camelCase to snake_case,
-     * If toLowerCase is true, the entire string will be set to
-     * lower case. If false, it will be set to uppercase, and if
-     * null the casing will not be changed.
-     *
-     * @param camelCase   The camelCase string to be converted
-     * @param toLowerCase Whether the entire string should be lowercase, uppercase,
-     *                    or not changed (null)
-     * @return The string in snake_case form
-     */
-    static public String toUnderScore(String camelCase, Boolean toLowerCase) {
-
-        byte[] a = camelCase.getBytes();
-        boolean lastLetterLower = false;
-        StringBuilder sb = new StringBuilder();
-        for (int i = 0; i < a.length; ++i) {
-            boolean currentCaseUpper = Character.isUpperCase(a[i]);
-
-            Character newChar = null;
-            if (toLowerCase != null) {
-                if (toLowerCase) {
-                    newChar = (char) Character.toLowerCase(a[i]);
-                } else {
-                    newChar = (char) Character.toUpperCase(a[i]);
-                }
-            } else {
-                newChar = (char) a[i];
-            }
-
-            sb.append(String.format("%s%c", (lastLetterLower && currentCaseUpper) ? "_" : "", newChar));
-            lastLetterLower = !currentCaseUpper;
-        }
+  }
 
-        return sb.toString();
+  /**
+   * Equivalent to {@link #isInteger(String)}
+   *
+   * @param string
+   *          The String to be checked
+   * @return Whether the String can be parsed as an Integer
+   */
+  @Deprecated
+  public static boolean tryParseInt(String string) {
+    try {
+      Integer.parseInt(string);
+      return true;
+    } catch (Exception e) {
 
     }
+    return false;
+  }
 
-    /**
-     * Equivalent to {@link #isInteger(String)}
-     *
-     * @param string The String to be checked
-     * @return Whether the String can be parsed as an Integer
-     */
-    @Deprecated
-    public static boolean tryParseInt(String string) {
-        try {
-            Integer.parseInt(string);
-            return true;
-        } catch (Exception e) {
-
-        }
-        return false;
+  public static String type(String type) {
+    int pos0 = type.indexOf(".");
+    if (pos0 > 0) {
+      return type;
     }
+    return String.format("org.myrobotlab.service.%s", type);
+  }
 
-    public static String type(String type) {
-        int pos0 = type.indexOf(".");
-        if (pos0 > 0) {
-            return type;
-        }
-        return String.format("org.myrobotlab.service.%s", type);
+  /**
+   * Get the simple name of a service type name. A simple name is the name of
+   * the service type without any package specifier.
+   *
+   * @param serviceType
+   *          The service type in String form
+   * @return The simple name of the servide type
+   */
+  public static String getSimpleName(String serviceType) {
+    int pos = serviceType.lastIndexOf(".");
+    if (pos > -1) {
+      return serviceType.substring(pos + 1);
     }
+    return serviceType;
+  }
 
-    /**
-     * Get the simple name of a service type name.
-     * A simple name is the name of the service type
-     * without any package specifier.
-     *
-     * @param serviceType The service type in String form
-     * @return The simple name of the servide type
-     */
-    public static String getSimpleName(String serviceType) {
-        int pos = serviceType.lastIndexOf(".");
-        if (pos > -1) {
-            return serviceType.substring(pos + 1);
-        }
-        return serviceType;
-    }
+  public static String getSafeReferenceName(String name) {
+    return name.replaceAll("[@/ .-]", "_");
+  }
 
-    public static String getSafeReferenceName(String name) {
-        return name.replaceAll("[@/ .-]", "_");
+  /**
+   * Serializes the specified object to JSON, using
+   * {@link #mapper} with {@link #jacksonPrettyPrinter} to pretty-ify the
+   * result. 
+   *
+   * @param ret
+   *          The object to be serialized
+   * @return The object in pretty JSON form
+   */
+  public static String toPrettyJson(Object ret) {
+    try {
+      return mapper.writer(jacksonPrettyPrinter).writeValueAsString(ret);
+    } catch (Exception e) {
+      throw new JsonSerializationException(e);
     }
 
-    /**
-     * Serializes the specified object to JSON, using
-     * {@link #prettyGson} or {@link #mapper}
-     * with {@link #jacksonPrettyPrinter}
-     * to pretty-ify the result. Which object is used depends on
-     * {@link #USING_GSON}
-     *
-     * @param ret The object to be serialized
-     * @return The object in pretty JSON form
-     */
-    public static String toPrettyJson(Object ret) {
-        try {
-            if (USING_GSON) {
-                return prettyGson.toJson(ret);
-            } else {
-
-                return mapper.writer(jacksonPrettyPrinter).writeValueAsString(ret);
-            }
-        } catch (Exception e) {
-            throw new JsonSerializationException(e);
-        }
+  }
 
+  /**
+   * Deserialize a given String into an array of Objects, treating the String as
+   * JSON and using the selected JSON backend.
+   *
+   * @param data
+   *          A String containing a JSON array
+   * @return An array of Objects created by deserializing the JSON array
+   * @throws Exception
+   *           If deserialization fails
+   */
+  static public Object[] decodeArray(Object data) throws Exception {
+    // ITS GOT TO BE STRING - it just has to be !!! :)
+    String instr = (String) data;
+    // array of Strings ? - don't want to double encode !
+    Object[] ret = null;
+    synchronized (data) {
+      ret = mapper.readValue(instr, Object[].class);
     }
+    return ret;
+  }
 
-    /**
-     * Deserialize a given String into an array of Objects,
-     * treating the String as JSON and using the selected JSON backend.
-     *
-     * @param data A String containing a JSON array
-     * @return An array of Objects created by deserializing the JSON array
-     * @throws Exception If deserialization fails
-     */
-    static public Object[] decodeArray(Object data) throws Exception {
-        // ITS GOT TO BE STRING - it just has to be !!! :)
-        String instr = (String) data;
-        // array of Strings ? - don't want to double encode !
-        Object[] ret = null;
-        synchronized (data) {
-            if (USING_GSON) {
-                ret = gson.fromJson(instr, Object[].class);
-            } else {
-                ret = mapper.readValue(instr, Object[].class);
-            }
-        }
-        return ret;
-    }
+  /**
+   * This is a Path to Message decoder - it takes a line of text and generates
+   * the appropriate msg with json encoded string parameters and either invokes
+   * (locally) or sendBlockingRemote (remotely)
+   *
+   * <pre>
+   *
+   * The expectation of this encoding is:
+   *    if "/api/service/" is found - the end of that string is the starting point
+   *    if "/api/service/" is not found - then the starting point of the string should be the service
+   *      e.g "runtime/getUptime"
+   *
+   * Important to remember getRequestURI is NOT decoded and getPathInfo is.
+   *
+   *
+   *
+   * Method              URL-Decoded Result
+   * ----------------------------------------------------
+   * getContextPath()        no      /app
+   * getLocalAddr()                  127.0.0.1
+   * getLocalName()                  30thh.loc
+   * getLocalPort()                  8480
+   * getMethod()                     GET
+   * getPathInfo()           yes     /a?+b
+   * getProtocol()                   HTTP/1.1
+   * getQueryString()        no      p+1=c+dp+2=e+f
+   * getRequestedSessionId() no      S%3F+ID
+   * getRequestURI()         no      /app/test%3F/a%3F+b;jsessionid=S+ID
+   * getRequestURL()         no      http://30thh.loc:8480/app/test%3F/a%3F+b;jsessionid=S+ID
+   * getScheme()                     http
+   * getServerName()                 30thh.loc
+   * getServerPort()                 8480
+   * getServletPath()        yes     /test?
+   * getParameterNames()     yes     [p 2, p 1]
+   * getParameter("p 1")     yes     c d
+   * </pre>
+   *
+   * @param from
+   *          - sender
+   * @param path
+   *          - cli encoded msg
+   * @return - a Message derived from cli
+   */
+  static public Message pathToMsg(String from, String path) {
+    // Message msg = Message.createMessage(from,"ls", null);
+    Message msg = new Message();
+    msg.name = "runtime"; // default ?
+    msg.method = "ls";
+
+    // not required unless asynchronous
+    msg.sender = from;
 
     /**
-     * This is the Cli encoder - it takes a line of text and generates the
-     * appropriate msg from it to either invoke (locally) or sendBlockingRemote
-     * (remotely)
-     *
      * <pre>
-     *
-     * The expectation of this encoding is:
-     *    if "/api/service/" is found - the end of that string is the starting point
-     *    if "/api/service/" is not found - then the starting point of the string should be the service
-     *      e.g "runtime/getUptime"
-     *
-     * Important to remember getRequestURI is NOT decoded and getPathInfo is.
-     *
+    
+     The key to this interface is leading "/" ...
+     "/" is absolute path - dir or execute
+     without "/" means runtime method - spaces and quotes can be delimiters
+    
+     "/"  -  list services
+     "/{serviceName}" - list data of service
+     "/{serviceName}/" - list methods of service
+     "/{serviceName}/{method}" - invoke method
+     "/{serviceName}/{method}/" - list parameters of method
+     "/{serviceName}/{method}/jsonP0/jsonP1/jsonP2/..." - invoke method with parameters
+    
+     or runtime
+     {method}
+     {method}/
+     {method}/p01
      *
      *
-     * Method              URL-Decoded Result
-     * ----------------------------------------------------
-     * getContextPath()        no      /app
-     * getLocalAddr()                  127.0.0.1
-     * getLocalName()                  30thh.loc
-     * getLocalPort()                  8480
-     * getMethod()                     GET
-     * getPathInfo()           yes     /a?+b
-     * getProtocol()                   HTTP/1.1
-     * getQueryString()        no      p+1=c+dp+2=e+f
-     * getRequestedSessionId() no      S%3F+ID
-     * getRequestURI()         no      /app/test%3F/a%3F+b;jsessionid=S+ID
-     * getRequestURL()         no      http://30thh.loc:8480/app/test%3F/a%3F+b;jsessionid=S+ID
-     * getScheme()                     http
-     * getServerName()                 30thh.loc
-     * getServerPort()                 8480
-     * getServletPath()        yes     /test?
-     * getParameterNames()     yes     [p 2, p 1]
-     * getParameter("p 1")     yes     c d
      * </pre>
-     *
-     * @param contextPath - prefix to be added if supplied
-     * @param from        - sender
-     * @param to          - target service
-     * @param cmd         - cli encoded msg
-     * @return - a Message derived from cli
      */
-    static public Message cliToMsg(String contextPath, String from, String to, String cmd) {
-        Message msg = Message.createMessage(from, to, "ls", null);
-
-        /**
-         * <pre>
-
-         The key to this interface is leading "/" ...
-         "/" is absolute path - dir or execute
-         without "/" means runtime method - spaces and quotes can be delimiters
-
-         "/"  -  list services
-         "/{serviceName}" - list data of service
-         "/{serviceName}/" - list methods of service
-         "/{serviceName}/{method}" - invoke method
-         "/{serviceName}/{method}/" - list parameters of method
-         "/{serviceName}/{method}/p0/p1/p2" - invoke method with parameters
-
-         or runtime
-         {method}
-         {method}/
-         {method}/p01
-         *
-         *
-         * </pre>
-         */
-
-        cmd = cmd.trim();
-
-        // remove uninteresting api prefix
-        if (cmd.startsWith(API_SERVICE_PATH)) {
-            cmd = cmd.substring(API_SERVICE_PATH.length());
-        }
-
-        if (contextPath != null) {
-            cmd = contextPath + cmd;
-        }
 
-        // assume runtime as 'default'
-        if (msg.name == null) {
-            // FIXME "runtime" really needs to be a constant at the very least
-            msg.name = "runtime";
-        }
+    path = path.trim();
 
-        // two possibilities - either it begins with "/" or it does not
-        // if it does begin with "/" its an absolute path to a dir, ls, or invoke
-        // if not then its a runtime method
-
-        if (cmd.startsWith("/")) {
-            // ABSOLUTE PATH !!!
-            String[] parts = cmd.split("/");
-
-            if (parts.length < 3) {
-                msg.method = "ls";
-                msg.data = new Object[]{cmd};
-                return msg;
-            }
-
-            // fix me diff from 2 & 3 "/"
-            if (parts.length >= 3) {
-                // prepare to parse the arguments
-
-                msg.name = parts[1];
-                // prepare the method
-                msg.method = parts[2].trim();
-
-                // FIXME - to encode or not to encode that is the question ...
-                // This source comes from the cli - which is "all" strings
-                // in theory it needs to be decoded from an all strings interface
-                // json is an all string interface so we will decode from cli strings
-                // (not json)
-                // using a json decoder - cuz it will work :P - and string will decode
-                // to a string
-                Object[] payload = new Object[parts.length - 3];
-                for (int i = 3; i < parts.length; ++i) {
-                    if (isInteger(parts[i])) {
-                        payload[i - 3] = makeInteger(parts[i]);
-                    } else if (isDouble(parts[i])) {
-                        payload[i - 3] = makeDouble(parts[i]);
-                    } else if (parts[i].equals("true") || parts[i].equals("false")) {
-                        payload[i - 3] = makeBoolean(parts[i]);
-                    } else { // String
-                        // sloppy as the cli does not require quotes \" but json does
-                        // humans won't add quotes - but we will
-                        payload[i - 3] = parts[i];
-                    }
-                }
-
-                msg.data = payload;
-            }
-            return msg;
-        } else {
-            // NOT ABOSLUTE PATH - SIMILAR TO EXECUTING IN THE RUNTIME /usr/bin path
-            // (ie runtime methods!)
-            // spaces for parameter delimiters ?
-            String[] spaces = cmd.split(" ");
-            // FIXME - need to deal with double quotes e.g. func A "B and C" D - p0 =
-            // "A" p1 = "B and C" p3 = "D"
-            msg.method = spaces[0];
-            Object[] payload = new Object[spaces.length - 1];
-            for (int i = 1; i < spaces.length; ++i) {
-                // webgui will never use this section of code
-                // currently the codepath is only excercised by InProcessCli
-                // all of this methods will be "optimized" single commands to runtime (i
-                // think)
-                // so we are going to error on the side of String parameters - other
-                // data types will have problems
-                payload[i - 1] = spaces[i];
-            }
-            msg.data = payload;
-
-            return msg;
-        }
+    // remove uninteresting api prefix
+    if (path.startsWith(API_SERVICE_PATH)) {
+      path = path.substring(API_SERVICE_PATH.length());
     }
 
-    /**
-     * Parse the specified data as an Integer. If parsing
-     * fails, returns null
-     *
-     * @param data The String to be coerced into an Integer
-     * @return the data as an Integer, if parsing fails then null instead
-     */
-    static public Integer makeInteger(String data) {
-        try {
-            return Integer.parseInt(data);
-        } catch (Exception e) {
-        }
-        return null;
-    }
+    // two possibilities - either it begins with "/" or it does not
+    // if it does begin with "/" its an absolute path to a dir, ls, or invoke
+    // if not then its a runtime method
+
+    if (path.startsWith("/")) {
+      // ABSOLUTE PATH !!!
+      String[] parts = path.split("/"); // <- this breaks things ! e.g.
+                                        // /runtime/connect/"http://localhost:8888"
+      // path parts less than 3 is a dir or ls
+      if (parts.length < 3) {
+        // this morphs a path which has less than 3 parts
+        // into a runtime "ls" method call to do reflection of services or service methods
+        // e.g. /clock -> /runtime/ls/"/clock"
+        // e.g. /clock/ -> /runtime/ls/"/clock/"
+
+        msg.method = "ls";
+        msg.data = new Object[] { "\"" + path + "\""};
+        return msg;
+      }
 
-    /**
-     * Checks whether the given String can be parsed as
-     * an Integer
-     *
-     * @param data The string to be checked
-     * @return true if the data can be parsed as an Integer, false otherwise
-     */
-    static public boolean isInteger(String data) {
-        try {
-            Integer.parseInt(data);
-            return true;
-        } catch (Exception e) {
-        }
-        return false;
+      // ["", "runtime", "shutdown"]
+      if (parts.length == 3) {
+        msg.name = parts[1];
+        msg.method = parts[2];
+        return msg;
+      }
+
+      // fix me diff from 2 & 3 "/"
+      if (parts.length >= 3) {
+        // prepare to parse the arguments
+
+        msg.name = parts[1];
+        // prepare the method
+        msg.method = parts[2].trim();
+
+        // remove the first 3 slashes
+        String data = path.substring(("/" + msg.name + "/" + msg.method + "/").length());
+        msg.data = extractJsonParamsFromPath(data);
+      }
+      return msg;
+    } else {
+      // e.g. ls /webgui/
+      // retrieves all webgui methods
+      String[] spaces = path.split(" ");
+      // FIXME - need to deal with double quotes e.g. func A "B and C" D - p0 =
+      // "A" p1 = "B and C" p3 = "D"
+      msg.method = spaces[0];
+      Object[] payload = new Object[spaces.length - 1];
+      for (int i = 1; i < spaces.length; ++i) {
+        // webgui will never use this section of code
+        // currently the codepath is only excercised by InProcessCli
+        // all of this methods will be "optimized" single commands to runtime (i
+        // think)
+        // so we are going to error on the side of String parameters - other
+        // data types will have problems
+        payload[i - 1] = spaces[i];
+      }
+      msg.data = payload;
+
+      return msg;
     }
+  }
 
-    /**
-     * Checks whether the given String can be parsed as
-     * a Double
-     *
-     * @param data The string to be checked
-     * @return true if the data can be parsed as a Double, false otherwise
-     */
-    static public boolean isDouble(String data) {
-        try {
-            Double.parseDouble(data);
-            return true;
-        } catch (Exception e) {
+  /**
+   * extractJsonFromPath exects a forwad slash deliminated string
+   * 
+   * <pre>
+   * json1 / json2 / json3
+   * </pre>
+   * 
+   * It will return the json parts in a string array
+   * 
+   * @param input
+   * @return
+   */
+  public static Object[] extractJsonParamsFromPath(String input) {
+    List<Object> fromJson = new ArrayList<>();
+    StringBuilder currentJson = new StringBuilder();
+    boolean insideQuotes = false;
+
+    for (char c : input.toCharArray()) {
+      if (c == '"' && !insideQuotes) {
+        insideQuotes = true;
+      } else if (c == '"' && insideQuotes) {
+        insideQuotes = false;
+      }
+
+      if (c == '/' && !insideQuotes) {
+        if (currentJson.length() > 0) {
+          fromJson.add(currentJson.toString());
+          currentJson = new StringBuilder();
         }
-        return false;
+      } else {
+        currentJson.append(c);
+      }
     }
 
-    /**
-     * Parse the specified data as a Double. If parsing
-     * fails, returns null
-     *
-     * @param data The String to be coerced into a Doubled=
-     * @return the data as a Double, if parsing fails then null instead
-     */
-    static public Double makeDouble(String data) {
-        try {
-            return Double.parseDouble(data);
-        } catch (Exception e) {
-        }
-        return null;
+    if (currentJson.length() > 0) {
+      fromJson.add(currentJson.toString());
     }
 
-    /**
-     * Checks whether the given String can be parsed as
-     * a Boolean
-     *
-     * @param data The string to be checked
-     * @return true if the data can be parsed as a boolean, false otherwise
-     */
-    @SuppressWarnings("ResultOfMethodCallIgnored")
-    static public Boolean isBoolean(String data) {
-        try {
-            Boolean.parseBoolean(data);
-            // The above will return false and not throw
-            // exception for most cases
-            return "true".equals(data) || "false".equals(data);
-        } catch (Exception ignored) {
-            return false;
-        }
+    return fromJson.toArray(new Object[0]);
+  }
+
+  /**
+   * Parse the specified data as an Integer. If parsing fails, returns null
+   *
+   * @param data
+   *          The String to be coerced into an Integer
+   * @return the data as an Integer, if parsing fails then null instead
+   */
+  static public Integer makeInteger(String data) {
+    try {
+      return Integer.parseInt(data);
+    } catch (Exception e) {
     }
+    return null;
+  }
 
-    /**
-     * Parse the specified data as a Boolean. If parsing
-     * fails, returns null
-     *
-     * @param data The String to be coerced into a Boolean
-     * @return the data as a boolean, if parsing fails then null instead
-     */
-    static public Boolean makeBoolean(String data) {
-        try {
-            return Boolean.parseBoolean(data);
-        } catch (Exception e) {
-        }
-        return null;
+  /**
+   * Checks whether the given String can be parsed as an Integer
+   *
+   * @param data
+   *          The string to be checked
+   * @return true if the data can be parsed as an Integer, false otherwise
+   */
+  static public boolean isInteger(String data) {
+    try {
+      Integer.parseInt(data);
+      return true;
+    } catch (Exception e) {
     }
+    return false;
+  }
 
-    /**
-     * Get a description for each of the supported APIs
-     *
-     * @return A list containing a description for each supported API
-     */
-    static public List<ApiDescription> getApis() {
-        List<ApiDescription> ret = new ArrayList<>();
-        ret.add(new ApiDescription("message", "{scheme}://{host}:{port}" + API_MESSAGES_PATH, "ws://localhost:8888" + API_MESSAGES_PATH,
-                "An asynchronous api useful for bi-directional websocket communication, primary messages api for the webgui.  URI is " + API_MESSAGES_PATH + " data contains a json encoded Message structure"));
-        ret.add(new ApiDescription("service", "{scheme}://{host}:{port}" + API_SERVICE_PATH, "http://localhost:8888" + API_SERVICE_PATH +"/runtime/getUptime",
-                "An synchronous api useful for simple REST responses"));
-        return ret;
+  /**
+   * Checks whether the given String can be parsed as a Double
+   *
+   * @param data
+   *          The string to be checked
+   * @return true if the data can be parsed as a Double, false otherwise
+   */
+  static public boolean isDouble(String data) {
+    try {
+      Double.parseDouble(data);
+      return true;
+    } catch (Exception e) {
     }
+    return false;
+  }
 
-    /**
-     * Creates a properly double encoded Json msg string. Why double encode ? -
-     * because initial decode should decode router and header information. The
-     * first decode will leave the payload a array of json strings. The header
-     * will send it to a another process or it will go to the MethodCache of some
-     * service. The MethodCache will decode a 2nd time based on a method signature
-     * key match (key based on parameter types).
-     *
-     * @param sender        the sender of the message
-     * @param sendingMethod the method sending it
-     * @param name          dest service
-     * @param method        dest method
-     * @param params        params to pass
-     * @return the string representation of the json message
-     */
-    public static String createJsonMsg(String sender, String sendingMethod, String name, String method, Object... params) {
-        Message msg = Message.createMessage(sender, name, method, null);
-        msg.sendingMethod = sendingMethod;
-        Object[] d = null;
-        if (params != null) {
-            d = new Object[params.length];
-            for (int i = 0; i < params.length; ++i) {
-                d[i] = CodecUtils.toJson(params[i]);
-            }
-            msg.setData(d);
-        }
-        return CodecUtils.toJson(msg);
+  /**
+   * Parse the specified data as a Double. If parsing fails, returns null
+   *
+   * @param data
+   *          The String to be coerced into a Doubled=
+   * @return the data as a Double, if parsing fails then null instead
+   */
+  static public Double makeDouble(String data) {
+    try {
+      return Double.parseDouble(data);
+    } catch (Exception e) {
     }
+    return null;
+  }
 
-    /**
-     * Encodes a Message as JSON, double-encoding the
-     * {@link Message#data} if not already double-encoded.
-     * The selected JSON backend will be used.
-     *
-     * @param inMsg The message to be encoded
-     * @return A String representation of the message and all of its
-     * members in JSON format.
-     * @see #USING_GSON
-     */
-    public static String toJsonMsg(Message inMsg) {
-        if ("json".equals(inMsg.encoding)) {
-            // msg already has json encoded data parameters
-            // just encode the msg envelope
-            return CodecUtils.toJson(inMsg);
-        }
-        Message msg = new Message(inMsg);
-        msg.encoding = "json";
-        Object[] params = inMsg.getData();
-        Object[] d = null;
-        if (params != null) {
-            d = new Object[params.length];
-            for (int i = 0; i < params.length; ++i) {
-                d[i] = CodecUtils.toJson(params[i]);
-            }
-            msg.setData(d);
-        }
-        return CodecUtils.toJson(msg);
+  /**
+   * Checks whether the given String can be parsed as a Boolean
+   *
+   * @param data
+   *          The string to be checked
+   * @return true if the data can be parsed as a boolean, false otherwise
+   */
+  @SuppressWarnings("ResultOfMethodCallIgnored")
+  static public Boolean isBoolean(String data) {
+    try {
+      Boolean.parseBoolean(data);
+      // The above will return false and not throw
+      // exception for most cases
+      return "true".equals(data) || "false".equals(data);
+    } catch (Exception ignored) {
+      return false;
     }
+  }
 
-    @Deprecated
-    public static Message toJsonParameters(Message msg) {
-        Object[] data = msg.getData();
-        if (data != null) {
-            Object[] params = new Object[data.length];
-            for (int i = 0; i < params.length; ++i) {
-                params[i] = toJson(data[i]);
-            }
-            msg.setData(params);
-        }
-        return msg;
+  /**
+   * Parse the specified data as a Boolean. If parsing fails, returns null
+   *
+   * @param data
+   *          The String to be coerced into a Boolean
+   * @return the data as a boolean, if parsing fails then null instead
+   */
+  static public Boolean makeBoolean(String data) {
+    try {
+      return Boolean.parseBoolean(data);
+    } catch (Exception e) {
     }
+    return null;
+  }
 
-    /**
-     * Serialize the given object to YAML.
-     *
-     * @param o The object to be serialized
-     * @return A String formatted as YAML representing the object
-     */
-    public static String toYaml(Object o) {
-        // not thread safe - so we new here
-        DumperOptions options = new DumperOptions();
-        options.setIndent(2);
-        options.setPrettyFlow(true);
-        // options.setBeanAccess(BeanAccess.FIELD);
-        options.setDefaultFlowStyle(DumperOptions.FlowStyle.BLOCK);
-        /**
-         * <pre>
-         *  How to suppress null fields if desired
-         Representer representer = new Representer() {
-         &#64;Override
-         protected NodeTuple representJavaBeanProperty(Object javaBean, Property property, Object propertyValue, Tag customTag) {
-         // if value of property is null, ignore it.
-         if (propertyValue == null) {
-         return null;
-         } else {
-         return super.representJavaBeanProperty(javaBean, property, propertyValue, customTag);
-         }
-         }
-         };
-         * </pre>
-         */
-
-        Yaml yaml = new Yaml(options);
-        // yaml.setBeanAccess(BeanAccess.FIELD);
-        String c = yaml.dump(o);
-        return c;
+  /**
+   * Get a description for each of the supported APIs
+   *
+   * @return A list containing a description for each supported API
+   */
+  static public List<ApiDescription> getApis() {
+    List<ApiDescription> ret = new ArrayList<>();
+    ret.add(new ApiDescription("message", "{scheme}://{host}:{port}" + API_MESSAGES_PATH, "ws://localhost:8888" + API_MESSAGES_PATH,
+        "An asynchronous api useful for bi-directional websocket communication, primary messages api for the webgui.  URI is " + API_MESSAGES_PATH
+            + " data contains a json encoded Message structure"));
+    ret.add(new ApiDescription("service", "{scheme}://{host}:{port}" + API_SERVICE_PATH, "http://localhost:8888" + API_SERVICE_PATH + "/runtime/getUptime",
+        "An synchronous api useful for simple REST responses"));
+    return ret;
+  }
+
+  /**
+   * Creates a properly double encoded Json msg string. Why double encode ? -
+   * because initial decode should decode router and header information. The
+   * first decode will leave the payload a array of json strings. The header
+   * will send it to a another process or it will go to the MethodCache of some
+   * service. The MethodCache will decode a 2nd time based on a method signature
+   * key match (key based on parameter types).
+   *
+   * @param sender
+   *          the sender of the message
+   * @param sendingMethod
+   *          the method sending it
+   * @param name
+   *          dest service
+   * @param method
+   *          dest method
+   * @param params
+   *          params to pass
+   * @return the string representation of the json message
+   */
+  public static String createJsonMsg(String sender, String sendingMethod, String name, String method, Object... params) {
+    Message msg = Message.createMessage(sender, name, method, null);
+    msg.sendingMethod = sendingMethod;
+    Object[] d = null;
+    if (params != null) {
+      d = new Object[params.length];
+      for (int i = 0; i < params.length; ++i) {
+        d[i] = CodecUtils.toJson(params[i]);
+      }
+      msg.setData(d);
     }
+    return CodecUtils.toJson(msg);
+  }
 
-    public static String allToYaml(Iterator<? extends Object> o) {
-        // not thread safe - so we new here
-        DumperOptions options = new DumperOptions();
-        options.setIndent(2);
-        options.setPrettyFlow(true);
-        options.setDefaultFlowStyle(DumperOptions.FlowStyle.BLOCK);
-
-        Yaml yaml = new Yaml(options);
-        // yaml.setBeanAccess(BeanAccess.FIELD);
-        String c = yaml.dumpAll(o);
-        return c;
+  /**
+   * Encodes a Message as JSON, double-encoding the {@link Message#data} if not
+   * already double-encoded. The selected JSON backend will be used.
+   *
+   * @param inMsg
+   *          The message to be encoded
+   * @return A String representation of the message and all of its members in
+   *         JSON format.
+   */
+  public static String toJsonMsg(Message inMsg) {
+    if ("json".equals(inMsg.encoding)) {
+      // msg already has json encoded data parameters
+      // just encode the msg envelope
+      return CodecUtils.toJson(inMsg);
     }
+    Message msg = new Message(inMsg);
+    msg.encoding = "json";
+    Object[] params = inMsg.getData();
+    Object[] d = null;
+    if (params != null) {
+      d = new Object[params.length];
+      for (int i = 0; i < params.length; ++i) {
+        d[i] = CodecUtils.toJson(params[i]);
+      }
+      msg.setData(d);
+    }
+    return CodecUtils.toJson(msg);
+  }
 
-    public static Iterable<Object> allFromYaml(InputStream is) {
-        // Yaml yaml = new Yaml(new Constructor(clazz));
-        Yaml yaml = new Yaml();
-        // yaml.setBeanAccess(BeanAccess.FIELD);
-        return yaml.loadAll(is);
+  @Deprecated
+  public static Message toJsonParameters(Message msg) {
+    Object[] data = msg.getData();
+    if (data != null) {
+      Object[] params = new Object[data.length];
+      for (int i = 0; i < params.length; ++i) {
+        params[i] = toJson(data[i]);
+      }
+      msg.setData(params);
     }
+    return msg;
+  }
 
+  /**
+   * Serialize the given object to YAML.
+   *
+   * @param o
+   *          The object to be serialized
+   * @return A String formatted as YAML representing the object
+   */
+  public static String toYaml(Object o) {
+    // not thread safe - so we new here
+    DumperOptions options = new DumperOptions();
+    options.setIndent(2);
+    options.setPrettyFlow(true);
+    // options.setBeanAccess(BeanAccess.FIELD);
+    options.setDefaultFlowStyle(DumperOptions.FlowStyle.BLOCK);
     /**
-     * Deserialize the given string into the specified class,
-     * treating the string as YAML.
-     *
-     * @param data  The YAML to be deserialized
-     * @param clazz The target class
-     * @param <T>   The type of the target class
-     * @return An instance of the target class with the state given by the YAML string
+     * <pre>
+     *  How to suppress null fields if desired
+     Representer representer = new Representer() {
+     &#64;Override
+     protected NodeTuple representJavaBeanProperty(Object javaBean, Property property, Object propertyValue, Tag customTag) {
+     // if value of property is null, ignore it.
+     if (propertyValue == null) {
+     return null;
+     } else {
+     return super.representJavaBeanProperty(javaBean, property, propertyValue, customTag);
+     }
+     }
+     };
+     * </pre>
      */
-    public static <T extends Object> T fromYaml(String data, Class<T> clazz) {
-        Yaml yaml = new Yaml(new Constructor(clazz));
-        // yaml.setBeanAccess(BeanAccess.FIELD);
-        return (T) yaml.load(data);
-    }
 
+    Yaml yaml = new Yaml(options);
+    // yaml.setBeanAccess(BeanAccess.FIELD);
+    String c = yaml.dump(o);
+    return c;
+  }
 
-    /**
-     * Checks if the service name is local to the current process instance
-     * @param name The service name to be checked
-     * @return Whether the service name is local to the given ID
-     */
-    public static boolean isLocal(String name) {
-      if (!name.contains("@")) {
-          return true;
-      }
-      return name.substring(name.indexOf("@") + 1).equals(Platform.getLocalInstance().getId());
+  public static String allToYaml(Iterator<? extends Object> o) {
+    // not thread safe - so we new here
+    DumperOptions options = new DumperOptions();
+    options.setIndent(2);
+    options.setPrettyFlow(true);
+    options.setDefaultFlowStyle(DumperOptions.FlowStyle.BLOCK);
+
+    Yaml yaml = new Yaml(options);
+    // yaml.setBeanAccess(BeanAccess.FIELD);
+    String c = yaml.dumpAll(o);
+    return c;
   }
-    
-    
-    /**
-     * Checks if the service name given by name is local,
-     * i.e. it has no remote ID (has no '@' symbol), or
-     * if it has a remote ID it matches the ID given.
-     *
-     * @param name The service name to be checked
-     * @param id   The runtime ID of the local instance
-     * @return Whether the service name is local to the given ID
-     */
-    public static boolean isLocal(String name, String id) {
-        if (!name.contains("@")) {
-            return true;
-        }
-        return name.substring(name.indexOf("@") + 1).equals(id);
+
+  public static Iterable<Object> allFromYaml(InputStream is) {
+    // Yaml yaml = new Yaml(new Constructor(clazz));
+    Yaml yaml = new Yaml();
+    // yaml.setBeanAccess(BeanAccess.FIELD);
+    return yaml.loadAll(is);
+  }
+
+  /**
+   * Deserialize the given string into the specified class, treating the string
+   * as YAML.
+   *
+   * @param data
+   *          The YAML to be deserialized
+   * @param clazz
+   *          The target class
+   * @param <T>
+   *          The type of the target class
+   * @return An instance of the target class with the state given by the YAML
+   *         string
+   */
+  public static <T extends Object> T fromYaml(String data, Class<T> clazz) {
+    Yaml yaml = new Yaml(new Constructor(clazz));
+    // yaml.setBeanAccess(BeanAccess.FIELD);
+    return (T) yaml.load(data);
+  }
+
+  /**
+   * Checks if the service name is local to the current process instance
+   * 
+   * @param name
+   *          The service name to be checked
+   * @return Whether the service name is local to the given ID
+   */
+  public static boolean isLocal(String name) {
+    if (!name.contains("@")) {
+      return true;
     }
+    return name.substring(name.indexOf("@") + 1).equals(Platform.getLocalInstance().getId());
+  }
 
-    /**
-     * Read a YAML file given by the filename and convert it into
-     * a ServiceConfig object by deserialization.
-     *
-     * @param filename The name of the YAML file
-     * @return The equivalent ServiceConfig object
-     * @throws IOException if reading the file fails
-     */
-    public static ServiceConfig readServiceConfig(String filename) throws IOException {
-        String data = Files.readString(Paths.get(filename));
-        Yaml yaml = new Yaml();
-        return yaml.load(data);
+  /**
+   * Checks if the service name given by name is local, i.e. it has no remote ID
+   * (has no '@' symbol), or if it has a remote ID it matches the ID given.
+   *
+   * @param name
+   *          The service name to be checked
+   * @param id
+   *          The runtime ID of the local instance
+   * @return Whether the service name is local to the given ID
+   */
+  public static boolean isLocal(String name, String id) {
+    if (!name.contains("@")) {
+      return true;
     }
+    return name.substring(name.indexOf("@") + 1).equals(id);
+  }
 
-    /**
-     * Set a field of the given object identified by the
-     * given field name to the given value. If the field
-     * does not exist or the value is of the wrong type,
-     * this method is a no-op.
-     *
-     * @param o     The object whose field will be modified
-     * @param field The name of the field to be modified
-     * @param value The new value to set the field to
-     */
-    public static void setField(Object o, String field, Object value) {
-        try {
-            // TODO - handle all types :P
-            Field f = o.getClass().getDeclaredField(field);
-            f.setAccessible(true);
-            f.set(o, value);
-        } catch (Exception e) {
-            /** don't care - if its not there don't set it */
-        }
+  /**
+   * Read a YAML file given by the filename and convert it into a ServiceConfig
+   * object by deserialization.
+   *
+   * @param filename
+   *          The name of the YAML file
+   * @return The equivalent ServiceConfig object
+   * @throws IOException
+   *           if reading the file fails
+   */
+  public static ServiceConfig readServiceConfig(String filename) throws IOException {
+    String data = Files.readString(Paths.get(filename));
+    Yaml yaml = new Yaml();
+    return yaml.load(data);
+  }
+
+  /**
+   * Set a field of the given object identified by the given field name to the
+   * given value. If the field does not exist or the value is of the wrong type,
+   * this method is a no-op.
+   *
+   * @param o
+   *          The object whose field will be modified
+   * @param field
+   *          The name of the field to be modified
+   * @param value
+   *          The new value to set the field to
+   */
+  public static void setField(Object o, String field, Object value) {
+    try {
+      // TODO - handle all types :P
+      Field f = o.getClass().getDeclaredField(field);
+      f.setAccessible(true);
+      f.set(o, value);
+    } catch (Exception e) {
+      /** don't care - if its not there don't set it */
     }
+  }
 
-    public static void main(String[] args) {
-        LoggingFactory.init(Level.INFO);
+  public static void main(String[] args) {
+    LoggingFactory.init(Level.INFO);
 
-        try {
-         
-            Object o = readServiceConfig("data/config/InMoov2_FingerStarter/i01.chatBot.yml");
+    try {
 
-            String json = CodecUtils.fromJson("test", String.class);
-            log.info("json {}", json);
-            json = CodecUtils.fromJson("a test", String.class);
-            log.info("json {}", json);
-            json = CodecUtils.fromJson("\"a/test\"", String.class);
-            log.info("json {}", json);
-            CodecUtils.fromJson("a/test", String.class);
+      Object o = readServiceConfig("data/config/InMoov2_FingerStarter/i01.chatBot.yml");
 
-        } catch (Exception e) {
-            log.error("main threw", e);
-        }
+      String json = CodecUtils.fromJson("test", String.class);
+      log.info("json {}", json);
+      json = CodecUtils.fromJson("a test", String.class);
+      log.info("json {}", json);
+      json = CodecUtils.fromJson("\"a/test\"", String.class);
+      log.info("json {}", json);
+      CodecUtils.fromJson("a/test", String.class);
+
+    } catch (Exception e) {
+      log.error("main threw", e);
     }
+  }
 
   /**
    * A description of an API type
@@ -1617,8 +1601,8 @@ public int hashCode() {
   }
 
   /**
-   * Single parameter from JSON. Will use default return type, currently LinkedTreeMap
-   * to return a POJO object that can be easily accessed.
+   * Single parameter from JSON. Will use default return type, currently
+   * LinkedTreeMap to return a POJO object that can be easily accessed.
    * 
    * @param json
    * @return
@@ -1630,19 +1614,19 @@ public static Object fromJson(String json) {
   public static String toBase64(byte[] bytes) {
     return Base64.getEncoder().encodeToString(bytes);
   }
-  
+
   public static byte[] fromBase64(String input) {
     return Base64.getDecoder().decode(input);
   }
-  
+
   public static String removeEnd(final String str, final String remove) {
     if (str == null || str.length() == 0 || remove == null || remove.length() == 0) {
-        return str;
+      return str;
     }
     if (str.endsWith(remove)) {
-        return str.substring(0, str.length() - remove.length());
+      return str.substring(0, str.length() - remove.length());
     }
     return str;
-}
+  }
 
 }
diff --git a/src/main/java/org/myrobotlab/codec/MethodCache.java b/src/main/java/org/myrobotlab/codec/MethodCache.java
deleted file mode 100644
index 7f2760010b..0000000000
--- a/src/main/java/org/myrobotlab/codec/MethodCache.java
+++ /dev/null
@@ -1,79 +0,0 @@
-package org.myrobotlab.codec;
-
-import java.lang.reflect.Method;
-import java.util.HashMap;
-import java.util.TreeMap;
-
-@Deprecated /* use new framework MethodCache */
-public class MethodCache {
-
-  static final private HashMap<String, Method> cache = new HashMap<String, Method>();
-
-  static final public String getSignature(Class<?> clazz, String methodName, int ordinal) {
-    return String.format("%s/%s-%d", clazz.getSimpleName(), methodName, ordinal);
-  }
-
-  static final public Class<?>[] getCandidateOnOrdinalSignature(Class<?> clazz, String methodName, int ordinal) throws NoSuchMethodException {
-    String signature = getSignature(clazz, methodName, ordinal);
-    if (cache.containsKey(signature)) {
-      Method m = cache.get(signature);
-      return m.getParameterTypes();
-    } else {
-      TreeMap<Integer, Method> methodScore = new TreeMap<Integer, Method>();
-      // changed to getMethods to support inheritance
-      // if failure - overloading funny re-implementing a vTable in c++
-      // Method[] methods = clazz.getDeclaredMethods();
-      Method[] methods = clazz.getMethods();
-      for (Method method : methods) {
-
-        // FIXME - future Many to one Map - if incoming data can "hint" would be
-        // an optimization
-        if (methodName.equals(method.getName())) {
-          // name matches - lets do more checking
-          Class<?>[] pTypes = method.getParameterTypes();
-          int score = 0;
-          if (ordinal == pTypes.length) {
-            // param length matches
-            boolean interfaceInParamList = false;
-            for (int i = 0; i < pTypes.length; ++i) {
-              // we don't support interfaces
-              // because what will we decode too ?
-              // we just can't ! :)
-              Class<?> type = pTypes[i];
-
-              /*
-               * BAD ASSUMPTION - SOME CODECs have a default class they
-               * serialize from for List Map HashSet etc..
-               */
-              /*
-               * if (type.isInterface()) { interfaceInParamList = true; break; }
-               */
-
-              if (type.isPrimitive() || type.equals(String.class)) {
-                ++score;
-              }
-
-            }
-
-            if (!interfaceInParamList) {
-              // rank / score method
-              methodScore.put(score, method);
-            }
-          }
-        }
-      } // we checked all methods
-
-      if (methodScore.size() > 0) {
-        return methodScore.get(methodScore.lastKey()).getParameterTypes();
-      } else {
-        throw new NoSuchMethodException(String.format("could not find %s.%s(ordinal %d) in declared methods", clazz.getSimpleName(), methodName, ordinal));
-      }
-    }
-
-  }
-
-  final public static void cache(Class<?> clazz, Method method) {
-    cache.put(getSignature(clazz, method.getName(), method.getParameterTypes().length), method);
-  }
-
-}
diff --git a/src/main/java/org/myrobotlab/codec/PolymorphicSerializer.java b/src/main/java/org/myrobotlab/codec/PolymorphicSerializer.java
deleted file mode 100644
index a4d8342b52..0000000000
--- a/src/main/java/org/myrobotlab/codec/PolymorphicSerializer.java
+++ /dev/null
@@ -1,65 +0,0 @@
-package org.myrobotlab.codec;
-
-import com.fasterxml.jackson.annotation.JsonAutoDetect;
-import com.fasterxml.jackson.annotation.PropertyAccessor;
-import com.fasterxml.jackson.core.JsonProcessingException;
-import com.fasterxml.jackson.databind.ObjectMapper;
-import com.fasterxml.jackson.module.noctordeser.NoCtorDeserModule;
-import com.google.gson.Gson;
-import com.google.gson.GsonBuilder;
-import org.myrobotlab.codec.json.GsonPolymorphicTypeAdapterFactory;
-import org.myrobotlab.codec.json.JacksonPolymorphicModule;
-import org.myrobotlab.framework.Message;
-import org.myrobotlab.framework.Registration;
-
-import java.io.Serializable;
-
-
-public class PolymorphicSerializer {
-
-    public static void main(String[] args) throws JsonProcessingException {
-        //GSON support still works but is kinda wonky
-        Gson gson = new GsonBuilder().registerTypeAdapterFactory(new GsonPolymorphicTypeAdapterFactory()).create();
-        String msgString = gson.toJson(
-                Message.createMessage("runtime", "runtime", "getId",
-                        new Registration("obsidian", "runtime", "Runtime")
-                )
-        );
-        //Have to use `Serializable.class` because `Object.class` uses the default treemap deserializer, no way to override
-        //So it technically works, but is a little odd to use
-        Message msgFromString = (Message) gson.fromJson(msgString, Serializable.class);
-        //Notice that the message data is not preserved, because it is an Object type in Message
-        //and GSON does not dispatch to custom de/serializers when the type is Object.
-        System.out.println(msgFromString);
-
-        //Jackson setup
-        ObjectMapper mapper = new ObjectMapper();
-
-        //This allows Jackson to work just like GSON when no default constructor is available
-        mapper.registerModule(new NoCtorDeserModule());
-
-        //Actually add our polymorphic support
-        mapper.registerModule(JacksonPolymorphicModule.getPolymorphicModule());
-
-        //Disables Jackson's automatic property detection
-        mapper.setVisibility(PropertyAccessor.ALL, JsonAutoDetect.Visibility.NONE);
-        mapper.setVisibility(PropertyAccessor.FIELD, JsonAutoDetect.Visibility.ANY);
-        mapper.setVisibility(PropertyAccessor.SETTER, JsonAutoDetect.Visibility.ANY);
-
-        //All ready to use now
-
-        msgString = mapper.writeValueAsString(
-                Message.createMessage("runtime", "runtime", "getId",
-                        new Registration("obsidian", "runtime", "Runtime")
-                )
-        );
-
-        //Can use Object.class just fine, so generic objects are deserialized correctly
-        //since type erasure makes everything look like an Object
-        //Notably, Message works just fine even though it stores an Object array
-        Message msg = (Message) mapper.readValue(msgString, Object.class);
-        System.out.println(msg);
-
-        System.out.println(new ObjectMapper().readValue("{\"help\": 10}", Object.class).getClass());
-    }
-}
diff --git a/src/main/java/org/myrobotlab/codec/json/GsonPolymorphicTypeAdapterFactory.java b/src/main/java/org/myrobotlab/codec/json/GsonPolymorphicTypeAdapterFactory.java
deleted file mode 100644
index efac1fe8ba..0000000000
--- a/src/main/java/org/myrobotlab/codec/json/GsonPolymorphicTypeAdapterFactory.java
+++ /dev/null
@@ -1,112 +0,0 @@
-package org.myrobotlab.codec.json;
-
-import com.google.gson.*;
-import com.google.gson.reflect.TypeToken;
-import com.google.gson.stream.JsonReader;
-import com.google.gson.stream.JsonWriter;
-import org.myrobotlab.codec.CodecUtils;
-
-import java.io.IOException;
-import java.util.Collection;
-import java.util.Map;
-
-/**
- * A {@link TypeAdapterFactory} that enables polymorphic operation.
- * The serialization adapter adds a field with the name taken from
- * {@link CodecUtils#CLASS_META_KEY} and a value equal
- * to the object's fully qualified class name.
- *
- * The deserialization adapter checks if the JSON has
- * {@link CodecUtils#CLASS_META_KEY}, and if so it will use
- * the value as the target type.
- *
- * @author AutonomicPerfectionist
- */
-public class GsonPolymorphicTypeAdapterFactory implements TypeAdapterFactory {
-
-    /**
-     * The TypeAdapter used to create JsonElements
-     */
-    protected TypeAdapter<JsonElement> elementAdapter;
-    protected TypeAdapterFactory taf;
-
-    @SuppressWarnings("unchecked")
-    public <T> TypeAdapter<T> create(Gson gson, TypeToken<T> type) {
-        if(!Object.class.isAssignableFrom(type.getRawType()) || String.class.isAssignableFrom(type.getRawType())
-                || CodecUtils.WRAPPER_TYPES.contains(type.getRawType()) || Object[].class.isAssignableFrom(type.getRawType())
-                || Collection.class.isAssignableFrom(type.getRawType()) || Map.class.isAssignableFrom(type.getRawType()))
-            return null;
-        this.taf=this;
-        TypeAdapter<Object> delegate = (TypeAdapter<Object>) gson.getDelegateAdapter(this, type);
-        elementAdapter = gson.getAdapter(JsonElement.class);
-        TypeAdapter<T> result = (TypeAdapter<T>) new PolymorphicTypeAdapter(type, delegate, gson);
-        return result.nullSafe();
-
-    }
-
-    /**
-     * A type adapter to perform polymorphic deserialization
-     * and serialization operations. Should only be created with
-     * {@link GsonPolymorphicTypeAdapterFactory#create(Gson, TypeToken)}.
-     *
-     * @author AutonomicPerfectionist
-     */
-    protected class PolymorphicTypeAdapter extends TypeAdapter<Object> {
-
-        protected Gson gson;
-        protected TypeToken<?> type;
-        protected TypeAdapter<Object> delegate;
-
-        public PolymorphicTypeAdapter(TypeToken<?> type, TypeAdapter<Object> delegate, Gson gson) {
-            this.type = type;
-            this.delegate = delegate;
-            this.gson = gson;
-        }
-
-        @Override
-        public void write(JsonWriter out, Object value) throws IOException {
-            if(value != null) {
-                try {
-                    JsonElement element = delegate.toJsonTree(value);
-                    if(element.isJsonObject()) {
-                        JsonObject object = delegate.toJsonTree(value).getAsJsonObject();
-                        object.addProperty(CodecUtils.CLASS_META_KEY, value.getClass().getName());
-                        elementAdapter.write(out, object);
-                    } else
-                        delegate.write(out, value);
-
-                } catch (IllegalArgumentException iae) {
-                    delegate.write(out, value);
-                }
-            }
-            else {
-                delegate.write(out, null);
-            }
-        }
-
-        @Override
-        public Object read(JsonReader in) throws IOException {
-            JsonElement element = elementAdapter.read(in);
-            if (element.isJsonObject()) {
-                JsonObject object = element.getAsJsonObject();
-                if (object.has(CodecUtils.CLASS_META_KEY)) {
-                    String className=object.get(CodecUtils.CLASS_META_KEY).getAsString();
-                    try {
-                        Class<?> clz = Class.forName(className);
-                        if(type.getRawType().isAssignableFrom(clz)) {
-                            TypeAdapter<?> adapter = gson.getDelegateAdapter(taf, TypeToken.get(clz));
-                            return adapter.fromJsonTree(element);
-                        }
-                    }
-                    catch (Exception ignored) {
-                    }
-                }
-            }
-
-            //If element is not a json object, doesn't have the key,
-            //an exception occurs, or requested class is not a superclass
-            //of embedded class, will fallthrough to here
-            return delegate.fromJsonTree(element);
-        }
-    }
-}
diff --git a/src/main/java/org/myrobotlab/framework/MethodCache.java b/src/main/java/org/myrobotlab/framework/MethodCache.java
index f27786fa6f..9732031ff0 100644
--- a/src/main/java/org/myrobotlab/framework/MethodCache.java
+++ b/src/main/java/org/myrobotlab/framework/MethodCache.java
@@ -2,6 +2,7 @@
 
 import org.apache.commons.lang3.StringUtils;
 import org.myrobotlab.codec.CodecUtils;
+import org.myrobotlab.codec.json.JsonDeserializationException;
 import org.myrobotlab.logging.LoggerFactory;
 import org.slf4j.Logger;
 
@@ -502,6 +503,7 @@ private String getMethodOrdinalKey(String fullType, String methodName, int param
   public List<MethodEntry> getOrdinalMethods(Class<?> object, String methodName, int parameterSize) {
     if (object == null) {
       log.error("getOrdinalMethods on a null object ");
+      return null;
     }
     String objectKey = object.getTypeName();
 
@@ -575,20 +577,17 @@ public List<MethodEntry> getRemoteOrdinalMethods(Class<?> object, String methodN
       Class<?>[] paramTypes = methodEntry.getParameterTypes();
       try {
         for (int i = 0; i < encodedParams.length; ++i) {
-          if (CodecUtils.JSON_DEFAULT_OBJECT_TYPE.equals(encodedParams[i].getClass())) {
-            // specific gson implementation
-            // rather than double encode everything - i have chosen
-            // to re-encode objects back to string since gson will decode them
-            // all ot linked tree maps - if the json decoder changes from gson
-            // this will probably need to change too
-            encodedParams[i] = CodecUtils.toJson(encodedParams[i]);
-          }
-          params[i] = CodecUtils.fromJson((String) encodedParams[i], paramTypes[i]);
+//          try {
+            params[i] = CodecUtils.fromJson((String) encodedParams[i], paramTypes[i]);
+//          } catch(JsonDeserializationException e) {
+//            log.info("could not decode threw {}.{}( ordinal[{}] {} {})- assuming String - missing quotes?", clazz.getSimpleName(), methodName, i, paramTypes[i].getSimpleName(), encodedParams[i]);
+//            // load raw string on
+//            params[i] = encodedParams[i];
+//          }
         }
         // successfully decoded params
         return params;
       } catch (Exception e) {
-
         log.info("getDecodedParameters threw clazz {} method {} params {} Message: {}", clazz, methodName, encodedParams.length, e.getMessage());
       }
     }
diff --git a/src/main/java/org/myrobotlab/framework/Service.java b/src/main/java/org/myrobotlab/framework/Service.java
index 3bee512f48..f0c83daa16 100644
--- a/src/main/java/org/myrobotlab/framework/Service.java
+++ b/src/main/java/org/myrobotlab/framework/Service.java
@@ -188,7 +188,7 @@ public abstract class Service implements Runnable, Serializable, ServiceInterfac
 
   /**
    * This is the map of interfaces - its really "static" information, since its
-   * a definition. However, since gson will not process statics - we are making
+   * a definition. However, since serialization will not process statics - we are making
    * it a member variable
    */
   protected Map<String, String> interfaceSet;
diff --git a/src/main/java/org/myrobotlab/framework/Status.java b/src/main/java/org/myrobotlab/framework/Status.java
index bfd1a0c83c..caba7dfad7 100644
--- a/src/main/java/org/myrobotlab/framework/Status.java
+++ b/src/main/java/org/myrobotlab/framework/Status.java
@@ -21,7 +21,7 @@
 /**
  * Goal is to have a very simple Pojo with only a few (native Java helper
  * methods) WARNING !!! - this class used to extend Exception or Throwable - but
- * the gson serializer would stack overflow with self reference issue
+ * the serializer would stack overflow with self reference issue
  * 
  * TODO - allow radix tree searches for "keys" ???
  * 
diff --git a/src/main/java/org/myrobotlab/framework/TypeConverter.java b/src/main/java/org/myrobotlab/framework/TypeConverter.java
index c6dad571dd..051ae50e34 100644
--- a/src/main/java/org/myrobotlab/framework/TypeConverter.java
+++ b/src/main/java/org/myrobotlab/framework/TypeConverter.java
@@ -22,8 +22,6 @@ public class TypeConverter {
 
   public final static Logger log = LoggerFactory.getLogger(TypeConverter.class);
 
-  // private static Gson gson = new Gson();
-
   // Possible Optimization -> pointers to known method signatures -
   // optimization so that once a
   // method's signature is processed and
diff --git a/src/main/java/org/myrobotlab/i2c/I2CBus.java b/src/main/java/org/myrobotlab/i2c/I2CBus.java
index 48c031d89f..b266f368f1 100644
--- a/src/main/java/org/myrobotlab/i2c/I2CBus.java
+++ b/src/main/java/org/myrobotlab/i2c/I2CBus.java
@@ -21,7 +21,7 @@ public class I2CBus implements Attachable, I2CBusControl {
   transient public final static Logger log = LoggerFactory.getLogger(I2CBus.class);
 
   String name;
-  // transient too help prevent infinite recursion in gson
+  // transient too help prevent infinite recursion in serialization
   transient I2CBusController controller;
 
   public I2CBus(String Name) {
diff --git a/src/main/java/org/myrobotlab/process/InProcessCli.java b/src/main/java/org/myrobotlab/process/InProcessCli.java
index eeccbf153f..0556c25222 100644
--- a/src/main/java/org/myrobotlab/process/InProcessCli.java
+++ b/src/main/java/org/myrobotlab/process/InProcessCli.java
@@ -154,7 +154,7 @@ public void run() {
           continue;
         }
 
-        log.info("c = {}", c);
+        log.debug("c = {}", c);
         // != 0x04 /* ctrl-d 0x04 ctrl-c 0x03 '\n' */
 
         readLine += (char) c;
@@ -304,18 +304,8 @@ public void process(String srcFullName, String cmd) {
         return;
       }
 
-      // subscribe - setup subscription
-      // MRLListener listener = new MRLListener(cliMsg.method, name + '@' + id,
-      // CodecUtils.getCallbackTopicName(cliMsg.method));
-      // Message subscription = Message.createMessage(name + '@' + id,
-      // cliMsg.getFullName(), "addListener", listener);
-
       String cliFullName = name + '@' + id;
 
-      /*
-       * if (srcFullName == null) { srcFullName = name + '@' + id; }
-       */
-
       // setup cli subscription
       MRLListener listener = new MRLListener(cliMsg.method, cliFullName, CodecUtils.getCallbackTopicName(cliMsg.method));
       Message subscription = Message.createMessage(cliFullName, cliMsg.getFullName(), "addListener", listener);
@@ -348,7 +338,12 @@ public void process(String srcFullName, String cmd) {
    * @return message
    */
   public Message cliToMsg(String data) {
-    return CodecUtils.cliToMsg(contextPath, "runtime@" + id, "runtime@" + remoteId, data);
+
+    if (contextPath != null) {
+      data = contextPath + data;
+    }
+    Message msg = CodecUtils.pathToMsg("runtime@" + id, data);
+    return CodecUtils.decodeMessageParams(msg);
   }
 
   public void writeToJson(Object o) {
diff --git a/src/main/java/org/myrobotlab/service/Clock.java b/src/main/java/org/myrobotlab/service/Clock.java
index df43ed6745..49acdbc31a 100644
--- a/src/main/java/org/myrobotlab/service/Clock.java
+++ b/src/main/java/org/myrobotlab/service/Clock.java
@@ -227,13 +227,18 @@ public void restartClock() {
   public static void main(String[] args) throws Exception {
     try {
 
-      WebGui webgui = (WebGui)Runtime.create("webgui", "WebGui");
-      webgui.autoStartBrowser(false);
-      webgui.setPort(8887);
-      webgui.startService();
+//      WebGui webgui = (WebGui)Runtime.create("webgui", "WebGui");
+//      webgui.autoStartBrowser(false);
+//      webgui.setPort(8887);
+//      webgui.startService();
 
       Clock c1 = (Clock) Runtime.start("c1", "Clock");
       c1.startClock();
+      
+      boolean done = true;
+      if (done) return;
+      
+      
       Runtime.getInstance().connect("ws://localhost:8888");
       c1.stopClock();
 
diff --git a/src/main/java/org/myrobotlab/service/GoogleSearch.java b/src/main/java/org/myrobotlab/service/GoogleSearch.java
index 749adf3263..f21ab6872a 100644
--- a/src/main/java/org/myrobotlab/service/GoogleSearch.java
+++ b/src/main/java/org/myrobotlab/service/GoogleSearch.java
@@ -190,7 +190,6 @@ public byte[] saveFile(String filename, byte[] data) throws IOException {
     return data;
   }
 
-  // FIXME - use gson not simpl json
   @Override
   public List<ImageData> imageSearch(String searchText) {
 
diff --git a/src/main/java/org/myrobotlab/service/Mqtt.java b/src/main/java/org/myrobotlab/service/Mqtt.java
index 4674fea328..ddb0a5990b 100644
--- a/src/main/java/org/myrobotlab/service/Mqtt.java
+++ b/src/main/java/org/myrobotlab/service/Mqtt.java
@@ -830,7 +830,7 @@ public void subscribe(String topic, int qos) throws MqttException {
   }
 
   String tokenToString(IMqttToken token) {
-    // FIXME - just gson encode it..
+
     StringBuffer sb = new StringBuffer();
     sb.append(" MessageId:").append(token.getMessageId());
     sb.append(" Response:").append(token.getResponse());
diff --git a/src/main/java/org/myrobotlab/service/MqttBroker.java b/src/main/java/org/myrobotlab/service/MqttBroker.java
index a65d3df8bb..bbee5bfb81 100644
--- a/src/main/java/org/myrobotlab/service/MqttBroker.java
+++ b/src/main/java/org/myrobotlab/service/MqttBroker.java
@@ -169,10 +169,11 @@ public MqttBroker(String n, String id) {
     password = security.getKey(getName() + ".password");
   }
 
+  // FIXME - more than one type of gateway ... client gateway and server gateway  
   @Override
   public void connect(String uri) throws Exception {
-    // TODO Auto-generated method stub
-
+    // Mqtt Brokers do not "connect" to other instances
+    // NOOP
   }
 
   public String getAddress() {
@@ -339,8 +340,12 @@ public void onPublish(InterceptPublishMessage im) {
       // don't let broker process messages
       if (processApiMessages && topic.startsWith(serviceTopic)) {
         String mrlUri = "/" + topic.substring((serviceTopic).length());
-        Message msg = CodecUtils.cliToMsg(null, getFullName(), null, mrlUri);
+        // FIXME - should they all be full name ?
+        // This will parse a topic into a json parameter message
+        // the message params can then be decoded with getDecodedJsonParameters
+        Message msg = CodecUtils.pathToMsg(getFullName(), mrlUri);
         String payload = m.getPayload();
+        // payload takes precedence over path
         if (payload != null && payload.length() > 0) {
           msg.data = CodecUtils.decodeArray(payload);
         }
@@ -583,6 +588,16 @@ public void unsubscribe(String mqttTopic, String callbackName, String callbackMe
   public static void main(String[] args) {
     try {
       LoggingFactory.init("info");
+      
+      
+      Runtime.main(new String[] {"--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python"});
+      
+
+      boolean done = true;
+      if (done) {
+        return;
+      }      
+      
       Runtime.main(new String[] { "--id", "c2"});
       Python python = (Python) Runtime.start("python", "Python");
 
@@ -596,9 +611,13 @@ public static void main(String[] args) {
 
       Clock clock01 = (Clock) Runtime.start("clock01", "Clock");
       // clock01.startClock();
+      
+ 
+
 
       Mqtt mqtt = (Mqtt) Runtime.start("mqtt02", "Mqtt");
       mqtt.setAutoConnect(false);
+            
       mqtt.connect("mqtt://localhost:1883");
       // mqtt.connect("mqtt://test.mosquitto.org:1883");
       // mqtt.publish("mrl/");
diff --git a/src/main/java/org/myrobotlab/service/WebGui.java b/src/main/java/org/myrobotlab/service/WebGui.java
index 1279948f1f..904a71796f 100644
--- a/src/main/java/org/myrobotlab/service/WebGui.java
+++ b/src/main/java/org/myrobotlab/service/WebGui.java
@@ -123,7 +123,6 @@ public Panel(String name, int x, int y, int z) {
 
   private static final long serialVersionUID = 1L;
 
-
   transient protected JmDNS jmdns = null;
 
   /**
@@ -311,16 +310,14 @@ public Config.Builder getNettosphereConfig() {
     Config.Builder configBuilder = new Config.Builder();
     try {
       if (isSsl) {
-//        SelfSignedCertificate cert = new SelfSignedCertificate();        
-//        SslContext context = SslContextBuilder.forServer(cert.certificate(), cert.privateKey()).build();    
-        
-        
+        // SelfSignedCertificate cert = new SelfSignedCertificate();
+        // SslContext context = SslContextBuilder.forServer(cert.certificate(),
+        // cert.privateKey()).build();
+
         SelfSignedCertificate selfSignedCertificate = new SelfSignedCertificate();
-        SslContext context =  SslContextBuilder
-                .forServer(selfSignedCertificate.certificate(), selfSignedCertificate.privateKey())
-                .sslProvider(SslProvider.JDK).clientAuth(ClientAuth.NONE).build();        
-        
-        
+        SslContext context = SslContextBuilder.forServer(selfSignedCertificate.certificate(), selfSignedCertificate.privateKey()).sslProvider(SslProvider.JDK)
+            .clientAuth(ClientAuth.NONE).build();
+
         configBuilder.sslContext(context);
       }
     } catch (Exception e) {
@@ -330,12 +327,12 @@ public Config.Builder getNettosphereConfig() {
     configBuilder.resource("/stream", stream);
 
     WebGuiConfig c = (WebGuiConfig) config;
-    
+
     // add all webgui resource directories
-    for (String resource: c.resources) {
+    for (String resource : c.resources) {
       configBuilder.resource(resource);
     }
-    
+
     // can't seem to make this work .mappingPath("resource/")
 
     // TO SUPPORT LEGACY - BEGIN
@@ -428,10 +425,12 @@ protected void setBroadcaster(AtmosphereResource r) {
   /**
    * This method handles all http:// and ws:// requests. Depending on apiKey
    * which is part of initial GET
-   * <p></p>
+   * <p>
+   * </p>
    * messages api attempts to promote the connection to websocket and suspends
    * the connection for a 2 way channel
-   * <p></p>
+   * <p>
+   * </p>
    * id and session_id authentication should be required
    * 
    */
@@ -500,8 +499,6 @@ public void handle(AtmosphereResource r) {
         log.debug("-->{} {} {} - [{}] from connection {}", (newPersistentConnection) ? "new" : "", request.getMethod(), request.getRequestURI(), logData, uuid);
       }
 
-      MethodCache cache = MethodCache.getInstance();
-
       // important persistent connections will have associated routes ...
       // http/api/service requests (not persistent connections) will not
       // (neither will udp)
@@ -537,11 +534,10 @@ public void handle(AtmosphereResource r) {
 
       } else if (apiKey.equals(CodecUtils.API_SERVICE)) {
 
-        Message msg = CodecUtils.cliToMsg(
-                null,
-                getName(),
-                null,
-                URLDecoder.decode(r.getRequest().getPathInfo(), StandardCharsets.UTF_8));
+        String path = URLDecoder.decode(r.getRequest().getPathInfo(), StandardCharsets.UTF_8);
+        Message msg = CodecUtils.pathToMsg(getFullName(), path);
+        msg = CodecUtils.decodeMessageParams(msg);
+        // if body exists it overrides
         if (bodyData != null) {
           msg.data = CodecUtils.fromJson(bodyData, Object[].class);
         }
@@ -549,7 +545,8 @@ public void handle(AtmosphereResource r) {
         if (isLocal(msg)) {
           // String serviceName = msg.getFullName();// getName();
           // Class<?> clazz = Runtime.getClass(serviceName);
-          // Object[] params = cache.getDecodedJsonParameters(clazz, msg.method, msg.data);
+          // Object[] params = cache.getDecodedJsonParameters(clazz, msg.method,
+          // msg.data);
           // msg.data = params;
           Object ret = invoke(msg);
           OutputStream out = r.getResponse().getOutputStream();
@@ -602,7 +599,8 @@ public void handle(AtmosphereResource r) {
             }
 
             // do not decode unless needed
-            // Object[] params = cache.getDecodedJsonParameters(clazz, msg.method, msg.data);
+            // Object[] params = cache.getDecodedJsonParameters(clazz,
+            // msg.method, msg.data);
 
             ServiceInterface si = Runtime.getService(serviceName);
 
@@ -1157,7 +1155,7 @@ public void stopMdns() {
 
   @Override
   public ServiceConfig getConfig() {
-    WebGuiConfig config = (WebGuiConfig)super.getConfig();
+    WebGuiConfig config = (WebGuiConfig) super.getConfig();
     // FIXME - remove member variables use config only
     config.port = port;
     config.autoStartBrowser = autoStartBrowser;
@@ -1201,21 +1199,18 @@ public static void main(String[] args) {
       boolean done = true;
       if (done) {
         return;
-      }      
-
+      }
 
-      
       // Runtime.start("i01", "InMoov2");
       // Runtime.start("python", "Python");
       // Runtime.start("i01", "InMoov2");
-      
+
       // Runtime.start("i01", "InMoov2");
       Runtime.start("track", "Tracking");
       // Runtime.startConfig("worky");
       // Runtime.startConfig("InMoov2Head");
       // Runtime.startConfig("Tracking");
 
-
       // Runtime.start("i01", "InMoov2");
       // Runtime.start("python", "Python");
       // Runtime.start("i01", "InMoov2");
diff --git a/src/main/java/org/myrobotlab/service/Xmpp.java b/src/main/java/org/myrobotlab/service/Xmpp.java
index 15d5237520..82d0ceb964 100644
--- a/src/main/java/org/myrobotlab/service/Xmpp.java
+++ b/src/main/java/org/myrobotlab/service/Xmpp.java
@@ -291,7 +291,7 @@ public void processMessage(Chat chat, Message message) {
         try {
           // org.myrobotlab.framework.Message msg =
           // CodecUri.decodePathInfo(pathInfo);
-          org.myrobotlab.framework.Message msg = CodecUtils.cliToMsg(null, getName(), null, pathInfo);
+          org.myrobotlab.framework.Message msg = CodecUtils.pathToMsg(getName(), pathInfo);
 
           // FIXME - do the same as InProcessCli & WebGui
           Object ret = null;
diff --git a/src/main/java/org/myrobotlab/service/meta/RuntimeMeta.java b/src/main/java/org/myrobotlab/service/meta/RuntimeMeta.java
index 8b21241562..f21e872171 100644
--- a/src/main/java/org/myrobotlab/service/meta/RuntimeMeta.java
+++ b/src/main/java/org/myrobotlab/service/meta/RuntimeMeta.java
@@ -23,12 +23,11 @@ public RuntimeMeta() {
     addDependency("ch.qos.logback", "logback-classic", "1.2.3");
 
     includeServiceInOneJar(true);
-    // apache 2.0 license
-    addDependency("com.google.code.gson", "gson", "2.8.5");
-
+    
     // for proxy generation
     addDependency("net.bytebuddy", "byte-buddy", "1.12.16");
 
+    // apache 2.0 license
     addDependency("com.fasterxml.jackson.core", "jackson-core", "2.14.0");
     addDependency("com.fasterxml.jackson.core", "jackson-annotations", "2.14.0");
     addDependency("com.fasterxml.jackson.core", "jackson-databind", "2.14.0");
diff --git a/src/test/java/org/myrobotlab/codec/CodecUtilsTest.java b/src/test/java/org/myrobotlab/codec/CodecUtilsTest.java
index 8c864ab390..7ffd26fcd4 100644
--- a/src/test/java/org/myrobotlab/codec/CodecUtilsTest.java
+++ b/src/test/java/org/myrobotlab/codec/CodecUtilsTest.java
@@ -6,6 +6,7 @@
 
 import java.util.ArrayList;
 import java.util.LinkedHashMap;
+import java.util.List;
 import java.util.Map;
 
 import org.bouncycastle.util.Strings;
@@ -13,6 +14,7 @@
 import org.junit.Test;
 import org.myrobotlab.framework.Platform;
 import org.myrobotlab.service.data.Locale;
+import org.myrobotlab.service.data.Orientation;
 import org.myrobotlab.test.AbstractTest;
 
 public class CodecUtilsTest extends AbstractTest {
@@ -63,6 +65,86 @@ public void testLocale() {
         "{\"language\":\"\",\"displayLanguage\":\"\",\"country\":\"US\",\"displayCountry\":\"United States\",\"tag\":\"-US\",\"class\":\"org.myrobotlab.service.data.Locale\"}",
         json);
 
+  }
+  
+  @Test 
+  public void testExtractParams() {
+    // /runtime/connect/"http://blah:8888"
+    String input = null;
+    Object[] params = null;
+    double delta = 0.0001;
+    
+    input = "\"http://blah:8888\"";
+    params = CodecUtils.extractJsonParamsFromPath(input);
+    assertEquals("\"http://blah:8888\"", params[0]);
+    
+    input = "\"http://blah:8888/this/path/\"";
+    params = CodecUtils.extractJsonParamsFromPath(input);
+    assertEquals("\"http://blah:8888/this/path/\"", params[0]);
+    
+    input = "\"http://blah:8888/this/path/\"/5";
+    params = CodecUtils.extractJsonParamsFromPath(input);
+    assertEquals("\"http://blah:8888/this/path/\"", params[0]);
+    assertEquals("5", params[1]);
+    
+    input = "[3,5,7,8]/[1.0, 2.0, 3.0]/true";
+    params = CodecUtils.extractJsonParamsFromPath(input);
+    List list = (List)CodecUtils.fromJson((String)params[0]);    
+    assertEquals(8, list.get(3));
+    list = (List)CodecUtils.fromJson((String)params[1]);
+    assertEquals(3.0,(double)list.get(2), delta);
+    assertEquals(true, (boolean)CodecUtils.fromJson((String)params[2]));
+    
+    input = "[\"apple\",\"banana\",\"orange\"]/[\"a\",\"b\",\"c\"]/true";    
+    params = CodecUtils.extractJsonParamsFromPath(input);
+    list = (List)CodecUtils.fromJson((String)params[0]);    
+    assertEquals("apple",list.get(0));
+    list = (List)CodecUtils.fromJson((String)params[1]);    
+    assertEquals("a", list.get(0));
+    assertEquals(true, (boolean)CodecUtils.fromJson((String)params[2]));
+    
+    String[] files =new String[] {"f:\\testdir\\blah","/root/","/home/mydir/blah"};
+    String[] abc = new String[] {"a", "b", "c"};
+    
+    input = CodecUtils.toJson(files) + "/" + CodecUtils.toJson(abc) + "/" + CodecUtils.toJson(true);
+    
+    // input = "\"[\"f:\\testdir\\blah\",\"/root/\",\"/home/mydir/blah\"]\"/\"[\"a\",\"b\",\"c\"]\"/true";
+    params = CodecUtils.extractJsonParamsFromPath(input);
+    assertEquals(3, params.length);
+    list = (List)CodecUtils.fromJson((String)params[0]); 
+    assertEquals("/root/", list.get(1));
+    // String[] files = CodecUtils.fromJson(params[0], String[].class);
+    // assertEquals("\"[\"apple\",\"banana\",\"orange\"]\"", CodecUtils.fromJson(params[0], String[].class));
+    Orientation o = new Orientation();
+    o.pitch = 2.2342;
+    o.yaw = 1.234;
+    o.roll = 0.343;
+        
+    input = CodecUtils.toJson(files) + "/" + CodecUtils.toJson(o) + "/" + CodecUtils.toJson(true);
+    params = CodecUtils.extractJsonParamsFromPath(input);
+    assertEquals(3, params.length);
+    Map t = (Map)CodecUtils.fromJson((String)params[1]); 
+    
+    assertEquals(2.2342, (double)t.get("pitch"), delta);
+
+    input = "This is invalid json /and a block of/ text between/and/a single character/ .";
+    params = CodecUtils.extractJsonParamsFromPath(input);
+    assertEquals(6, params.length);
+    boolean strict = false;
+    try {
+    CodecUtils.fromJson(input);
+    } catch(Exception e) {
+      // strict is required
+      strict = true;
+    }
+    assertTrue(strict);
+    
+    input = "\"This is valid json /and a block of\"/\" text between/and/a single character/ .\"";
+    params = CodecUtils.extractJsonParamsFromPath(input);
+    assertEquals(2, params.length);
+    assertEquals("This is valid json /and a block of", CodecUtils.fromJson((String)params[0])); 
+
+    
   }
 
   @Test
diff --git a/src/test/java/org/myrobotlab/codec/json/GsonPolymorphicTest.java b/src/test/java/org/myrobotlab/codec/json/GsonPolymorphicTest.java
deleted file mode 100644
index 9233583688..0000000000
--- a/src/test/java/org/myrobotlab/codec/json/GsonPolymorphicTest.java
+++ /dev/null
@@ -1,128 +0,0 @@
-package org.myrobotlab.codec.json;
-
-import com.google.gson.Gson;
-import com.google.gson.GsonBuilder;
-import org.junit.Assert;
-import org.junit.BeforeClass;
-import org.junit.Test;
-import org.myrobotlab.codec.CodecUtils;
-import org.myrobotlab.framework.Message;
-import org.myrobotlab.framework.Registration;
-import org.myrobotlab.logging.LoggerFactory;
-import org.myrobotlab.test.AbstractTest;
-import org.slf4j.Logger;
-
-import java.io.Serializable;
-import java.util.Arrays;
-
-public class GsonPolymorphicTest extends AbstractTest {
-    public final static Logger log = LoggerFactory.getLogger(GsonPolymorphicTest.class);
-
-    private static Gson polymorphicGson;
-
-    private static Gson regularGson;
-
-    @BeforeClass
-    public static void setup() {
-        polymorphicGson = new GsonBuilder().registerTypeAdapterFactory(new GsonPolymorphicTypeAdapterFactory())
-                .setDateFormat("yyyy-MM-dd HH:mm:ss.SSS").disableHtmlEscaping().create();
-        
-
-        regularGson = new GsonBuilder()
-                .setDateFormat("yyyy-MM-dd HH:mm:ss.SSS").disableHtmlEscaping().create();
-    }
-
-    @Test
-    public void testStringSer() {
-        String testString = "this is a test with spaces and $pecial characters!";
-        String jsonString = polymorphicGson.toJson(testString);
-        log.debug("Encoded test string: " + jsonString);
-        String decodedString = regularGson.fromJson(jsonString, String.class);
-        log.debug("Decoded test string: " + decodedString);
-        Assert.assertEquals("String encoding not correct", testString, decodedString);
-    }
-
-    @Test
-    public void testStringArraySer() {
-        String[] testStrings = new String[] {"This", "is", "a", "test", "array"};
-        String jsonString = polymorphicGson.toJson(testStrings);
-        log.debug("Encoded test string: " + jsonString);
-        String[] decodedStrings = regularGson.fromJson(jsonString, String[].class);
-        log.debug("Decoded test strings: " + Arrays.toString(decodedStrings));
-        Assert.assertArrayEquals("String array encoding incorrect", testStrings, decodedStrings);
-    }
-
-    @Test
-    public void testNumberSer() {
-        int testInt = 42;
-        String jsonString = polymorphicGson.toJson(testInt);
-        log.debug("Encoded test string: " + jsonString);
-        int decodedInt = regularGson.fromJson(jsonString, Integer.class);
-        log.debug("Decoded test int: " + decodedInt);
-        Assert.assertEquals("Int encoding not correct", testInt, decodedInt);
-    }
-
-    @Test
-    public void testBoolSer() {
-        boolean testBoolean = false;
-        String jsonString = polymorphicGson.toJson(testBoolean);
-        log.debug("Encoded test string: " + jsonString);
-        boolean decodedBoolean = regularGson.fromJson(jsonString, Boolean.class);
-        log.debug("Decoded test string: " + decodedBoolean);
-        Assert.assertEquals("Boolean encoding not correct", testBoolean, decodedBoolean);
-    }
-
-
-    @Test
-    public void testStringDeser() {
-        String testString = "this is a test with spaces and $pecial characters!";
-        String jsonString = regularGson.toJson(testString);
-        log.debug("Encoded test string: " + jsonString);
-        String decodedString = polymorphicGson.fromJson(jsonString, String.class);
-        log.debug("Decoded test string: " + decodedString);
-        Assert.assertEquals("String decoding not correct", testString, decodedString);
-    }
-
-    @Test
-    public void testStringArrayDeser() {
-        String[] testStrings = new String[] {"This", "is", "a", "test", "array"};
-        String jsonString = regularGson.toJson(testStrings);
-        log.debug("Encoded test string: " + jsonString);
-        String[] decodedStrings = polymorphicGson.fromJson(jsonString, String[].class);
-        log.debug("Decoded test strings: " + Arrays.toString(decodedStrings));
-        Assert.assertArrayEquals("String array decoding incorrect", testStrings, decodedStrings);
-    }
-
-    @Test
-    public void testNumberDeser() {
-        int testInt = 42;
-        String jsonString = regularGson.toJson(testInt);
-        log.debug("Encoded test string: " + jsonString);
-        int decodedInt = polymorphicGson.fromJson(jsonString, Integer.class);
-        log.debug("Decoded test int: " + decodedInt);
-        Assert.assertEquals("Int decoding not correct", testInt, decodedInt);
-    }
-
-    @Test
-    public void testBoolDeser() {
-        boolean testBoolean = false;
-        String jsonString = regularGson.toJson(testBoolean);
-        log.debug("Encoded test string: " + jsonString);
-        
-        boolean decodedBoolean = polymorphicGson.fromJson(jsonString, Boolean.class);
-        log.debug("Decoded test string: " + decodedBoolean);
-        Assert.assertEquals("Boolean decoding not correct", testBoolean, decodedBoolean);
-    }
-
-    @Test
-    public void testApiDescriptionDeser() {
-        CodecUtils.ApiDescription description = new CodecUtils.ApiDescription("key",
-                "/path/", "{exampleURI}", "This is a description");
-        String jsonString = regularGson.toJson(description);
-        log.debug("Encoded test string: " + jsonString);
-        CodecUtils.ApiDescription decodedDescription = polymorphicGson.fromJson(jsonString, CodecUtils.ApiDescription.class);
-        log.debug("Decoded test string: " + decodedDescription);
-        Assert.assertEquals("ApiDescription decoding not correct", description, decodedDescription);
-    }
-
-}
diff --git a/src/test/java/org/myrobotlab/service/RuntimeProcessTest.java b/src/test/java/org/myrobotlab/service/RuntimeProcessTest.java
index 07682d6f1f..07e1775110 100644
--- a/src/test/java/org/myrobotlab/service/RuntimeProcessTest.java
+++ b/src/test/java/org/myrobotlab/service/RuntimeProcessTest.java
@@ -1,6 +1,7 @@
 package org.myrobotlab.service;
 
 import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertNull;
 import static org.junit.Assert.assertTrue;
 
 import java.io.ByteArrayOutputStream;
@@ -32,12 +33,12 @@ public void cliTest() throws Exception {
 
     // from ,to null=runtime, data  
     String cwd = null;
-    Message msg = CodecUtils.cliToMsg(cwd, getName(), null, "ls");
+    Message msg = CodecUtils.pathToMsg(getName(), "ls");
     assertEquals("runtime", msg.getName());
     assertEquals("ls", msg.method);
     assertEquals(getName(), msg.getSrcName());
 
-    msg = CodecUtils.cliToMsg(null, getName() + "@someWhere", null, "ls");
+    msg = CodecUtils.pathToMsg(getName() + "@someWhere", "ls");
     assertEquals(getName(), msg.getSrcName());
     assertEquals("someWhere", msg.getSrcId());
     assertEquals(getName() + "@someWhere", msg.getSrcFullName());
@@ -46,21 +47,24 @@ public void cliTest() throws Exception {
     // Message msg = CodecUtils.cliToMsg(null, getName(), null, "/ls /runtime");
     // FAILS
 
-    msg = CodecUtils.cliToMsg(cwd, getName() + "@someWhere", "blah@far", "ls");
-    assertEquals("blah", msg.getName());
-    assertEquals("blah@far", msg.getFullName());
-    assertEquals("far", msg.getId());
+    msg = CodecUtils.pathToMsg(getName() + "@someWhere", "ls");
+    assertEquals("runtime", msg.getName());
+    assertEquals("runtime", msg.getFullName());
+    assertEquals(getName() + "@someWhere", msg.sender);
+    assertNull(msg.getId());
+    assertEquals(0, msg.data.length);
 
-    cwd = "/";
-    msg = CodecUtils.cliToMsg(cwd, getName(), null, "ls");
+    cwd = "/runtime/";
+    msg = CodecUtils.pathToMsg(getName(), cwd + "ls");
     assertEquals("runtime", msg.getName());
     assertEquals("ls", msg.method);
     assertEquals(getName(), msg.getSrcName());
+    assertNull(msg.data);
 
-    cwd = "/blah";
-    msg = CodecUtils.cliToMsg(cwd, getName(), null, "method");
+    cwd = "/runtime/blahmethod";
+    msg = CodecUtils.pathToMsg(getName(), cwd);
     assertEquals("runtime", msg.getName());
-    assertEquals("ls", msg.method);
+    assertEquals("blahmethod", msg.method);
     assertEquals(getName(), msg.getSrcName());
 
     // make sure runtime is running
diff --git a/src/test/java/org/myrobotlab/service/WebGuiTest.java b/src/test/java/org/myrobotlab/service/WebGuiTest.java
index fe9ec168be..643485fc0c 100644
--- a/src/test/java/org/myrobotlab/service/WebGuiTest.java
+++ b/src/test/java/org/myrobotlab/service/WebGuiTest.java
@@ -4,18 +4,14 @@
 import static org.junit.Assert.assertNotNull;
 import static org.junit.Assert.assertTrue;
 
+import java.io.UnsupportedEncodingException;
+import java.net.URLEncoder;
 import java.util.List;
 
 import org.junit.Before;
 import org.junit.Test;
 import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.framework.MRLListener;
-import org.atmosphere.cpr.AtmosphereResource;
-import org.atmosphere.cpr.AtmosphereResourceImpl;
-import org.junit.Before;
-import org.junit.Test;
-import org.myrobotlab.codec.CodecUtils;
-import org.myrobotlab.framework.Message;
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.framework.TimeoutException;
 import org.myrobotlab.logging.LoggerFactory;
@@ -52,9 +48,9 @@ public void getTest() {
   }
   
   @Test
-  public void getTestWithParameter() {
+  public void getTestWithParameter() throws UnsupportedEncodingException {
 
-    byte[] bytes = Http.get("http://localhost:8889/api/service/runtime/isLocal/runtime");
+    byte[] bytes = Http.get("http://localhost:8889/api/service/runtime/isLocal/%22runtime%22");
     assertNotNull(bytes);
     String ret = new String(bytes);
     assertTrue(ret.contains("true"));
@@ -148,14 +144,6 @@ public void urlEncodingTest() {
     assertEquals("true", ret);
   }
 
-  @Test
-  public void noQuotesTest() {
-    //exec(print)
-    byte[] bytes = Http.get("http://localhost:8889/api/service/pythonApiTest/exec/print");
-    String ret = new String(bytes);
-    assertEquals("true", ret);
-  }
-
   @Test
   public void sendBlockingTest() throws InterruptedException, TimeoutException {
     String retVal = "retVal";
diff --git a/src/test/java/org/myrobotlab/service/data/LocaleTest.java b/src/test/java/org/myrobotlab/service/data/LocaleTest.java
index 62558fa29b..c76536be58 100644
--- a/src/test/java/org/myrobotlab/service/data/LocaleTest.java
+++ b/src/test/java/org/myrobotlab/service/data/LocaleTest.java
@@ -1,8 +1,7 @@
 package org.myrobotlab.service.data;
 
-import com.google.gson.Gson;
-import com.google.gson.GsonBuilder;
 import org.junit.Test;
+import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.test.AbstractTest;
 
 import java.util.HashMap;
@@ -128,20 +127,18 @@ public void testJavaLocale() {
       // java.util.Locale.setDefault(t);
 
       java.util.Locale[] locales = java.util.Locale.getAvailableLocales();
-      String[] isoLanguages = java.util.Locale.getISOLanguages();
-      String[] isoCountries = java.util.Locale.getISOCountries();
 
       // is java.util.Locale serializable
-      Gson gson = new GsonBuilder().setDateFormat("yyyy-MM-dd HH:mm:ss.SSS").setPrettyPrinting().disableHtmlEscaping().create();
-      String json = gson.toJson(locale);
-      java.util.Locale l = gson.fromJson(json, java.util.Locale.class);
+      String json = CodecUtils.toJson(locale);
+      
+      java.util.Locale l = CodecUtils.fromJson(json, java.util.Locale.class);
 
       java.util.Locale br = new java.util.Locale("en", "BR", "variant");
       log.info("br getLanguage - {}", br.getLanguage());
       log.info("br getDisplayLanguage - {}", br.getDisplayLanguage());
       br.toLanguageTag();
-      json = gson.toJson(br);
-      l = gson.fromJson(json, java.util.Locale.class);
+      json = CodecUtils.toJson(br);
+      l = CodecUtils.fromJson(json, java.util.Locale.class);
       br.equals(l);
 
       l = new java.util.Locale("en_BR_variant");
diff --git a/src/test/java/org/myrobotlab/service/interfaces/SpeechSynthesisTest.java b/src/test/java/org/myrobotlab/service/interfaces/SpeechSynthesisTest.java
index 68ef3147af..034b5c8d23 100644
--- a/src/test/java/org/myrobotlab/service/interfaces/SpeechSynthesisTest.java
+++ b/src/test/java/org/myrobotlab/service/interfaces/SpeechSynthesisTest.java
@@ -7,6 +7,7 @@
 
 import org.junit.Ignore;
 import org.junit.Test;
+import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.framework.repo.ServiceData;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.service.Runtime;
@@ -14,9 +15,6 @@
 import org.myrobotlab.service.abstracts.AbstractSpeechSynthesis.Voice;
 import org.slf4j.Logger;
 
-import com.google.gson.Gson;
-import com.google.gson.GsonBuilder;
-
 // TODO: this unit test is so loud!  we need a way to run it in mute mode
 // also it's long based on the length of the audio being generated/played.
 // TODO: find a way to validate that the mp3s are created, but don't actually play them.  (checksum? file length?  other approach?)
@@ -49,20 +47,17 @@ public static void main(String[] args) {
     // Locale.setDefault(t);
 
     Locale[] locales = Locale.getAvailableLocales();
-    String[] isoLanguages = Locale.getISOLanguages();
-    String[] isoCountries = Locale.getISOCountries();
 
     // is Locale serializable
-    Gson gson = new GsonBuilder().setDateFormat("yyyy-MM-dd HH:mm:ss.SSS").setPrettyPrinting().disableHtmlEscaping().create();
-    String json = gson.toJson(locale);
-    Locale l = gson.fromJson(json, Locale.class);
+    String json = CodecUtils.toJson(locale);
+    Locale l = CodecUtils.fromJson(json, Locale.class);
 
     Locale br = new Locale("en", "BR", "variant");
     log.info("br getLanguage - {}", br.getLanguage());
     log.info("br getDisplayLanguage - {}", br.getDisplayLanguage());
     br.toLanguageTag();
-    json = gson.toJson(br);
-    l = gson.fromJson(json, Locale.class);
+    json = CodecUtils.toJson(br);
+    l = CodecUtils.fromJson(json, Locale.class);
     br.equals(l);
 
     l = new Locale("en_BR_variant");

From 8e13c0dbcb5d5979a65cea0bfb5d596c2dcfdf9e Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Sun, 6 Aug 2023 08:40:47 -0700
Subject: [PATCH 34/54] fix for when libraries/serviceData.json fails to load

---
 .../framework/repo/ServiceData.java           | 24 +++++++++----------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/main/java/org/myrobotlab/framework/repo/ServiceData.java b/src/main/java/org/myrobotlab/framework/repo/ServiceData.java
index 3ab071714d..d1f6818449 100644
--- a/src/main/java/org/myrobotlab/framework/repo/ServiceData.java
+++ b/src/main/java/org/myrobotlab/framework/repo/ServiceData.java
@@ -177,18 +177,17 @@ static public ServiceData getLocalInstance() {
       // First check the libraries/serviceData.json dir.
       File jsonFile = new File(serviceDataCacheFileName);
       if (jsonFile.exists()) {
-        // load it and return!
-        String data = null;
         try {
-          data = FileIO.toString(jsonFile);
-        } catch (IOException e) {
+        // load it and return!
+        localInstance = CodecUtils.fromJson(FileIO.toString(jsonFile), ServiceData.class);
+        log.info("returning cached serviceData.json from {}", jsonFile);
+        
+        } catch (Exception e) {
           log.warn("Error reading serviceData.json from location {}", jsonFile.getAbsolutePath());
-        }
-        localInstance = CodecUtils.fromJson(data, ServiceData.class);
-        log.info("Returning serviceData.json from {}", jsonFile);
-        return localInstance;
-      } else {
-
+        }        
+      } 
+      
+      if (localInstance == null){
         // we are running in an IDE and haven't generated/saved the
         // serviceData.json yet.
         try {
@@ -201,9 +200,10 @@ static public ServiceData getLocalInstance() {
           log.error("Unable to generate the serivceData.json file!!");
           // This is a fatal issue. I think we should exit the jvm here.
         }
-        return localInstance;
-
       }
+      
+      return localInstance;
+
     }
   }
 

From 4e5b4ba9a5233037d79df304eb7d8bc86e008ddf Mon Sep 17 00:00:00 2001
From: Branden Butler <bwtbutler@hotmail.com>
Date: Mon, 7 Aug 2023 14:27:02 -0500
Subject: [PATCH 35/54] Fix non-transient package-private CvRect in SetImageROI
 filter (#1329)

---
 .../java/org/myrobotlab/opencv/OpenCVFilterSetImageROI.java     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/myrobotlab/opencv/OpenCVFilterSetImageROI.java b/src/main/java/org/myrobotlab/opencv/OpenCVFilterSetImageROI.java
index fd22d58104..d97788b9ab 100644
--- a/src/main/java/org/myrobotlab/opencv/OpenCVFilterSetImageROI.java
+++ b/src/main/java/org/myrobotlab/opencv/OpenCVFilterSetImageROI.java
@@ -38,7 +38,7 @@
 public class OpenCVFilterSetImageROI extends OpenCVFilter {
 
   private static final long serialVersionUID = 1L;
-  CvRect rect = null;
+  private transient CvRect rect = null;
   public final static Logger log = LoggerFactory.getLogger(OpenCVFilterSetImageROI.class);
 
   public OpenCVFilterSetImageROI(String name) {

From 244d6a7a4d41acaee79daddfd37f1dd198763972 Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Wed, 9 Aug 2023 06:44:10 -0700
Subject: [PATCH 36/54] relaxed parsing

---
 src/main/java/org/myrobotlab/codec/CodecUtils.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/myrobotlab/codec/CodecUtils.java b/src/main/java/org/myrobotlab/codec/CodecUtils.java
index 77756b5e2d..899ea8c346 100644
--- a/src/main/java/org/myrobotlab/codec/CodecUtils.java
+++ b/src/main/java/org/myrobotlab/codec/CodecUtils.java
@@ -219,7 +219,7 @@ public class CodecUtils {
     mapper.configure(SerializationFeature.FAIL_ON_EMPTY_BEANS, false);
 
     // Make jackson behave such that unknown properties are ignored
-    mapper.configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, true);
+    mapper.configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false);
 
   }
 

From 516f1d5ba68600379b749d311f1a1123adc59316 Mon Sep 17 00:00:00 2001
From: GroG <grog@myrobotlab.org>
Date: Sat, 12 Aug 2023 09:14:32 -0700
Subject: [PATCH 37/54] Boilerplate config changes 2 (#1328)

* added service-life-cycle doc

* proposal

* different implementation

* worky proposal

* testing and removal of local config member

* unit test fixed and audiofile updated

* Rework config generics so T is propagated through ConfigurableService correctly

* stop compiler errors

* all service templated with config

* unit tests catches bug before release ... yesss..

* more fixes

* dumb unit test fix

* requested updates

* removed casts fixed servo ui

* fixed unit test

---------

Co-authored-by: Branden Butler <bwtbutler@hotmail.com>
---
 doc/service-life-cycle.md                     |  52 +++++++
 .../java/org/myrobotlab/codec/CodecUtils.java |  10 --
 .../document/connector/AbstractConnector.java |   4 +-
 .../org/myrobotlab/framework/Service.java     | 139 ++++++++----------
 .../java/org/myrobotlab/framework/Task.java   |   2 +-
 .../interfaces/ConfigurableService.java       |   8 +
 .../interfaces/ServiceInterface.java          |  27 ++--
 .../service/Adafruit16CServoDriver.java       |  10 +-
 .../myrobotlab/service/AdafruitIna219.java    |   3 +-
 .../service/AdafruitMotorHat4Pi.java          |   3 +-
 .../java/org/myrobotlab/service/Ads1115.java  |  10 +-
 .../org/myrobotlab/service/Amt203Encoder.java |   3 +-
 .../java/org/myrobotlab/service/Android.java  |   3 +-
 .../java/org/myrobotlab/service/Arduino.java  |  17 +--
 src/main/java/org/myrobotlab/service/Arm.java |   3 +-
 .../myrobotlab/service/As5048AEncoder.java    |   3 +-
 .../org/myrobotlab/service/AudioCapture.java  |   3 +-
 .../org/myrobotlab/service/AudioFile.java     |  15 +-
 .../myrobotlab/service/AzureTranslator.java   |   3 +-
 .../myrobotlab/service/BeagleBoardBlack.java  |   3 +-
 .../java/org/myrobotlab/service/Blender.java  |   3 +-
 .../java/org/myrobotlab/service/Blocks.java   |   3 +-
 .../java/org/myrobotlab/service/Bno055.java   |   3 +-
 .../java/org/myrobotlab/service/BoofCv.java   |   3 +-
 .../java/org/myrobotlab/service/Chassis.java  |   3 +-
 .../org/myrobotlab/service/ChessGame.java     |   3 +-
 .../java/org/myrobotlab/service/Clock.java    |  37 +++--
 .../java/org/myrobotlab/service/Cron.java     |  16 +-
 .../java/org/myrobotlab/service/Database.java |   3 +-
 .../myrobotlab/service/Deeplearning4j.java    |   3 +-
 .../org/myrobotlab/service/DiscordBot.java    |  23 +--
 .../java/org/myrobotlab/service/DiyServo.java |   3 +-
 .../java/org/myrobotlab/service/Docker.java   |   6 +-
 .../myrobotlab/service/DocumentPipeline.java  |   3 +-
 .../org/myrobotlab/service/DruppNeck.java     |   3 +-
 .../myrobotlab/service/EddieControlBoard.java |   3 +-
 .../org/myrobotlab/service/Elasticsearch.java |   3 +-
 .../java/org/myrobotlab/service/Email.java    |  25 ++--
 .../java/org/myrobotlab/service/Emoji.java    |   2 +-
 .../java/org/myrobotlab/service/Esp8266.java  |   3 +-
 .../org/myrobotlab/service/Esp8266_01.java    |   3 +-
 .../service/FiniteStateMachine.java           |  18 +--
 src/main/java/org/myrobotlab/service/Git.java |   3 +-
 .../java/org/myrobotlab/service/GoPro.java    |   3 +-
 .../org/myrobotlab/service/GoogleCloud.java   |   3 +-
 .../org/myrobotlab/service/GoogleSearch.java  |   3 +-
 .../myrobotlab/service/GoogleTranslate.java   |   3 +-
 src/main/java/org/myrobotlab/service/Gps.java |   3 +-
 .../java/org/myrobotlab/service/Gpt3.java     |   2 +-
 .../java/org/myrobotlab/service/Hd44780.java  |  10 +-
 .../org/myrobotlab/service/HtmlFilter.java    |   2 +-
 .../org/myrobotlab/service/HtmlParser.java    |   3 +-
 .../org/myrobotlab/service/HttpClient.java    |   3 +-
 .../java/org/myrobotlab/service/I2cMux.java   |   6 +-
 .../java/org/myrobotlab/service/IBus.java     |   3 +-
 .../org/myrobotlab/service/ImageDisplay.java  |   7 +-
 .../java/org/myrobotlab/service/InMoov2.java  |   6 +-
 .../org/myrobotlab/service/InMoov2Arm.java    |   4 +-
 .../org/myrobotlab/service/InMoov2Hand.java   |   3 +-
 .../org/myrobotlab/service/InMoov2Head.java   |   4 +-
 .../org/myrobotlab/service/InMoov2Torso.java  |   4 +-
 .../org/myrobotlab/service/IndianTts.java     |   3 +-
 .../service/IntegratedMovement.java           |   3 +-
 .../java/org/myrobotlab/service/Intro.java    |   3 +-
 .../myrobotlab/service/InverseKinematics.java |   3 +-
 .../service/InverseKinematics3D.java          |   3 +-
 .../java/org/myrobotlab/service/IpCamera.java |   3 +-
 .../java/org/myrobotlab/service/JFugue.java   |   3 +-
 .../org/myrobotlab/service/JMonkeyEngine.java |   6 +-
 .../org/myrobotlab/service/JavaScript.java    |   3 +-
 .../java/org/myrobotlab/service/Joystick.java |  11 +-
 .../myrobotlab/service/KafkaConnector.java    |   3 +-
 .../java/org/myrobotlab/service/Keyboard.java |   3 +-
 .../org/myrobotlab/service/KeyboardSim.java   |   3 +-
 .../org/myrobotlab/service/LeapMotion.java    |  29 ++--
 .../org/myrobotlab/service/LeapMotion2.java   |   2 +-
 .../java/org/myrobotlab/service/Lidar.java    |   3 +-
 .../org/myrobotlab/service/LidarVlp16.java    |   3 +-
 .../java/org/myrobotlab/service/Lloyd.java    |   3 +-
 .../java/org/myrobotlab/service/Lm75a.java    |   3 +-
 .../org/myrobotlab/service/LocalSpeech.java   |  18 +--
 src/main/java/org/myrobotlab/service/Log.java |   3 +-
 .../java/org/myrobotlab/service/Mail.java     |   3 +-
 .../org/myrobotlab/service/MarySpeech.java    |   3 +-
 .../java/org/myrobotlab/service/Maven.java    |   3 +-
 .../myrobotlab/service/MobilePlatform.java    |   3 +-
 .../java/org/myrobotlab/service/Motor.java    |  11 +-
 .../org/myrobotlab/service/MotorDualPwm.java  |  13 +-
 .../org/myrobotlab/service/MotorHat4Pi.java   |  11 +-
 .../org/myrobotlab/service/MotorPort.java     |   2 +-
 .../java/org/myrobotlab/service/MouseSim.java |   3 +-
 .../org/myrobotlab/service/MouthControl.java  |  10 +-
 .../java/org/myrobotlab/service/Mpr121.java   |  12 +-
 .../java/org/myrobotlab/service/Mpu6050.java  |   8 +-
 .../java/org/myrobotlab/service/Mqtt.java     |   3 +-
 .../org/myrobotlab/service/MqttBroker.java    |  22 +--
 .../java/org/myrobotlab/service/MultiWii.java |   3 +-
 .../org/myrobotlab/service/MyoThalmic.java    |   3 +-
 .../java/org/myrobotlab/service/NeoPixel.java |   2 +-
 .../java/org/myrobotlab/service/OakD.java     |   3 +-
 .../org/myrobotlab/service/OculusDiy.java     |   3 +-
 .../org/myrobotlab/service/OculusRift.java    |   3 +-
 .../org/myrobotlab/service/OledSsd1306.java   |   3 +-
 .../java/org/myrobotlab/service/OpenCV.java   |  11 +-
 .../java/org/myrobotlab/service/OpenNi.java   |   3 +-
 .../myrobotlab/service/OpenWeatherMap.java    |  11 +-
 src/main/java/org/myrobotlab/service/Osc.java |   3 +-
 .../java/org/myrobotlab/service/Pcf8574.java  |  10 +-
 src/main/java/org/myrobotlab/service/Pid.java |  10 +-
 .../java/org/myrobotlab/service/Pingdar.java  |   3 +-
 src/main/java/org/myrobotlab/service/Pir.java |  16 +-
 .../java/org/myrobotlab/service/Polly.java    |   5 +-
 .../org/myrobotlab/service/ProgramAB.java     |  75 ++++------
 .../java/org/myrobotlab/service/Py4j.java     |   3 +-
 .../java/org/myrobotlab/service/Python.java   |  47 +++---
 .../java/org/myrobotlab/service/Random.java   |  14 +-
 .../java/org/myrobotlab/service/RasPi.java    |   2 +-
 .../org/myrobotlab/service/Rekognition.java   |   3 +-
 .../java/org/myrobotlab/service/Relay.java    |   3 +-
 .../java/org/myrobotlab/service/RoboClaw.java |   3 +-
 .../java/org/myrobotlab/service/Roomba.java   |   3 +-
 src/main/java/org/myrobotlab/service/Ros.java |  10 +-
 .../java/org/myrobotlab/service/Runtime.java  |  76 ++++++----
 .../org/myrobotlab/service/Sabertooth.java    |  11 +-
 .../java/org/myrobotlab/service/Security.java |  15 +-
 .../myrobotlab/service/SegmentDisplay.java    |   3 +-
 .../org/myrobotlab/service/SensorMonitor.java |   3 +-
 .../java/org/myrobotlab/service/Serial.java   |  10 +-
 .../org/myrobotlab/service/SerialRelay.java   |   3 +-
 .../java/org/myrobotlab/service/Servo.java    |   7 +-
 .../org/myrobotlab/service/ServoMixer.java    |   2 +-
 .../java/org/myrobotlab/service/Shoutbox.java |   3 +-
 .../java/org/myrobotlab/service/SlackBot.java |   8 +-
 .../java/org/myrobotlab/service/Solr.java     |  18 +--
 .../java/org/myrobotlab/service/Sphinx.java   |   2 +-
 .../org/myrobotlab/service/SpotMicro.java     |  13 +-
 .../java/org/myrobotlab/service/Test.java     |   3 +-
 .../myrobotlab/service/UltrasonicSensor.java  |   8 +-
 .../org/myrobotlab/service/VideoStreamer.java |   3 +-
 .../myrobotlab/service/VirtualArduino.java    |   3 +-
 .../java/org/myrobotlab/service/WebGui.java   |  26 ++--
 .../service/WebSocketConnector.java           |   3 +-
 .../java/org/myrobotlab/service/Webcam.java   |   3 +-
 .../service/WebkitSpeechSynthesis.java        |   3 +-
 src/main/java/org/myrobotlab/service/Wii.java |   3 +-
 .../org/myrobotlab/service/Wikipedia.java     |   3 +-
 .../java/org/myrobotlab/service/WorkE.java    |   3 +-
 .../java/org/myrobotlab/service/Xmpp.java     |   7 +-
 .../myrobotlab/service/_TemplateService.java  |   7 +-
 .../abstracts/AbstractComputerVision.java     |   3 +-
 .../abstracts/AbstractMicrocontroller.java    |   3 +-
 .../service/abstracts/AbstractMotor.java      |  44 +++---
 .../abstracts/AbstractMotorController.java    |   3 +-
 .../service/abstracts/AbstractPinEncoder.java |   3 +-
 .../service/abstracts/AbstractServo.java      |  63 ++++----
 .../abstracts/AbstractSpeechRecognizer.java   |  12 +-
 .../abstracts/AbstractSpeechSynthesis.java    |  14 +-
 .../service/abstracts/AbstractVideoSink.java  |   3 +-
 .../abstracts/AbstractVideoSource.java        |   3 +-
 .../service/config/EmojiConfig.java           |   1 -
 .../service/config/SabertoothConfig.java      |   2 +-
 .../org/myrobotlab/string/StringUtil.java     |  10 ++
 .../WebGui/app/service/js/ServoGui.js         |   4 +
 .../org/myrobotlab/framework/ServiceTest.java |  18 ++-
 .../org/myrobotlab/service/ServoTest.java     |   1 +
 165 files changed, 774 insertions(+), 706 deletions(-)
 create mode 100644 doc/service-life-cycle.md
 create mode 100644 src/main/java/org/myrobotlab/framework/interfaces/ConfigurableService.java

diff --git a/doc/service-life-cycle.md b/doc/service-life-cycle.md
new file mode 100644
index 0000000000..8fa5b4ebdb
--- /dev/null
+++ b/doc/service-life-cycle.md
@@ -0,0 +1,52 @@
+# Service Life Cycle
+```mermaid
+stateDiagram
+
+    start: start(name, type)
+    load: load(name, type)
+    loadService: loadService(plan, name, type, true, 0)
+
+    [*] --> start
+
+    start --> load
+    load --> loadService
+    loadService --> getDefault
+    getDefault --> readServiceConfig
+    readServiceConfig --> loadService
+    loadService --> createServicesFromPlan
+    createServicesFromPlan --> createService
+    createService --> setConfig
+    setConfig --> apply
+    apply --> startService
+    startService --> stopService
+    stopService --> releaseService
+    releaseService --> release
+    release --> [*]
+
+    [*] --> create
+    create --> load
+
+```
+
+### start(name, type)
+Creates and starts a service with the given name and type
+
+### load
+Starts loading the hierarchy of configuration
+FIXME - this should not be the memory plan, but should exist on the filesystem
+Default config is used if no config found ~~in memory~~ on filesystem
+
+### loadService
+Recursively loads a service config into a plan
+
+### createServicesFromPlan(plan, createdServices, name)
+Loops through all "loaded" services in the plan and creates them all
+
+### createService
+Instantiates instance of service
+
+### setConfig
+Sets the config of the service
+
+### apply
+Applies the config to the service
\ No newline at end of file
diff --git a/src/main/java/org/myrobotlab/codec/CodecUtils.java b/src/main/java/org/myrobotlab/codec/CodecUtils.java
index 899ea8c346..6b37b525ee 100644
--- a/src/main/java/org/myrobotlab/codec/CodecUtils.java
+++ b/src/main/java/org/myrobotlab/codec/CodecUtils.java
@@ -1619,14 +1619,4 @@ public static byte[] fromBase64(String input) {
     return Base64.getDecoder().decode(input);
   }
 
-  public static String removeEnd(final String str, final String remove) {
-    if (str == null || str.length() == 0 || remove == null || remove.length() == 0) {
-      return str;
-    }
-    if (str.endsWith(remove)) {
-      return str.substring(0, str.length() - remove.length());
-    }
-    return str;
-  }
-
 }
diff --git a/src/main/java/org/myrobotlab/document/connector/AbstractConnector.java b/src/main/java/org/myrobotlab/document/connector/AbstractConnector.java
index b008cf6be4..d49982478d 100644
--- a/src/main/java/org/myrobotlab/document/connector/AbstractConnector.java
+++ b/src/main/java/org/myrobotlab/document/connector/AbstractConnector.java
@@ -7,8 +7,8 @@
 import org.myrobotlab.document.Document;
 import org.myrobotlab.document.transformer.ConnectorConfig;
 import org.myrobotlab.framework.Service;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.DocumentConnector;
-import org.myrobotlab.service.interfaces.DocumentListener;
 import org.myrobotlab.service.interfaces.DocumentPublisher;
 
 /**
@@ -17,7 +17,7 @@
  * service.
  * 
  */
-public abstract class AbstractConnector extends Service implements DocumentPublisher, DocumentConnector {
+public abstract class AbstractConnector extends Service<ServiceConfig> implements DocumentPublisher, DocumentConnector {
 
   private static final long serialVersionUID = 1L;
   protected ConnectorState state = ConnectorState.STOPPED;
diff --git a/src/main/java/org/myrobotlab/framework/Service.java b/src/main/java/org/myrobotlab/framework/Service.java
index f0c83daa16..fe7dfd9450 100644
--- a/src/main/java/org/myrobotlab/framework/Service.java
+++ b/src/main/java/org/myrobotlab/framework/Service.java
@@ -58,6 +58,7 @@
 import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.framework.interfaces.Attachable;
 import org.myrobotlab.framework.interfaces.Broadcaster;
+import org.myrobotlab.framework.interfaces.ConfigurableService;
 import org.myrobotlab.framework.interfaces.FutureInvoker;
 import org.myrobotlab.framework.interfaces.NameProvider;
 import org.myrobotlab.framework.interfaces.ServiceInterface;
@@ -73,6 +74,7 @@
 import org.myrobotlab.service.interfaces.AuthorizationProvider;
 import org.myrobotlab.service.interfaces.QueueReporter;
 import org.myrobotlab.service.meta.abstracts.MetaData;
+import org.myrobotlab.string.StringUtil;
 import org.slf4j.Logger;
 
 /**
@@ -86,7 +88,7 @@
  * messages.
  * 
  */
-public abstract class Service implements Runnable, Serializable, ServiceInterface, Broadcaster, QueueReporter, FutureInvoker {
+public abstract class Service<T extends ServiceConfig> implements Runnable, Serializable, ServiceInterface, Broadcaster, QueueReporter, FutureInvoker, ConfigurableService<T> {
 
   // FIXME upgrade to ScheduledExecutorService
   // http://howtodoinjava.com/2015/03/25/task-scheduling-with-executors-scheduledthreadpoolexecutor-example/
@@ -99,6 +101,12 @@ public abstract class Service implements Runnable, Serializable, ServiceInterfac
    */
   protected MetaData serviceType;
 
+  /**
+   * Config member - configuration of type {ServiceType}Config
+   * Runtime applys either the default config or a saved config during service creation
+   */
+  protected T config;
+  
   private static final long serialVersionUID = 1L;
 
   transient public final static Logger log = LoggerFactory.getLogger(Service.class);
@@ -145,11 +153,6 @@ public abstract class Service implements Runnable, Serializable, ServiceInterfac
    */
   protected Properties defaultLocalization = null;
 
-  /**
-   * the last config applied to this service
-   */
-  protected ServiceConfig config;
-
   /**
    * map of keys to localizations -
    * 
@@ -483,7 +486,7 @@ static public String getResourceDir(String serviceType, String additionalPath) {
     
     // stupid solution to get past static problem
     if (!"Runtime".equals(serviceType)) {
-      resourceDir = ((RuntimeConfig)Runtime.getInstance().getConfig()).resource + fs + serviceType;
+      resourceDir = Runtime.getInstance().getConfig().resource + fs + serviceType;
     } else {
       resourceDir = "resource";
     }
@@ -1127,10 +1130,10 @@ public boolean hasError() {
 
   @Override
   public Map<String, Peer> getPeers() {
-    if (config == null) {
+    if (getConfig() == null) {
       return null;
     }
-    return config.getPeers();
+    return getConfig().getPeers();
   }
 
   /**
@@ -1155,10 +1158,10 @@ public String getPeerKey(String name) {
 
   @Override
   public Set<String> getPeerKeys() {
-    if (config == null || config.peers == null) {
+    if (getConfig() == null || getConfig().peers == null) {
       return new HashSet<>();
     }
-    return config.peers.keySet();
+    return getConfig().peers.keySet();
   }
 
   public String help(String format, String level) {
@@ -1395,47 +1398,50 @@ public boolean isRunning() {
   }
 
   /**
-   * Default load config method, subclasses should override this to support
-   * service specific configuration in the service yaml files.
-   * 
-   * apply is the first function to be called after construction of a service,
-   * then startService will be called
-   * 
-   * construct -&gt; apply -&gt; startService
-   * 
+   * getConfig returns current config of the service. This default super method
+   * will also filter webgui subscriptions out, in addition for any local subscriptions it
+   * will remove the instance "id" from any service.  The reason it removes the webgui
+   * subscriptions is to avoid overwelming the user when modifying config.  UI subscriptions
+   * tend to be very numerous and not very useful to the user.  The reason it removes the
+   * instance id from local subscriptions is to allow the config to be used with any instance.
+   * Unless the user is controlling instance id, its random every restart.
    */
-  @Override
-  public ServiceConfig apply(ServiceConfig inConfig) {
-    log.info("Default service config loading for service: {} type: {}", getName(), getTypeKey());
-    /*
-     * We clone/serialize here because we don't want to use the same reference
-     * of of config in the plan. If configuration is applied through the plan,
-     * "or from anywhere else" we make a copy of it here. And the copy is
-     * applied to the actual service. This keeps the plan safe to modify without
-     * the worry of modifying a running service config.
-     */
+  public T getConfig() {
+    return config;
+  }
+
+  /**
+   * Super class apply using template type. The default assigns config of the templated type, and also
+   * add listeners from subscriptions found on the base class ServiceConfig.listeners 
+   */
+  public T apply(T c) {
+      config = c;
+      addConfigListeners(c);
+      return config;
+  }
 
-    String yaml = CodecUtils.toYaml(inConfig);
-    ServiceConfig copyOfConfig = CodecUtils.fromYaml(yaml, inConfig.getClass());
 
-    // TODO - handle subscriptions / listeners
-    if (copyOfConfig.listeners != null) {
-      for (Listener listener : copyOfConfig.listeners) {
+  /**
+   * The basic ServiceConfig has a list of listeners. These are definitions of
+   * other subscribers subscribing for data from this service. This method
+   * processes those listeners and adds them to the outbox notifyList.
+   */
+  public ServiceConfig addConfigListeners(ServiceConfig config) {
+    if (config.listeners != null) {
+      for (Listener listener : config.listeners) {
         addListener(listener.method, listener.listener, listener.callback);
       }
     }
-
-    this.config = copyOfConfig;
     return config;
   }
 
   /**
-   * Default getConfig returns name and type with null service specific config
-   * 
+   * Default filtered config, used when saving, can be overriden by concrete class
    */
   @Override
-  public ServiceConfig getConfig() {
-
+  public ServiceConfig getFilteredConfig() {
+    // Make a copy, because we don't want to modify the original
+    ServiceConfig sc = CodecUtils.fromYaml(CodecUtils.toYaml(getConfig()), config.getClass());
     Map<String, List<MRLListener>> listeners = getOutbox().notifyList;
     List<Listener> newListeners = new ArrayList<>();
 
@@ -1445,49 +1451,30 @@ public ServiceConfig getConfig() {
       for (MRLListener listener : list) {
         if (!listener.callbackName.endsWith("@webgui-client")) {
           // Removes the `@runtime-id` so configs still work with local IDs
-          // The StringUtils.removeEnd() call is a no-op when the ID is not our local ID,
+          // The StringUtils.removeEnd() call is a no-op when the ID is not our
+          // local ID,
           // so doesn't conflict with remote routes
-          Listener newConfigListener = new Listener(
-                  listener.topicMethod,
-                  CodecUtils.removeEnd(
-                          listener.callbackName,
-                          '@' + Platform.getLocalInstance().getId()
-                  ),
-                  listener.callbackMethod
-          );
+          Listener newConfigListener = new Listener(listener.topicMethod, StringUtil.removeEnd(listener.callbackName, '@' + Platform.getLocalInstance().getId()),
+              listener.callbackMethod);
           newListeners.add(newConfigListener);
         }
       }
     }
 
-
     if (newListeners.size() > 0) {
-      config.listeners = newListeners;
+      sc.listeners = newListeners;
     }
-    return config;
-  }
-
-  // FIXME - NEED A BETTER SOLUTION !!!
-  @Override
-  public ServiceConfig getFilteredConfig() {
-    ServiceConfig sc = getConfig();
-    // deep clone
-    sc = CodecUtils.fromYaml(CodecUtils.toYaml(sc), sc.getClass());
     return sc;
   }
 
-  @Override
-  public void setConfig(ServiceConfig config) {
-    this.config = config;
-  }
 
   @Override
   public void setConfigValue(String fieldname, Object value) throws IllegalArgumentException, IllegalAccessException, NoSuchFieldException, SecurityException {
-      log.info("setting field name fieldname {} to {}", fieldname, value);
+    log.info("setting field name fieldname {} to {}", fieldname, value);
 
-      Field field = config.getClass().getDeclaredField(fieldname);
-      // field.setAccessible(true); should not need this - it "should" be public
-      field.set(config, value);
+    Field field = getConfig().getClass().getDeclaredField(fieldname);
+    // field.setAccessible(true); should not need this - it "should" be public
+    field.set(getConfig(), value);
   }
 
   @Override
@@ -1913,7 +1900,7 @@ synchronized public ServiceInterface startPeer(String peerKey) {
     peerKey = peerKey.trim();
 
     // get current definition of config and peer
-    Peer peer = config.getPeer(peerKey);
+    Peer peer = getConfig().getPeer(peerKey);
 
     if (peer == null) {
       error("startPeer could not find peerKey of %s in %s", peerKey, getName());
@@ -1956,8 +1943,8 @@ synchronized public ServiceInterface startPeer(String peerKey) {
    */
   synchronized public void releasePeer(String peerKey) {
 
-    if (config != null && config.getPeer(peerKey) != null) {
-      Peer peer = config.getPeer(peerKey);
+    if (getConfig() != null && getConfig().getPeer(peerKey) != null) {
+      Peer peer = getConfig().getPeer(peerKey);
       ServiceConfig sc = Runtime.getPlan().get(peer.name);
       // peer recursive
       if (sc != null && sc.getPeers() != null) {
@@ -2732,10 +2719,10 @@ public int getCreationOrder() {
    */
   public String getPeerName(String peerKey) {
 
-    if (config == null) {
+    if (getConfig() == null) {
       return null;
     }
-    return config.getPeerName(peerKey);
+    return getConfig().getPeerName(peerKey);
   }
 
   /**
@@ -2778,7 +2765,7 @@ public void apply() {
     // updating plan
     Runtime.getPlan().put(getName(), sc);
     // applying config to self
-    apply(sc);
+    apply((T)sc);
   }
 
   /**
@@ -2790,7 +2777,7 @@ public void apply() {
    * @param fullName
    */
   public void setPeerName(String key, String fullName) {
-    Peer peer = config.getPeer(key);
+    Peer peer = getConfig().getPeer(key);
     String oldName = peer.name;
     peer.name = fullName;
     // update plan ?
@@ -2822,7 +2809,7 @@ public void updatePeerType(String key, String peerType) {
       sc.putPeerType(key, String.format("%s.%s", getName(), key), peerType);
     }
 
-    Peer peer = config.getPeer(key);
+    Peer peer = getConfig().getPeer(key);
     peer.type = peerType;
 
     // not Needed
diff --git a/src/main/java/org/myrobotlab/framework/Task.java b/src/main/java/org/myrobotlab/framework/Task.java
index 68fdd29591..315b62a6f0 100644
--- a/src/main/java/org/myrobotlab/framework/Task.java
+++ b/src/main/java/org/myrobotlab/framework/Task.java
@@ -64,7 +64,7 @@ public void run() {
       Task t = new Task(this);
       // clear history list - becomes "new" message
       t.msg.historyList.clear();
-      Timer timer = myService.tasks.get(taskName);
+      Timer timer = (Timer) myService.tasks.get(taskName);
       if (timer != null) {
         // timer = new Timer(String.format("%s.timer", getName()));
         try {
diff --git a/src/main/java/org/myrobotlab/framework/interfaces/ConfigurableService.java b/src/main/java/org/myrobotlab/framework/interfaces/ConfigurableService.java
new file mode 100644
index 0000000000..5e49ecd1fb
--- /dev/null
+++ b/src/main/java/org/myrobotlab/framework/interfaces/ConfigurableService.java
@@ -0,0 +1,8 @@
+package org.myrobotlab.framework.interfaces;
+
+import org.myrobotlab.service.config.ServiceConfig;
+
+public interface ConfigurableService<T extends ServiceConfig> {
+  T getConfig();
+  T apply(T c);
+}
diff --git a/src/main/java/org/myrobotlab/framework/interfaces/ServiceInterface.java b/src/main/java/org/myrobotlab/framework/interfaces/ServiceInterface.java
index 1cc357418e..18334da95e 100644
--- a/src/main/java/org/myrobotlab/framework/interfaces/ServiceInterface.java
+++ b/src/main/java/org/myrobotlab/framework/interfaces/ServiceInterface.java
@@ -18,7 +18,7 @@
 import org.slf4j.Logger;
 
 public interface ServiceInterface extends ServiceQueue, LoggingSink, NameTypeProvider, MessageSubscriber, MessageSender, StateSaver, Invoker, StatePublisher, StatusPublisher,
-    ServiceStatus, TaskManager, Attachable, MessageInvoker, Comparable<ServiceInterface> {
+    ServiceStatus, TaskManager, Attachable, MessageInvoker, Comparable<ServiceInterface>/*, ConfigurableService<ServiceConfig> */{
 
   // does this work ?
   Logger log = LoggerFactory.getLogger(Service.class);
@@ -133,13 +133,6 @@ public interface ServiceInterface extends ServiceQueue, LoggingSink, NameTypePro
    */
   ServiceConfig getConfig();
 
-  /**
-   * sets config - just before apply
-   * 
-   * @param config
-   */
-  void setConfig(ServiceConfig config);
-
   /**
    * reflectively sets a part of config
    *  
@@ -149,15 +142,6 @@ public interface ServiceInterface extends ServiceQueue, LoggingSink, NameTypePro
   void setConfigValue(String fieldname, Object value)  throws IllegalArgumentException, IllegalAccessException, NoSuchFieldException, SecurityException;
 
 
-  /**
-   * Configure a service by merging in configuration
-   * 
-   * @param config
-   *          the config to load
-   * @return the loaded config.
-   */
-  ServiceConfig apply(ServiceConfig config);
-
   /**
    * Service life-cycle method, stops the inbox and outbox threads - typically
    * does not release "custom" resources. It's purpose primarily is to stop
@@ -224,4 +208,13 @@ public interface ServiceInterface extends ServiceQueue, LoggingSink, NameTypePro
    */
   ServiceConfig getFilteredConfig();
 
+  /**
+   * Adds the subscribers specified in the Service.listener as listeners to
+   * this service.
+   * 
+   * @param config
+   * @return
+   */
+  public ServiceConfig addConfigListeners(ServiceConfig config);
+  
 }
diff --git a/src/main/java/org/myrobotlab/service/Adafruit16CServoDriver.java b/src/main/java/org/myrobotlab/service/Adafruit16CServoDriver.java
index 8fc649ea18..78da519eab 100644
--- a/src/main/java/org/myrobotlab/service/Adafruit16CServoDriver.java
+++ b/src/main/java/org/myrobotlab/service/Adafruit16CServoDriver.java
@@ -45,7 +45,7 @@
  *         https://learn.adafruit.com/16-channel-pwm-servo-driver
  */
 @Ignore
-public class Adafruit16CServoDriver extends Service implements I2CControl, ServoController,
+public class Adafruit16CServoDriver extends Service<Adafruit16CServoDriverConfig> implements I2CControl, ServoController,
     MotorController /* , ServoStatusPublisher */ {
 
   /**
@@ -1024,8 +1024,8 @@ public String publishServoStopped(String name) {
   }
   
   @Override
-  public ServiceConfig getConfig() {
-
+  public Adafruit16CServoDriverConfig getConfig() {
+    super.getConfig();
     Adafruit16CServoDriverConfig config = (Adafruit16CServoDriverConfig)super.getConfig();
     // FIXME remove member vars use config directly
     config.controller = controllerName;
@@ -1035,8 +1035,8 @@ public ServiceConfig getConfig() {
   }
   
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    Adafruit16CServoDriverConfig config = (Adafruit16CServoDriverConfig)super.apply(c);
+  public Adafruit16CServoDriverConfig apply(Adafruit16CServoDriverConfig c) {
+    super.apply(c);
     if (config.controller != null) {
       try {
         attach(config.controller);
diff --git a/src/main/java/org/myrobotlab/service/AdafruitIna219.java b/src/main/java/org/myrobotlab/service/AdafruitIna219.java
index 43c058d248..328c5e300b 100644
--- a/src/main/java/org/myrobotlab/service/AdafruitIna219.java
+++ b/src/main/java/org/myrobotlab/service/AdafruitIna219.java
@@ -12,6 +12,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.I2CControl;
 import org.myrobotlab.service.interfaces.I2CController;
 import org.myrobotlab.service.interfaces.VoltageSensorControl;
@@ -25,7 +26,7 @@
  * 
  *         References : https://www.adafruit.com/products/904
  */
-public class AdafruitIna219 extends Service implements I2CControl, VoltageSensorControl {
+public class AdafruitIna219 extends Service<ServiceConfig> implements I2CControl, VoltageSensorControl {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/AdafruitMotorHat4Pi.java b/src/main/java/org/myrobotlab/service/AdafruitMotorHat4Pi.java
index 4d3c47c955..a089498d4f 100644
--- a/src/main/java/org/myrobotlab/service/AdafruitMotorHat4Pi.java
+++ b/src/main/java/org/myrobotlab/service/AdafruitMotorHat4Pi.java
@@ -19,6 +19,7 @@
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.abstracts.AbstractMotorController;
+import org.myrobotlab.service.config.MotorConfig;
 import org.myrobotlab.service.interfaces.I2CControl;
 import org.myrobotlab.service.interfaces.I2CController;
 import org.myrobotlab.service.interfaces.MotorControl;
@@ -33,7 +34,7 @@
  *         https://learn.adafruit.com/adafruit-dc-and-stepper-motor-hat-for-raspberry-pi/overview
  */
 
-public class AdafruitMotorHat4Pi extends AbstractMotorController implements I2CControl {
+public class AdafruitMotorHat4Pi extends AbstractMotorController<MotorConfig> implements I2CControl {
 
   /** version of the library */
   static public final String VERSION = "0.9";
diff --git a/src/main/java/org/myrobotlab/service/Ads1115.java b/src/main/java/org/myrobotlab/service/Ads1115.java
index 429538e142..1594f287bd 100644
--- a/src/main/java/org/myrobotlab/service/Ads1115.java
+++ b/src/main/java/org/myrobotlab/service/Ads1115.java
@@ -66,7 +66,7 @@
  *         EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  */
 
-public class Ads1115 extends Service implements I2CControl, PinArrayControl {
+public class Ads1115 extends Service<Ads1115Config> implements I2CControl, PinArrayControl {
   /**
    * Publisher - Publishes pin data at a regular interval
    * 
@@ -1165,8 +1165,8 @@ public String getAddress() {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    Ads1115Config config = (Ads1115Config)super.getConfig();
+  public Ads1115Config getConfig() {
+    super.getConfig();
     // FIXME remove member variables - use config only
     config.bus = deviceBus;
     config.address = deviceAddress;
@@ -1175,8 +1175,8 @@ public ServiceConfig getConfig() {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    Ads1115Config config = (Ads1115Config) super.apply(c);
+  public Ads1115Config apply(Ads1115Config c) {
+    super.apply(c);
     deviceBus = config.bus;
     deviceAddress = config.address;
     if (config.controller != null) {
diff --git a/src/main/java/org/myrobotlab/service/Amt203Encoder.java b/src/main/java/org/myrobotlab/service/Amt203Encoder.java
index c4a22b9d0b..2c76aa21a1 100755
--- a/src/main/java/org/myrobotlab/service/Amt203Encoder.java
+++ b/src/main/java/org/myrobotlab/service/Amt203Encoder.java
@@ -2,6 +2,7 @@
 
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.abstracts.AbstractPinEncoder;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.EncoderControl;
 
 /**
@@ -22,7 +23,7 @@
  * @author kwatters
  *
  */
-public class Amt203Encoder extends AbstractPinEncoder implements EncoderControl {
+public class Amt203Encoder extends AbstractPinEncoder<ServiceConfig> implements EncoderControl {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Android.java b/src/main/java/org/myrobotlab/service/Android.java
index 6ac23de8a3..3334088e75 100644
--- a/src/main/java/org/myrobotlab/service/Android.java
+++ b/src/main/java/org/myrobotlab/service/Android.java
@@ -5,9 +5,10 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
-public class Android extends Service {
+public class Android extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Arduino.java b/src/main/java/org/myrobotlab/service/Arduino.java
index 3568fcb598..89e407c18d 100644
--- a/src/main/java/org/myrobotlab/service/Arduino.java
+++ b/src/main/java/org/myrobotlab/service/Arduino.java
@@ -38,7 +38,6 @@
 import org.myrobotlab.sensor.EncoderData;
 import org.myrobotlab.service.abstracts.AbstractMicrocontroller;
 import org.myrobotlab.service.config.ArduinoConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.DeviceMapping;
 import org.myrobotlab.service.data.PinData;
 import org.myrobotlab.service.data.SerialRelayData;
@@ -71,7 +70,7 @@
 import org.myrobotlab.service.interfaces.UltrasonicSensorController;
 import org.slf4j.Logger;
 
-public class Arduino extends AbstractMicrocontroller implements I2CBusController, I2CController, SerialDataListener, ServoController, MotorController, NeoPixelController,
+public class Arduino extends AbstractMicrocontroller<ArduinoConfig> implements I2CBusController, I2CController, SerialDataListener, ServoController, MotorController, NeoPixelController,
     UltrasonicSensorController, PortConnector, RecordControl, PortListener, PortPublisher, EncoderController, PinArrayPublisher, MrlCommPublisher, ServoStatusPublisher {
 
   transient public final static Logger log = LoggerFactory.getLogger(Arduino.class);
@@ -2321,19 +2320,19 @@ public void neoPixelClear(String neopixel) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    ArduinoConfig c = (ArduinoConfig) super.getConfig();
+  public ArduinoConfig getConfig() {
+    super.getConfig();
 
     // FIXME "port" shouldn't exist only config.port !
-    c.port = port;
-    c.connect = isConnected();
+    config.port = port;
+    config.connect = isConnected();
 
-    return c;
+    return config;
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    ArduinoConfig config = (ArduinoConfig) super.apply(c);
+  public ArduinoConfig apply(ArduinoConfig c) {
+    super.apply(c);
 
     if (msg == null) {
       serial = (Serial) startPeer("serial");
diff --git a/src/main/java/org/myrobotlab/service/Arm.java b/src/main/java/org/myrobotlab/service/Arm.java
index b86a279557..db695f01ef 100644
--- a/src/main/java/org/myrobotlab/service/Arm.java
+++ b/src/main/java/org/myrobotlab/service/Arm.java
@@ -28,13 +28,14 @@
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 /**
  * Arm
  * 
  */
-public class Arm extends Service {
+public class Arm extends Service<ServiceConfig> {
 
   public transient final static Logger log = LoggerFactory.getLogger(Arm.class.getCanonicalName());
 
diff --git a/src/main/java/org/myrobotlab/service/As5048AEncoder.java b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
index 34ac4ca212..f04b3d7289 100755
--- a/src/main/java/org/myrobotlab/service/As5048AEncoder.java
+++ b/src/main/java/org/myrobotlab/service/As5048AEncoder.java
@@ -2,6 +2,7 @@
 
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.abstracts.AbstractPinEncoder;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.EncoderControl;
 
 /**
@@ -10,7 +11,7 @@
  * @author kwatters
  *
  */
-public class As5048AEncoder extends AbstractPinEncoder implements EncoderControl {
+public class As5048AEncoder extends AbstractPinEncoder<ServiceConfig> implements EncoderControl {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/AudioCapture.java b/src/main/java/org/myrobotlab/service/AudioCapture.java
index c1df1781fd..2ac2da72ee 100644
--- a/src/main/java/org/myrobotlab/service/AudioCapture.java
+++ b/src/main/java/org/myrobotlab/service/AudioCapture.java
@@ -50,13 +50,14 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 /**
  * AudioCapture - a service that can record and playback from a microphone.
  * 
  */
-public class AudioCapture extends Service {
+public class AudioCapture extends Service<ServiceConfig> {
   public final static Logger log = LoggerFactory.getLogger(AudioCapture.class.getCanonicalName());
 
   private static final long serialVersionUID = 1L;
diff --git a/src/main/java/org/myrobotlab/service/AudioFile.java b/src/main/java/org/myrobotlab/service/AudioFile.java
index b1ce0fe7e8..8b5a3cb828 100644
--- a/src/main/java/org/myrobotlab/service/AudioFile.java
+++ b/src/main/java/org/myrobotlab/service/AudioFile.java
@@ -62,7 +62,7 @@
  * TODO - publishPeak interface
  *
  */
-public class AudioFile extends Service implements AudioPublisher, AudioControl {
+public class AudioFile extends Service<AudioFileConfig> implements AudioPublisher, AudioControl {
   static final long serialVersionUID = 1L;
   static final Logger log = LoggerFactory.getLogger(AudioFile.class);
 
@@ -519,7 +519,7 @@ public void stopPlaylist() {
   }
 
   @Override
-  public ServiceConfig getConfig() {
+  public AudioFileConfig getConfig() {
 
     AudioFileConfig c = (AudioFileConfig) super.getConfig();
     // FIXME - remove members keep data in config !
@@ -537,9 +537,8 @@ public ServiceConfig getConfig() {
     return config;
   }
 
-  @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    AudioFileConfig config = (AudioFileConfig) super.apply(c);
+  public AudioFileConfig apply(AudioFileConfig config) {
+    super.apply(config);
     setMute(config.mute);
     setTrack(config.currentTrack);
     setVolume(config.volume);
@@ -554,11 +553,7 @@ public ServiceConfig apply(ServiceConfig c) {
       }
     }
     
-    // FIXME - THIS IS ALL THATS NEEDED AND IT CAN BE 
-    // DONE IN THE SERVICE LEVEL
-    // if services need "special" handling they can override
-    this.config = c;
-    return c;
+    return config;
   }
 
   public double publishPeak(double peak) {
diff --git a/src/main/java/org/myrobotlab/service/AzureTranslator.java b/src/main/java/org/myrobotlab/service/AzureTranslator.java
index a4f5c08f39..d9c5aceb68 100644
--- a/src/main/java/org/myrobotlab/service/AzureTranslator.java
+++ b/src/main/java/org/myrobotlab/service/AzureTranslator.java
@@ -18,6 +18,7 @@
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.TextListener;
 import org.myrobotlab.service.interfaces.TextPublisher;
 import org.myrobotlab.service.interfaces.Translator;
@@ -31,7 +32,7 @@
 import okhttp3.RequestBody;
 import okhttp3.Response;
 
-public class AzureTranslator extends Service implements Translator, TextListener, TextPublisher {
+public class AzureTranslator extends Service<ServiceConfig> implements Translator, TextListener, TextPublisher {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/BeagleBoardBlack.java b/src/main/java/org/myrobotlab/service/BeagleBoardBlack.java
index 49600b2b16..fd9513ea1f 100644
--- a/src/main/java/org/myrobotlab/service/BeagleBoardBlack.java
+++ b/src/main/java/org/myrobotlab/service/BeagleBoardBlack.java
@@ -5,6 +5,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 /**
@@ -12,7 +13,7 @@
  * service will allow access through Java to the GPIO of the BBB. Needs a Pi4J
  * code to be ported to a BBB4J library.
  */
-public class BeagleBoardBlack extends Service {
+public class BeagleBoardBlack extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Blender.java b/src/main/java/org/myrobotlab/service/Blender.java
index 18b8b57fda..9056dbef23 100644
--- a/src/main/java/org/myrobotlab/service/Blender.java
+++ b/src/main/java/org/myrobotlab/service/Blender.java
@@ -14,9 +14,10 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
-public class Blender extends Service {
+public class Blender extends Service<ServiceConfig> {
 
   /**
    * Control line - JSON over TCP/IP This is the single control communication
diff --git a/src/main/java/org/myrobotlab/service/Blocks.java b/src/main/java/org/myrobotlab/service/Blocks.java
index 49caf8bb28..c0362e2185 100644
--- a/src/main/java/org/myrobotlab/service/Blocks.java
+++ b/src/main/java/org/myrobotlab/service/Blocks.java
@@ -5,9 +5,10 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
-public class Blocks extends Service {
+public class Blocks extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Bno055.java b/src/main/java/org/myrobotlab/service/Bno055.java
index aab854397e..1086f749fc 100644
--- a/src/main/java/org/myrobotlab/service/Bno055.java
+++ b/src/main/java/org/myrobotlab/service/Bno055.java
@@ -12,6 +12,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.PinData;
 import org.myrobotlab.service.interfaces.I2CControl;
 import org.myrobotlab.service.interfaces.I2CController;
@@ -47,7 +48,7 @@
  * DEALINGS IN THE SOFTWARE. ===============================================
  */
 
-public class Bno055 extends Service implements I2CControl, PinListener {
+public class Bno055 extends Service<ServiceConfig> implements I2CControl, PinListener {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/BoofCv.java b/src/main/java/org/myrobotlab/service/BoofCv.java
index 21bdad5ee4..36b6d58239 100644
--- a/src/main/java/org/myrobotlab/service/BoofCv.java
+++ b/src/main/java/org/myrobotlab/service/BoofCv.java
@@ -6,11 +6,12 @@
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.math.geometry.Point2df;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.Point2DfListener;
 import org.myrobotlab.service.interfaces.Point2DfPublisher;
 import org.slf4j.Logger;
 
-public class BoofCv extends Service implements Point2DfPublisher, Point2DfListener {
+public class BoofCv extends Service<ServiceConfig> implements Point2DfPublisher, Point2DfListener {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Chassis.java b/src/main/java/org/myrobotlab/service/Chassis.java
index c0b5da0549..6f2c5ba082 100644
--- a/src/main/java/org/myrobotlab/service/Chassis.java
+++ b/src/main/java/org/myrobotlab/service/Chassis.java
@@ -4,11 +4,12 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.MotorControl;
 import org.myrobotlab.service.interfaces.MotorController;
 import org.slf4j.Logger;
 
-public class Chassis extends Service {
+public class Chassis extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/ChessGame.java b/src/main/java/org/myrobotlab/service/ChessGame.java
index f9be32e27f..adb0c7dc22 100644
--- a/src/main/java/org/myrobotlab/service/ChessGame.java
+++ b/src/main/java/org/myrobotlab/service/ChessGame.java
@@ -31,9 +31,10 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
-public class ChessGame extends Service {
+public class ChessGame extends Service<ServiceConfig> {
 
   public final static Logger log = LoggerFactory.getLogger(ChessGame.class.getCanonicalName());
 
diff --git a/src/main/java/org/myrobotlab/service/Clock.java b/src/main/java/org/myrobotlab/service/Clock.java
index 49acdbc31a..df211bb4e3 100644
--- a/src/main/java/org/myrobotlab/service/Clock.java
+++ b/src/main/java/org/myrobotlab/service/Clock.java
@@ -14,7 +14,6 @@
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.service.config.ClockConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 /**
@@ -22,7 +21,7 @@
  * generates a pulse with a timestamp on a regular interval defined by the
  * setInterval(Integer) method. Interval is in milliseconds.
  */
-public class Clock extends Service {
+public class Clock extends Service<ClockConfig> {
 
   public class ClockThread implements Runnable {
 
@@ -31,14 +30,13 @@ public class ClockThread implements Runnable {
 
     @Override
     public void run() {
-      ClockConfig c = (ClockConfig) config;
 
       try {
 
-        c.running = true;
+        config.running = true;
         invoke("publishClockStarted");
-        while (c.running) {
-          Thread.sleep(c.interval);
+        while (config.running) {
+          Thread.sleep(config.interval);
           Date now = new Date();
           for (Message msg : events) {
             send(msg);
@@ -50,7 +48,7 @@ public void run() {
       } catch (InterruptedException e) {
         log.info("ClockThread interrupt");
       }
-      c.running = false;
+      config.running = false;
       thread = null;
     }
 
@@ -68,7 +66,6 @@ synchronized public void start() {
     }
 
     synchronized public void stop() {
-      ClockConfig c = (ClockConfig) config;
 
       if (thread != null) {
         thread.interrupt();
@@ -76,11 +73,11 @@ synchronized public void stop() {
       } else {
         log.info("{} already stopped", getName());
       }
-      c.running = false;
+      config.running = false;
       Service.sleep(20);
     }
   }
-
+  
   private static final long serialVersionUID = 1L;
 
   final public static Logger log = LoggerFactory.getLogger(Clock.class);
@@ -159,8 +156,7 @@ public long publishEpoch(Date time) {
    * @param milliseconds
    */
   public void setInterval(Integer milliseconds) {
-    ClockConfig c = (ClockConfig) config;
-    c.interval = milliseconds;
+    config.interval = milliseconds;
     broadcastState();
   }
 
@@ -181,8 +177,7 @@ public void startClock() {
    * @return
    */
   public boolean isClockRunning() {
-    ClockConfig c = (ClockConfig) config;
-    return c.running;
+    return config.running;
   }
 
   /**
@@ -203,12 +198,12 @@ public void stopService() {
    * @return
    */
   public Integer getInterval() {
-    return ((ClockConfig) config).interval;
+    return config.interval;
   }
 
-  @Override
-  public ServiceConfig apply(ServiceConfig c) {    
-    ClockConfig config = (ClockConfig) super.apply(c);
+  public ClockConfig apply(ClockConfig c) {    
+    super.apply(c);
+    config = (ClockConfig)c;
     if (config.running != null) {
       if (config.running) {
         startClock();
@@ -233,7 +228,9 @@ public static void main(String[] args) throws Exception {
 //      webgui.startService();
 
       Clock c1 = (Clock) Runtime.start("c1", "Clock");
-      c1.startClock();
+      Runtime.setLogLevel("ERROR");
+      // c1.startClock();
+      Runtime.getInstance().connect("ws://localhost:8888");
       
       boolean done = true;
       if (done) return;
@@ -248,4 +245,6 @@ public static void main(String[] args) throws Exception {
     }
   }
 
+
+
 }
\ No newline at end of file
diff --git a/src/main/java/org/myrobotlab/service/Cron.java b/src/main/java/org/myrobotlab/service/Cron.java
index b59271beae..7e8e0ba00b 100644
--- a/src/main/java/org/myrobotlab/service/Cron.java
+++ b/src/main/java/org/myrobotlab/service/Cron.java
@@ -27,7 +27,7 @@
  * can be any message that the service accepts. 
  * 
  */
-public class Cron extends Service {
+public class Cron extends Service<CronConfig> {
   
   public static class Task implements Serializable, Runnable {
 
@@ -187,7 +187,9 @@ public String addTask(Task task) {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
+  public CronConfig apply(CronConfig c) {
+    super.apply(config);
+    
     // deschedule current tasks
     removeAllTasks();
     
@@ -200,13 +202,13 @@ public ServiceConfig apply(ServiceConfig c) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    CronConfig c = (CronConfig)config;
-    c.tasks = new ArrayList<>();
+  public CronConfig getConfig() {
+    super.getConfig();
+    config.tasks = new ArrayList<>();
     for (Task task: tasks.values()) {
-      c.tasks.add(task);
+      config.tasks.add(task);
     }
-    return c;
+    return config;
   }
 
   public Map<String, Task> getCronTasks() {
diff --git a/src/main/java/org/myrobotlab/service/Database.java b/src/main/java/org/myrobotlab/service/Database.java
index ddcd521989..a90006dcd4 100644
--- a/src/main/java/org/myrobotlab/service/Database.java
+++ b/src/main/java/org/myrobotlab/service/Database.java
@@ -9,9 +9,10 @@
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
-public class Database extends Service {
+public class Database extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Deeplearning4j.java b/src/main/java/org/myrobotlab/service/Deeplearning4j.java
index 0381ced24e..892e33cea6 100644
--- a/src/main/java/org/myrobotlab/service/Deeplearning4j.java
+++ b/src/main/java/org/myrobotlab/service/Deeplearning4j.java
@@ -85,6 +85,7 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.opencv.CloseableFrameConverter;
 import org.myrobotlab.opencv.YoloDetectedObject;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.nd4j.linalg.activations.Activation;
 import org.nd4j.linalg.api.ndarray.INDArray;
 import org.nd4j.linalg.dataset.api.iterator.DataSetIterator;
@@ -112,7 +113,7 @@
  * @author kwatters
  *
  */
-public class Deeplearning4j extends Service {
+public class Deeplearning4j extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
   transient public final static Logger log = LoggerFactory.getLogger(Deeplearning4j.class);
diff --git a/src/main/java/org/myrobotlab/service/DiscordBot.java b/src/main/java/org/myrobotlab/service/DiscordBot.java
index 19c9ec3171..3770877e84 100644
--- a/src/main/java/org/myrobotlab/service/DiscordBot.java
+++ b/src/main/java/org/myrobotlab/service/DiscordBot.java
@@ -29,7 +29,7 @@
  * channels. The bot user also needs a token that is used to authenticate and
  * identify the bot.
  */
-public class DiscordBot extends Service implements UtterancePublisher, UtteranceListener, ImageListener {
+public class DiscordBot extends Service<DiscordBotConfig> implements UtterancePublisher, UtteranceListener, ImageListener {
 
   transient public final static Logger log = LoggerFactory.getLogger(DiscordBot.class);
 
@@ -54,8 +54,8 @@ public DiscordBot(String reservedKey, String inId) {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    DiscordBotConfig config = (DiscordBotConfig) super.apply(c);
+  public DiscordBotConfig apply(DiscordBotConfig c) {
+    super.apply(c);
 
     if (config.token != null) {
       setToken(config.token);
@@ -103,20 +103,9 @@ public void attach(Attachable attachable) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    // TODO: this is also an ugly pattern. you can't really call super get
-    // config here!
-    // ServiceConfig c = super.getConfig();
-    // TODO: is this unsafe?
-    // TODO: what sets the type of this config?
-    /// TODO: this isn't good OO programming to have to do it this way.
-    DiscordBotConfig c = (DiscordBotConfig) super.getConfig();
-    c.token = token;
-
-    // REMOVED BECAUSE OVERLAP WITH SUBSCRIPTION
-//    Set<String> listeners = getAttached("publishUtterance");
-//    c.utteranceListeners = listeners.toArray(new String[listeners.size()]);
-
+  public DiscordBotConfig getConfig() {
+    super.getConfig();
+    config.token = token;
     return config;
   }
 
diff --git a/src/main/java/org/myrobotlab/service/DiyServo.java b/src/main/java/org/myrobotlab/service/DiyServo.java
index f69f501610..2e125d8509 100644
--- a/src/main/java/org/myrobotlab/service/DiyServo.java
+++ b/src/main/java/org/myrobotlab/service/DiyServo.java
@@ -38,6 +38,7 @@
 import org.myrobotlab.math.MathUtils;
 import org.myrobotlab.math.interfaces.Mapper;
 import org.myrobotlab.service.abstracts.AbstractServo;
+import org.myrobotlab.service.config.ServoConfig;
 import org.myrobotlab.service.data.PinData;
 import org.myrobotlab.service.interfaces.EncoderControl;
 import org.myrobotlab.service.interfaces.MotorControl;
@@ -75,7 +76,7 @@
  *         TODO : move is not accurate ( 1° step seem not possible )
  */
 
-public class DiyServo extends AbstractServo implements PinListener, ServiceLifeCycleListener {
+public class DiyServo extends AbstractServo<ServoConfig> implements PinListener, ServiceLifeCycleListener {
 
   double lastOutput = 0.0;
   /**
diff --git a/src/main/java/org/myrobotlab/service/Docker.java b/src/main/java/org/myrobotlab/service/Docker.java
index d42947e4c7..4f36b0c456 100644
--- a/src/main/java/org/myrobotlab/service/Docker.java
+++ b/src/main/java/org/myrobotlab/service/Docker.java
@@ -6,19 +6,15 @@
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.service.config.DockerConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 import com.github.dockerjava.api.DockerClient;
-import com.github.dockerjava.api.command.CreateContainerResponse;
-import com.github.dockerjava.api.model.Bind;
 import com.github.dockerjava.api.model.Container;
-import com.github.dockerjava.api.model.PortBinding;
 import com.github.dockerjava.core.DefaultDockerClientConfig;
 import com.github.dockerjava.core.DockerClientBuilder;
 import com.github.dockerjava.core.DockerClientConfig;
 
-public class Docker extends Service {
+public class Docker extends Service<DockerConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/DocumentPipeline.java b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
index 2f1dc0de22..86dc854cf5 100644
--- a/src/main/java/org/myrobotlab/service/DocumentPipeline.java
+++ b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
@@ -12,14 +12,13 @@
 import org.myrobotlab.document.workflow.WorkflowMessage;
 import org.myrobotlab.document.workflow.WorkflowServer;
 import org.myrobotlab.framework.Service;
-import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.config.DocumentPipelineConfig;
 import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.DocumentListener;
 import org.myrobotlab.service.interfaces.DocumentPublisher;
 
-public class DocumentPipeline extends Service implements DocumentListener, DocumentPublisher {
+public class DocumentPipeline extends Service<ServiceConfig> implements DocumentListener, DocumentPublisher {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/DruppNeck.java b/src/main/java/org/myrobotlab/service/DruppNeck.java
index a4f608bd74..1c7aa42e39 100755
--- a/src/main/java/org/myrobotlab/service/DruppNeck.java
+++ b/src/main/java/org/myrobotlab/service/DruppNeck.java
@@ -4,6 +4,7 @@
 import org.myrobotlab.kinematics.DruppIKSolver;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.math.MathUtils;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.ServoControl;
 
 /**
@@ -17,7 +18,7 @@
  * @author kwatters
  *
  */
-public class DruppNeck extends Service {
+public class DruppNeck extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
   // 3 servos for the drupp neck
diff --git a/src/main/java/org/myrobotlab/service/EddieControlBoard.java b/src/main/java/org/myrobotlab/service/EddieControlBoard.java
index 3ee28c11b9..7ffe8a822f 100644
--- a/src/main/java/org/myrobotlab/service/EddieControlBoard.java
+++ b/src/main/java/org/myrobotlab/service/EddieControlBoard.java
@@ -9,6 +9,7 @@
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.math.MapperLinear;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.JoystickData;
 import org.myrobotlab.service.interfaces.JoystickListener;
 import org.myrobotlab.service.interfaces.KeyListener;
@@ -21,7 +22,7 @@
  * EddieControlBoard It can publish sensor data , control motors and more!
  *
  */
-public class EddieControlBoard extends Service implements KeyListener, SerialDataListener, JoystickListener {
+public class EddieControlBoard extends Service<ServiceConfig> implements KeyListener, SerialDataListener, JoystickListener {
 
   class SensorPoller extends Thread {
 
diff --git a/src/main/java/org/myrobotlab/service/Elasticsearch.java b/src/main/java/org/myrobotlab/service/Elasticsearch.java
index 52aa7c0d94..e3d5e41076 100644
--- a/src/main/java/org/myrobotlab/service/Elasticsearch.java
+++ b/src/main/java/org/myrobotlab/service/Elasticsearch.java
@@ -6,12 +6,13 @@
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 import pl.allegro.tech.embeddedelasticsearch.EmbeddedElastic;
 import pl.allegro.tech.embeddedelasticsearch.PopularProperties;
 
-public class Elasticsearch extends Service {
+public class Elasticsearch extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Email.java b/src/main/java/org/myrobotlab/service/Email.java
index 904976f431..24a1414ed0 100644
--- a/src/main/java/org/myrobotlab/service/Email.java
+++ b/src/main/java/org/myrobotlab/service/Email.java
@@ -1,12 +1,9 @@
 package org.myrobotlab.service;
 
-import org.myrobotlab.framework.Service;
-import org.myrobotlab.logging.Level;
-import org.myrobotlab.logging.LoggerFactory;
-import org.myrobotlab.logging.LoggingFactory;
-import org.myrobotlab.service.config.EmailConfig;
-import org.myrobotlab.service.data.ImageData;
-import org.slf4j.Logger;
+import java.util.Date;
+import java.util.List;
+import java.util.Map;
+import java.util.Properties;
 
 import javax.activation.DataHandler;
 import javax.activation.DataSource;
@@ -19,10 +16,14 @@
 import javax.mail.internet.MimeBodyPart;
 import javax.mail.internet.MimeMessage;
 import javax.mail.internet.MimeMultipart;
-import java.util.Date;
-import java.util.List;
-import java.util.Map;
-import java.util.Properties;
+
+import org.myrobotlab.framework.Service;
+import org.myrobotlab.logging.Level;
+import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.EmailConfig;
+import org.myrobotlab.service.data.ImageData;
+import org.slf4j.Logger;
 
 /**
  * 
@@ -34,7 +35,7 @@
  * @author grog
  *
  */
-public class Email extends Service {
+public class Email extends Service<EmailConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Emoji.java b/src/main/java/org/myrobotlab/service/Emoji.java
index bb8ff1ee30..64930f2923 100644
--- a/src/main/java/org/myrobotlab/service/Emoji.java
+++ b/src/main/java/org/myrobotlab/service/Emoji.java
@@ -28,7 +28,7 @@
 // emotionListener
 // Links
 // - http://googleemotionalindex.com/
-public class Emoji extends Service implements TextListener, EventHandler, ImagePublisher {
+public class Emoji extends Service<EmojiConfig> implements TextListener, EventHandler, ImagePublisher {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Esp8266.java b/src/main/java/org/myrobotlab/service/Esp8266.java
index adaf5cb424..afdd32a9ae 100644
--- a/src/main/java/org/myrobotlab/service/Esp8266.java
+++ b/src/main/java/org/myrobotlab/service/Esp8266.java
@@ -5,9 +5,10 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
-public class Esp8266 extends Service {
+public class Esp8266 extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Esp8266_01.java b/src/main/java/org/myrobotlab/service/Esp8266_01.java
index 232ff6a8da..6630ea434f 100644
--- a/src/main/java/org/myrobotlab/service/Esp8266_01.java
+++ b/src/main/java/org/myrobotlab/service/Esp8266_01.java
@@ -20,6 +20,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.I2CControl;
 import org.myrobotlab.service.interfaces.I2CController;
 import org.slf4j.Logger;
@@ -32,7 +33,7 @@
  * 
  */
 // TODO Ensure that only one instance of RasPi can execute on each RaspBerry PI
-public class Esp8266_01 extends Service implements I2CController {
+public class Esp8266_01 extends Service<ServiceConfig> implements I2CController {
 
   public static class I2CDeviceMap {
     public transient I2CControl control;
diff --git a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java
index 83f23d36cf..08d1ed45a4 100644
--- a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java
+++ b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java
@@ -32,7 +32,7 @@
  * 
  * @author GroG
  */
-public class FiniteStateMachine extends Service {
+public class FiniteStateMachine extends Service<FiniteStateMachineConfig> {
 
   public final static Logger log = LoggerFactory.getLogger(FiniteStateMachine.class);
 
@@ -227,17 +227,17 @@ public String publishNewState(String state) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    FiniteStateMachineConfig c = (FiniteStateMachineConfig) super.getConfig();
-    c.current = getCurrent();
-    c.messageListeners = new ArrayList<>();
-    c.messageListeners.addAll(messageListeners);
-    return c;
+  public FiniteStateMachineConfig getConfig() {
+    super.getConfig();
+    config.current = getCurrent();
+    config.messageListeners = new ArrayList<>();
+    config.messageListeners.addAll(messageListeners);
+    return config;
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    FiniteStateMachineConfig config = (FiniteStateMachineConfig) super.apply(c);
+  public FiniteStateMachineConfig apply(FiniteStateMachineConfig c) {
+    super.apply(c);
 
     if (config.transitions != null) {
 
diff --git a/src/main/java/org/myrobotlab/service/Git.java b/src/main/java/org/myrobotlab/service/Git.java
index 5378f3f53c..1d2d3766f5 100644
--- a/src/main/java/org/myrobotlab/service/Git.java
+++ b/src/main/java/org/myrobotlab/service/Git.java
@@ -36,9 +36,10 @@
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
-public class Git extends Service {
+public class Git extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/GoPro.java b/src/main/java/org/myrobotlab/service/GoPro.java
index 776230fdbe..c8fcd079fa 100644
--- a/src/main/java/org/myrobotlab/service/GoPro.java
+++ b/src/main/java/org/myrobotlab/service/GoPro.java
@@ -5,9 +5,10 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.GoProConfig;
 import org.slf4j.Logger;
 
-public class GoPro extends Service {
+public class GoPro extends Service<GoProConfig> {
 
   transient public HttpClient http;
 
diff --git a/src/main/java/org/myrobotlab/service/GoogleCloud.java b/src/main/java/org/myrobotlab/service/GoogleCloud.java
index 07ae425095..feb64b0999 100644
--- a/src/main/java/org/myrobotlab/service/GoogleCloud.java
+++ b/src/main/java/org/myrobotlab/service/GoogleCloud.java
@@ -8,6 +8,7 @@
 
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 import com.google.cloud.vision.v1.AnnotateImageRequest;
@@ -40,7 +41,7 @@
 
 //[END import_libraries]
 
-public class GoogleCloud extends Service {
+public class GoogleCloud extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
   final static Logger log = LoggerFactory.getLogger(GoogleCloud.class);
diff --git a/src/main/java/org/myrobotlab/service/GoogleSearch.java b/src/main/java/org/myrobotlab/service/GoogleSearch.java
index f21ab6872a..4eceb24eed 100644
--- a/src/main/java/org/myrobotlab/service/GoogleSearch.java
+++ b/src/main/java/org/myrobotlab/service/GoogleSearch.java
@@ -20,7 +20,6 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.config.GoogleSearchConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.ImageData;
 import org.myrobotlab.service.data.Locale;
 import org.myrobotlab.service.data.SearchResults;
@@ -31,7 +30,7 @@
 import org.myrobotlab.service.interfaces.TextPublisher;
 import org.slf4j.Logger;
 
-public class GoogleSearch extends Service implements ImagePublisher, TextPublisher, SearchPublisher, LocaleProvider {
+public class GoogleSearch extends Service<GoogleSearchConfig> implements ImagePublisher, TextPublisher, SearchPublisher, LocaleProvider {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/GoogleTranslate.java b/src/main/java/org/myrobotlab/service/GoogleTranslate.java
index 8e1899f8c0..2d322eabcf 100644
--- a/src/main/java/org/myrobotlab/service/GoogleTranslate.java
+++ b/src/main/java/org/myrobotlab/service/GoogleTranslate.java
@@ -8,6 +8,7 @@
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 import com.google.auth.oauth2.GoogleCredentials;
@@ -15,7 +16,7 @@
 import com.google.cloud.translate.TranslateOptions;
 import com.google.cloud.translate.Translation;
 
-public class GoogleTranslate extends Service {
+public class GoogleTranslate extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Gps.java b/src/main/java/org/myrobotlab/service/Gps.java
index 704e675853..4dce48a0ca 100644
--- a/src/main/java/org/myrobotlab/service/Gps.java
+++ b/src/main/java/org/myrobotlab/service/Gps.java
@@ -13,6 +13,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.GpsConfig;
 import org.myrobotlab.service.interfaces.SerialDataListener;
 import org.myrobotlab.service.interfaces.SerialDevice;
 import org.slf4j.Logger;
@@ -37,7 +38,7 @@
  * wandered into our out of a fenced area.
  *
  */
-public class Gps extends Service implements SerialDataListener {
+public class Gps extends Service<GpsConfig> implements SerialDataListener {
 
   /***********************************************************************************
    * This block of methods will be used to GeoFencing This code is based on the
diff --git a/src/main/java/org/myrobotlab/service/Gpt3.java b/src/main/java/org/myrobotlab/service/Gpt3.java
index fbeae0a691..19da929f49 100644
--- a/src/main/java/org/myrobotlab/service/Gpt3.java
+++ b/src/main/java/org/myrobotlab/service/Gpt3.java
@@ -48,7 +48,7 @@
  * @author GroG
  *
  */
-public class Gpt3 extends Service implements TextListener, TextPublisher, UtterancePublisher, UtteranceListener, ResponsePublisher {
+public class Gpt3 extends Service<Gpt3Config> implements TextListener, TextPublisher, UtterancePublisher, UtteranceListener, ResponsePublisher {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Hd44780.java b/src/main/java/org/myrobotlab/service/Hd44780.java
index 2378ecfb28..43dfde676f 100644
--- a/src/main/java/org/myrobotlab/service/Hd44780.java
+++ b/src/main/java/org/myrobotlab/service/Hd44780.java
@@ -25,7 +25,7 @@
  * @author Moz4r modified by Ray Edgley.
  * 
  */
-public class Hd44780 extends Service implements TextListener {
+public class Hd44780 extends Service<Hd44780Config> implements TextListener {
 
   public final static Logger log = LoggerFactory.getLogger(Hd44780.class);
 
@@ -720,8 +720,8 @@ public static void main(String[] args) {
    * Load the config into memory
    */
   @Override
-  public ServiceConfig getConfig() {
-    Hd44780Config config = (Hd44780Config) super.getConfig();
+  public Hd44780Config getConfig() {
+    super.getConfig();
     if (pcfName != null) {
       config.controller = pcfName;
     }
@@ -733,8 +733,8 @@ public ServiceConfig getConfig() {
    * Applies the config to the service attaching to the PCF8574 if it exists.
    */
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    Hd44780Config config = (Hd44780Config) super.apply(c);
+  public Hd44780Config apply(Hd44780Config c) {
+    super.apply(c);
 
     if (config.controller != null) {
       try {
diff --git a/src/main/java/org/myrobotlab/service/HtmlFilter.java b/src/main/java/org/myrobotlab/service/HtmlFilter.java
index ec3142f3a0..ff0a4b4fb1 100644
--- a/src/main/java/org/myrobotlab/service/HtmlFilter.java
+++ b/src/main/java/org/myrobotlab/service/HtmlFilter.java
@@ -21,7 +21,7 @@
  * @author kwatters
  *
  */
-public class HtmlFilter extends Service implements TextListener, TextPublisher, TextFilter {
+public class HtmlFilter extends Service<HtmlFilterConfig> implements TextListener, TextPublisher, TextFilter {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/HtmlParser.java b/src/main/java/org/myrobotlab/service/HtmlParser.java
index f790e3235a..cb4ace1bba 100644
--- a/src/main/java/org/myrobotlab/service/HtmlParser.java
+++ b/src/main/java/org/myrobotlab/service/HtmlParser.java
@@ -5,9 +5,10 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
-public class HtmlParser extends Service {
+public class HtmlParser extends Service<ServiceConfig> {
   private static final long serialVersionUID = 1L;
 
   public final static Logger log = LoggerFactory.getLogger(HtmlParser.class);
diff --git a/src/main/java/org/myrobotlab/service/HttpClient.java b/src/main/java/org/myrobotlab/service/HttpClient.java
index 5da460bbf8..c7caaa2982 100644
--- a/src/main/java/org/myrobotlab/service/HttpClient.java
+++ b/src/main/java/org/myrobotlab/service/HttpClient.java
@@ -54,6 +54,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.net.InstallCert;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.HttpData;
 import org.myrobotlab.service.interfaces.HttpDataListener;
 import org.myrobotlab.service.interfaces.HttpResponseListener;
@@ -73,7 +74,7 @@
  *         - Proxies proxies proxies ! -
  *         https://memorynotfound.com/configure-http-proxy-settings-java/
  */
-public class HttpClient extends Service implements TextPublisher {
+public class HttpClient<C extends ServiceConfig> extends Service<C> implements TextPublisher {
 
   public final static Logger log = LoggerFactory.getLogger(HttpClient.class);
 
diff --git a/src/main/java/org/myrobotlab/service/I2cMux.java b/src/main/java/org/myrobotlab/service/I2cMux.java
index cccb01b7c1..4f6c24b43e 100644
--- a/src/main/java/org/myrobotlab/service/I2cMux.java
+++ b/src/main/java/org/myrobotlab/service/I2cMux.java
@@ -31,7 +31,7 @@
  *         More Info : https://www.adafruit.com/product/2717
  * 
  */
-public class I2cMux extends Service implements I2CControl, I2CController {
+public class I2cMux extends Service<I2cMuxConfig> implements I2CControl, I2CController {
 
   private static final long serialVersionUID = 1L;
 
@@ -362,7 +362,7 @@ public String getAddress() {
   }
 
   @Override
-  public ServiceConfig getConfig() {
+  public I2cMuxConfig getConfig() {
     I2cMuxConfig config = (I2cMuxConfig)super.getConfig();
     // FIXME this should only be in config, no need for local fields
     config.bus = deviceBus;
@@ -373,7 +373,7 @@ public ServiceConfig getConfig() {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
+  public I2cMuxConfig apply(I2cMuxConfig c) {
     I2cMuxConfig config = (I2cMuxConfig) super.apply(c);
     // FIXME - remove all this, it should "only" be in config
     deviceBus = config.bus;
diff --git a/src/main/java/org/myrobotlab/service/IBus.java b/src/main/java/org/myrobotlab/service/IBus.java
index e0c62fb281..0ea0d04b4e 100644
--- a/src/main/java/org/myrobotlab/service/IBus.java
+++ b/src/main/java/org/myrobotlab/service/IBus.java
@@ -4,6 +4,7 @@
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.SerialDataListener;
 import org.myrobotlab.service.interfaces.SerialDevice;
 import org.slf4j.Logger;
@@ -14,7 +15,7 @@
  * @author aanon4
  *
  */
-public class IBus extends Service implements SerialDataListener {
+public class IBus extends Service<ServiceConfig> implements SerialDataListener {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/ImageDisplay.java b/src/main/java/org/myrobotlab/service/ImageDisplay.java
index e89f866566..ded65ab7b7 100644
--- a/src/main/java/org/myrobotlab/service/ImageDisplay.java
+++ b/src/main/java/org/myrobotlab/service/ImageDisplay.java
@@ -34,13 +34,12 @@
 import org.myrobotlab.net.Http;
 import org.myrobotlab.service.config.ImageDisplayConfig;
 import org.myrobotlab.service.config.ImageDisplayConfig.Display;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.ImageData;
 import org.myrobotlab.service.interfaces.ImageListener;
 import org.myrobotlab.service.interfaces.ImagePublisher;
 import org.slf4j.Logger;
 
-public class ImageDisplay extends Service implements ImageListener, MouseListener, ActionListener, MouseMotionListener {
+public class ImageDisplay extends Service<ImageDisplayConfig> implements ImageListener, MouseListener, ActionListener, MouseMotionListener {
 
   final static Logger log = LoggerFactory.getLogger(ImageDisplay.class);
 
@@ -80,8 +79,8 @@ public void actionPerformed(ActionEvent arg0) {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    ImageDisplayConfig config = (ImageDisplayConfig) super.apply(c);
+  public ImageDisplayConfig apply(ImageDisplayConfig c) {
+    super.apply(c);
     if (config.displays != null) {
       for (String displayName : config.displays.keySet()) {
         close(displayName);
diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java
index a1d220be7b..520077321f 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2.java
@@ -44,7 +44,7 @@
 import org.myrobotlab.service.interfaces.TextPublisher;
 import org.slf4j.Logger;
 
-public class InMoov2 extends Service implements ServiceLifeCycleListener, TextListener, TextPublisher, JoystickListener, LocaleProvider, IKJointAngleListener {
+public class InMoov2 extends Service<InMoov2Config> implements ServiceLifeCycleListener, TextListener, TextPublisher, JoystickListener, LocaleProvider, IKJointAngleListener {
 
   public final static Logger log = LoggerFactory.getLogger(InMoov2.class);
 
@@ -151,8 +151,8 @@ public void addTextListener(TextListener service) {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    InMoov2Config config = (InMoov2Config) super.apply(c);
+  public InMoov2Config apply(InMoov2Config c) {
+    super.apply(c);
     try {
 
       locales = Locale.getLocaleMap("en-US", "fr-FR", "es-ES", "de-DE", "nl-NL", "ru-RU", "hi-IN", "it-IT", "fi-FI", "pt-PT", "tr-TR");
diff --git a/src/main/java/org/myrobotlab/service/InMoov2Arm.java b/src/main/java/org/myrobotlab/service/InMoov2Arm.java
index c15f73bf49..a73f5527b5 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2Arm.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2Arm.java
@@ -4,7 +4,6 @@
 import java.io.IOException;
 import java.util.ArrayList;
 import java.util.HashMap;
-import java.util.Locale;
 import java.util.Map;
 
 import org.myrobotlab.framework.Service;
@@ -13,6 +12,7 @@
 import org.myrobotlab.kinematics.DHRobotArm;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.math.MathUtils;
+import org.myrobotlab.service.config.InMoov2ArmConfig;
 import org.myrobotlab.service.interfaces.IKJointAngleListener;
 import org.myrobotlab.service.interfaces.ServoControl;
 import org.slf4j.Logger;
@@ -30,7 +30,7 @@
  * startPeers() does
  *
  */
-public class InMoov2Arm extends Service implements IKJointAngleListener {
+public class InMoov2Arm extends Service<InMoov2ArmConfig> implements IKJointAngleListener {
 
   public final static Logger log = LoggerFactory.getLogger(InMoov2Arm.class);
 
diff --git a/src/main/java/org/myrobotlab/service/InMoov2Hand.java b/src/main/java/org/myrobotlab/service/InMoov2Hand.java
index 3c97ccb997..b1744ad03e 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2Hand.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2Hand.java
@@ -13,6 +13,7 @@
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.InMoov2HandConfig;
 import org.myrobotlab.service.data.LeapData;
 import org.myrobotlab.service.data.LeapHand;
 import org.myrobotlab.service.data.PinData;
@@ -29,7 +30,7 @@
  * 
  * There is also leap motion support.
  */
-public class InMoov2Hand extends Service implements LeapDataListener, PinArrayListener {
+public class InMoov2Hand extends Service<InMoov2HandConfig> implements LeapDataListener, PinArrayListener {
 
   public final static Logger log = LoggerFactory.getLogger(InMoov2Hand.class);
 
diff --git a/src/main/java/org/myrobotlab/service/InMoov2Head.java b/src/main/java/org/myrobotlab/service/InMoov2Head.java
index 7a7f9db801..be1a72f793 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2Head.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2Head.java
@@ -3,7 +3,6 @@
 import java.io.File;
 import java.io.IOException;
 import java.util.HashMap;
-import java.util.Locale;
 import java.util.concurrent.ThreadLocalRandom;
 
 import org.myrobotlab.framework.Service;
@@ -11,6 +10,7 @@
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.InMoov2HeadConfig;
 import org.myrobotlab.service.interfaces.ServoControl;
 import org.slf4j.Logger;
 
@@ -19,7 +19,7 @@
  * servos for the following: jaw, eyeX, eyeY, rothead and neck.
  * 
  */
-public class InMoov2Head extends Service {
+public class InMoov2Head extends Service<InMoov2HeadConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/InMoov2Torso.java b/src/main/java/org/myrobotlab/service/InMoov2Torso.java
index d003e7f4c8..d2607a1033 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2Torso.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2Torso.java
@@ -3,13 +3,13 @@
 import java.io.File;
 import java.io.IOException;
 import java.util.HashMap;
-import java.util.Locale;
 
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.io.FileIO;
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.InMoov2TorsoConfig;
 import org.myrobotlab.service.interfaces.ServoControl;
 import org.slf4j.Logger;
 
@@ -18,7 +18,7 @@
  * midStom, and lowStom servos.
  *
  */
-public class InMoov2Torso extends Service {
+public class InMoov2Torso extends Service<InMoov2TorsoConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/IndianTts.java b/src/main/java/org/myrobotlab/service/IndianTts.java
index 636b668b36..0ca15d1cc6 100644
--- a/src/main/java/org/myrobotlab/service/IndianTts.java
+++ b/src/main/java/org/myrobotlab/service/IndianTts.java
@@ -8,6 +8,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.abstracts.AbstractSpeechSynthesis;
+import org.myrobotlab.service.config.IndianTtsConfig;
 import org.myrobotlab.service.data.AudioData;
 import org.myrobotlab.service.data.HttpData;
 import org.slf4j.Logger;
@@ -18,7 +19,7 @@
  * 
  * http://indiantts.com/
  */
-public class IndianTts extends AbstractSpeechSynthesis {
+public class IndianTts extends AbstractSpeechSynthesis<IndianTtsConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/IntegratedMovement.java b/src/main/java/org/myrobotlab/service/IntegratedMovement.java
index bbe49028ea..cdbb59ef36 100644
--- a/src/main/java/org/myrobotlab/service/IntegratedMovement.java
+++ b/src/main/java/org/myrobotlab/service/IntegratedMovement.java
@@ -29,6 +29,7 @@
 import org.myrobotlab.math.MathUtils;
 import org.myrobotlab.math.interfaces.Mapper;
 import org.myrobotlab.openni.OpenNiData;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.IKJointAnglePublisher;
 import org.myrobotlab.service.interfaces.ServoControl;
 import org.myrobotlab.service.interfaces.ServoEvent;
@@ -51,7 +52,7 @@
  * @author Christian/Calamity
  * 
  */
-public class IntegratedMovement extends Service implements IKJointAnglePublisher {
+public class IntegratedMovement extends Service<ServiceConfig> implements IKJointAnglePublisher {
 
   private static final long serialVersionUID = 1L;
   public final static Logger log = LoggerFactory.getLogger(IntegratedMovement.class);
diff --git a/src/main/java/org/myrobotlab/service/Intro.java b/src/main/java/org/myrobotlab/service/Intro.java
index 5569f275bd..ad64524e3c 100644
--- a/src/main/java/org/myrobotlab/service/Intro.java
+++ b/src/main/java/org/myrobotlab/service/Intro.java
@@ -13,9 +13,10 @@
 import org.myrobotlab.io.FileIO;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
-public class Intro extends Service {
+public class Intro extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/InverseKinematics.java b/src/main/java/org/myrobotlab/service/InverseKinematics.java
index c9afaa6982..9c86b01004 100644
--- a/src/main/java/org/myrobotlab/service/InverseKinematics.java
+++ b/src/main/java/org/myrobotlab/service/InverseKinematics.java
@@ -5,6 +5,7 @@
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 /**
@@ -13,7 +14,7 @@
  * will be replaced with the DH parameter based InverseKinematics3D service.
  *
  */
-public class InverseKinematics extends Service {
+public class InverseKinematics extends Service<ServiceConfig> {
 
   protected IKEngine ikEngine;
 
diff --git a/src/main/java/org/myrobotlab/service/InverseKinematics3D.java b/src/main/java/org/myrobotlab/service/InverseKinematics3D.java
index 8d2d2a7fca..05524a2630 100644
--- a/src/main/java/org/myrobotlab/service/InverseKinematics3D.java
+++ b/src/main/java/org/myrobotlab/service/InverseKinematics3D.java
@@ -14,6 +14,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.math.MathUtils;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.JoystickData;
 import org.myrobotlab.service.interfaces.IKJointAngleListener;
 import org.myrobotlab.service.interfaces.IKJointAnglePublisher;
@@ -34,7 +35,7 @@
  * @author kwatters
  * 
  */
-public class InverseKinematics3D extends Service implements IKJointAnglePublisher, PointsListener {
+public class InverseKinematics3D extends Service<ServiceConfig> implements IKJointAnglePublisher, PointsListener {
 
   private static final long serialVersionUID = 1L;
   public final static Logger log = LoggerFactory.getLogger(InverseKinematics3D.class);
diff --git a/src/main/java/org/myrobotlab/service/IpCamera.java b/src/main/java/org/myrobotlab/service/IpCamera.java
index 5a4c7592a0..295668ba62 100644
--- a/src/main/java/org/myrobotlab/service/IpCamera.java
+++ b/src/main/java/org/myrobotlab/service/IpCamera.java
@@ -14,6 +14,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 /**
@@ -23,7 +24,7 @@
  * <a href="http://stackoverflow.com/questions/8301543/android-bitmap-to-bufferedimage">Android bitmap to buffered image</a>
  * Bitmap to BufferedImage - conversion once Bitmap class is serialized
  */
-public class IpCamera extends Service {
+public class IpCamera extends Service<ServiceConfig> {
 
   public class VideoProcess implements Runnable {
     @Override
diff --git a/src/main/java/org/myrobotlab/service/JFugue.java b/src/main/java/org/myrobotlab/service/JFugue.java
index ffdb99c0b1..f30468c6cb 100644
--- a/src/main/java/org/myrobotlab/service/JFugue.java
+++ b/src/main/java/org/myrobotlab/service/JFugue.java
@@ -31,6 +31,7 @@
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 /**
@@ -38,7 +39,7 @@
  * some sounds and music based on string patterns that define the beat.
  *
  */
-public class JFugue extends Service {
+public class JFugue extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java
index 72a2f8ed0c..5f932f8853 100644
--- a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java
+++ b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java
@@ -124,7 +124,7 @@
  * @author GroG, calamity, kwatters, moz4r and many others ...
  *
  */
-public class JMonkeyEngine extends Service implements Gateway, ActionListener, Simulator, EncoderListener, IKJointAngleListener, ServoStatusListener, ServoControlListener {
+public class JMonkeyEngine extends Service<JMonkeyEngineConfig> implements Gateway, ActionListener, Simulator, EncoderListener, IKJointAngleListener, ServoStatusListener, ServoControlListener {
 
   final static String CAMERA = "camera";
 
@@ -2672,8 +2672,8 @@ public UserDataConfig toUserDataConfig(UserData userData) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    JMonkeyEngineConfig config = (JMonkeyEngineConfig) super.getConfig();
+  public JMonkeyEngineConfig getConfig() {
+    super.getConfig();
 
     if (config.models != null) {
       Collections.sort(config.models);
diff --git a/src/main/java/org/myrobotlab/service/JavaScript.java b/src/main/java/org/myrobotlab/service/JavaScript.java
index 20816ae83e..533a43badc 100644
--- a/src/main/java/org/myrobotlab/service/JavaScript.java
+++ b/src/main/java/org/myrobotlab/service/JavaScript.java
@@ -9,9 +9,10 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
-public class JavaScript extends Service {
+public class JavaScript extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Joystick.java b/src/main/java/org/myrobotlab/service/Joystick.java
index 414224bfec..9b7a1f8064 100644
--- a/src/main/java/org/myrobotlab/service/Joystick.java
+++ b/src/main/java/org/myrobotlab/service/Joystick.java
@@ -67,7 +67,7 @@ The buttons values (booleans) can be accessed individually, or
  * To Test java -Djava.library.path="./" -cp "./*"
  * net.java.games.input.test.ControllerReadTest
  */
-public class Joystick extends Service implements AnalogPublisher {
+public class Joystick extends Service<JoystickConfig> implements AnalogPublisher {
 
   public final static Logger log = LoggerFactory.getLogger(Joystick.class);
   private static final long serialVersionUID = 1L;
@@ -695,8 +695,8 @@ public void moveTo(String axisName, double value) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    JoystickConfig config = (JoystickConfig)super.getConfig();
+  public JoystickConfig getConfig() {
+    super.getConfig();
     config.controller = controller;
 
     if (analogListeners.size() > 0) {
@@ -716,9 +716,10 @@ public ServiceConfig getConfig() {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-
+  public JoystickConfig apply(JoystickConfig c) {
+    super.apply(c);
     // "special" needs native libs
+    // FIXME - should be done in startService
     initNativeLibs();
 
     // scan for hardware controllers
diff --git a/src/main/java/org/myrobotlab/service/KafkaConnector.java b/src/main/java/org/myrobotlab/service/KafkaConnector.java
index d3dc3b7d3d..55c0687d74 100755
--- a/src/main/java/org/myrobotlab/service/KafkaConnector.java
+++ b/src/main/java/org/myrobotlab/service/KafkaConnector.java
@@ -7,6 +7,7 @@
 import org.apache.kafka.clients.consumer.ConsumerRecords;
 import org.apache.kafka.clients.consumer.KafkaConsumer;
 import org.myrobotlab.framework.Service;
+import org.myrobotlab.service.config.ServiceConfig;
 
 /**
  * A kafka connector that can subscribe to a string/string kafka stopic and
@@ -19,7 +20,7 @@
  * @author kwatters
  *
  */
-public class KafkaConnector extends Service {
+public class KafkaConnector extends Service<ServiceConfig> {
 
   public String bootstrapServers = "localhost:9092";
   public String groupId = "test";
diff --git a/src/main/java/org/myrobotlab/service/Keyboard.java b/src/main/java/org/myrobotlab/service/Keyboard.java
index 4d76c8d028..9b53cfbe39 100644
--- a/src/main/java/org/myrobotlab/service/Keyboard.java
+++ b/src/main/java/org/myrobotlab/service/Keyboard.java
@@ -14,6 +14,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.math.geometry.Point2df;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 /**
@@ -22,7 +23,7 @@
  * 
  *
  */
-public class Keyboard extends Service {
+public class Keyboard extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/KeyboardSim.java b/src/main/java/org/myrobotlab/service/KeyboardSim.java
index f2ea917eeb..b9052a0541 100644
--- a/src/main/java/org/myrobotlab/service/KeyboardSim.java
+++ b/src/main/java/org/myrobotlab/service/KeyboardSim.java
@@ -8,13 +8,14 @@
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 /**
  * @author MaVo (MyRobotLab) / LunDev (GitHub)
  */
 
-public class KeyboardSim extends Service {
+public class KeyboardSim extends Service<ServiceConfig> {
   static final long serialVersionUID = 1L;
   static final Logger log = LoggerFactory.getLogger(KeyboardSim.class);
 
diff --git a/src/main/java/org/myrobotlab/service/LeapMotion.java b/src/main/java/org/myrobotlab/service/LeapMotion.java
index b63cc1b904..ed1387d4b3 100644
--- a/src/main/java/org/myrobotlab/service/LeapMotion.java
+++ b/src/main/java/org/myrobotlab/service/LeapMotion.java
@@ -26,7 +26,7 @@
 import com.leapmotion.leap.Hand;
 import com.leapmotion.leap.Vector;
 
-public class LeapMotion extends Service implements LeapDataListener, LeapDataPublisher, PointPublisher {
+public class LeapMotion extends Service<LeapMotionConfig> implements LeapDataListener, LeapDataPublisher, PointPublisher {
 
   private static final long serialVersionUID = 1L;
 
@@ -192,7 +192,6 @@ private double computeAngleDegrees(Finger f, Vector palmNormal) {
   }
 
   private LeapHand mapLeapHandData(Hand lh) {
-    LeapMotionConfig c = (LeapMotionConfig) config;
     LeapHand mrlHand = new LeapHand();
     // process the normal
     Vector palmNormal = lh.palmNormal();
@@ -368,19 +367,19 @@ public void stop() {
   MapperLinear rightThumb = new MapperLinear();
 
   @Override
-  public ServiceConfig apply(ServiceConfig config) {
-    LeapMotionConfig c = (LeapMotionConfig) super.apply(config);
-    leftIndex = new MapperLinear(c.leftIndex.minIn, c.leftIndex.maxIn, c.leftIndex.minOut, c.leftIndex.maxOut);
-    leftMiddle = new MapperLinear(c.leftMiddle.minIn, c.leftMiddle.maxIn, c.leftMiddle.minOut, c.leftMiddle.maxOut);
-    leftRing = new MapperLinear(c.leftRing.minIn, c.leftRing.maxIn, c.leftRing.minOut, c.leftRing.maxOut);
-    leftPinky = new MapperLinear(c.leftPinky.minIn, c.leftPinky.maxIn, c.leftPinky.minOut, c.leftPinky.maxOut);
-    leftThumb = new MapperLinear(c.leftThumb.minIn, c.leftThumb.maxIn, c.leftThumb.minOut, c.leftThumb.maxOut);
-
-    rightIndex = new MapperLinear(c.rightIndex.minIn, c.rightIndex.maxIn, c.rightIndex.minOut, c.rightIndex.maxOut);
-    rightMiddle = new MapperLinear(c.rightMiddle.minIn, c.rightMiddle.maxIn, c.rightMiddle.minOut, c.rightMiddle.maxOut);
-    rightRing = new MapperLinear(c.rightRing.minIn, c.rightRing.maxIn, c.rightRing.minOut, c.rightRing.maxOut);
-    rightPinky = new MapperLinear(c.rightPinky.minIn, c.rightPinky.maxIn, c.rightPinky.minOut, c.rightPinky.maxOut);
-    rightThumb = new MapperLinear(c.rightThumb.minIn, c.rightThumb.maxIn, c.rightThumb.minOut, c.rightThumb.maxOut);
+  public LeapMotionConfig apply(LeapMotionConfig config) {
+    super.apply(config);
+    leftIndex = new MapperLinear(config.leftIndex.minIn, config.leftIndex.maxIn, config.leftIndex.minOut, config.leftIndex.maxOut);
+    leftMiddle = new MapperLinear(config.leftMiddle.minIn, config.leftMiddle.maxIn, config.leftMiddle.minOut, config.leftMiddle.maxOut);
+    leftRing = new MapperLinear(config.leftRing.minIn, config.leftRing.maxIn, config.leftRing.minOut, config.leftRing.maxOut);
+    leftPinky = new MapperLinear(config.leftPinky.minIn, config.leftPinky.maxIn, config.leftPinky.minOut, config.leftPinky.maxOut);
+    leftThumb = new MapperLinear(config.leftThumb.minIn, config.leftThumb.maxIn, config.leftThumb.minOut, config.leftThumb.maxOut);
+
+    rightIndex = new MapperLinear(config.rightIndex.minIn, config.rightIndex.maxIn, config.rightIndex.minOut, config.rightIndex.maxOut);
+    rightMiddle = new MapperLinear(config.rightMiddle.minIn, config.rightMiddle.maxIn, config.rightMiddle.minOut, config.rightMiddle.maxOut);
+    rightRing = new MapperLinear(config.rightRing.minIn, config.rightRing.maxIn, config.rightRing.minOut, config.rightRing.maxOut);
+    rightPinky = new MapperLinear(config.rightPinky.minIn, config.rightPinky.maxIn, config.rightPinky.minOut, config.rightPinky.maxOut);
+    rightThumb = new MapperLinear(config.rightThumb.minIn, config.rightThumb.maxIn, config.rightThumb.minOut, config.rightThumb.maxOut);
 
     return config;
   }
diff --git a/src/main/java/org/myrobotlab/service/LeapMotion2.java b/src/main/java/org/myrobotlab/service/LeapMotion2.java
index e918f95b54..a48a1c7cbd 100644
--- a/src/main/java/org/myrobotlab/service/LeapMotion2.java
+++ b/src/main/java/org/myrobotlab/service/LeapMotion2.java
@@ -20,7 +20,7 @@
 import okhttp3.Response;
 import okhttp3.WebSocket;
 
-public class LeapMotion2 extends Service implements LeapDataListener, LeapDataPublisher, PointPublisher, RemoteMessageHandler {
+public class LeapMotion2 extends Service<LeapMotion2Config> implements LeapDataListener, LeapDataPublisher, PointPublisher, RemoteMessageHandler {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Lidar.java b/src/main/java/org/myrobotlab/service/Lidar.java
index fb76b5b29f..db3447ace7 100644
--- a/src/main/java/org/myrobotlab/service/Lidar.java
+++ b/src/main/java/org/myrobotlab/service/Lidar.java
@@ -9,10 +9,11 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.LidarConfig;
 import org.myrobotlab.service.interfaces.SerialDataListener;
 import org.slf4j.Logger;
 
-public class Lidar extends Service implements SerialDataListener {
+public class Lidar extends Service<LidarConfig> implements SerialDataListener {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/LidarVlp16.java b/src/main/java/org/myrobotlab/service/LidarVlp16.java
index 6cbc349957..52b0531901 100644
--- a/src/main/java/org/myrobotlab/service/LidarVlp16.java
+++ b/src/main/java/org/myrobotlab/service/LidarVlp16.java
@@ -12,9 +12,10 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.LidarConfig;
 import org.slf4j.Logger;
 
-public class LidarVlp16 extends Service {
+public class LidarVlp16 extends Service<LidarConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Lloyd.java b/src/main/java/org/myrobotlab/service/Lloyd.java
index 0ea682cc68..ca1dc561ff 100755
--- a/src/main/java/org/myrobotlab/service/Lloyd.java
+++ b/src/main/java/org/myrobotlab/service/Lloyd.java
@@ -24,6 +24,7 @@
 import org.myrobotlab.opencv.OpenCVFilterDL4JTransfer;
 import org.myrobotlab.opencv.OpenCVFilterLloyd;
 import org.myrobotlab.programab.OOBPayload;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.SpeechRecognizer;
 import org.myrobotlab.service.interfaces.SpeechSynthesis;
 import org.nd4j.linalg.dataset.api.iterator.DataSetIterator;
@@ -38,7 +39,7 @@
  * @author kwatters
  *
  */
-public class Lloyd extends Service {
+public class Lloyd extends Service<ServiceConfig> {
 
   public final static Logger log = LoggerFactory.getLogger(Lloyd.class);
   private static final long serialVersionUID = 1L;
diff --git a/src/main/java/org/myrobotlab/service/Lm75a.java b/src/main/java/org/myrobotlab/service/Lm75a.java
index d0029a9942..d0c05fc7dd 100644
--- a/src/main/java/org/myrobotlab/service/Lm75a.java
+++ b/src/main/java/org/myrobotlab/service/Lm75a.java
@@ -12,6 +12,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.I2CControl;
 import org.myrobotlab.service.interfaces.I2CController;
 import org.slf4j.Logger;
@@ -23,7 +24,7 @@
  * 
  *         References : https://www.nxp.com/documents/data_sheet/LM75A.pdf
  */
-public class Lm75a extends Service implements I2CControl {
+public class Lm75a extends Service<ServiceConfig> implements I2CControl {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/LocalSpeech.java b/src/main/java/org/myrobotlab/service/LocalSpeech.java
index ee95463632..9496bf3fb7 100644
--- a/src/main/java/org/myrobotlab/service/LocalSpeech.java
+++ b/src/main/java/org/myrobotlab/service/LocalSpeech.java
@@ -18,7 +18,6 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.abstracts.AbstractSpeechSynthesis;
 import org.myrobotlab.service.config.LocalSpeechConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.AudioData;
 import org.myrobotlab.service.data.Locale;
 import org.slf4j.Logger;
@@ -53,7 +52,7 @@
  *         https://github.com/espeak-ng/espeak-ng/blob/master/docs/mbrola.md#linux-installation
  * 
  */
-public class LocalSpeech extends AbstractSpeechSynthesis {
+public class LocalSpeech extends AbstractSpeechSynthesis<LocalSpeechConfig> {
 
   public final static Logger log = LoggerFactory.getLogger(LocalSpeech.class);
 
@@ -479,13 +478,12 @@ public void setTtsPath(String ttsPath) {
     this.ttsPath = ttsPath;
   }
 
-  @Override
-  public ServiceConfig apply(ServiceConfig config) {
-    LocalSpeechConfig c = (LocalSpeechConfig) super.apply(config);
+  public LocalSpeechConfig apply(LocalSpeechConfig config) {
+    super.apply(config);
 
     // setup the default tts per os
     Platform platform = Runtime.getPlatform();
-    if (c.speechType == null) {
+    if (config.speechType == null) {
       if (platform.isWindows()) {
         setTts();
       } else if (platform.isMac()) {
@@ -496,13 +494,13 @@ public ServiceConfig apply(ServiceConfig config) {
         error("%s unknown platform %s", getName(), platform.getOS());
       }
     } else {
-      setSpeechType(c.speechType);
+      setSpeechType(config.speechType);
     }
 
-    if (c.voice != null) {
-      setVoice(c.voice);
+    if (config.voice != null) {
+      setVoice(config.voice);
     }
-    return c;
+    return config;
   }
 
   public static void main(String[] args) {
diff --git a/src/main/java/org/myrobotlab/service/Log.java b/src/main/java/org/myrobotlab/service/Log.java
index 1e8508e487..fa88732014 100644
--- a/src/main/java/org/myrobotlab/service/Log.java
+++ b/src/main/java/org/myrobotlab/service/Log.java
@@ -34,6 +34,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 import ch.qos.logback.classic.spi.ILoggingEvent;
@@ -43,7 +44,7 @@
 import ch.qos.logback.core.spi.FilterReply;
 import ch.qos.logback.core.status.Status;
 
-public class Log extends Service implements Appender<ILoggingEvent> {
+public class Log extends Service<ServiceConfig> implements Appender<ILoggingEvent> {
 
   public static class LogEntry {
     public long ts;
diff --git a/src/main/java/org/myrobotlab/service/Mail.java b/src/main/java/org/myrobotlab/service/Mail.java
index 5b8d0f47ed..3a0e482a42 100644
--- a/src/main/java/org/myrobotlab/service/Mail.java
+++ b/src/main/java/org/myrobotlab/service/Mail.java
@@ -15,6 +15,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 /**
@@ -27,7 +28,7 @@
  *         -gmail-smtp-example/
  * 
  */
-public class Mail extends Service {
+public class Mail extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/MarySpeech.java b/src/main/java/org/myrobotlab/service/MarySpeech.java
index 1fb17de3cb..f1686253b1 100644
--- a/src/main/java/org/myrobotlab/service/MarySpeech.java
+++ b/src/main/java/org/myrobotlab/service/MarySpeech.java
@@ -15,6 +15,7 @@
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.abstracts.AbstractSpeechSynthesis;
+import org.myrobotlab.service.config.MarySpeechConfig;
 import org.myrobotlab.service.data.AudioData;
 import org.slf4j.Logger;
 import org.xml.sax.SAXException;
@@ -35,7 +36,7 @@
  * More info at : http://mary.dfki.de/
  * 
  */
-public class MarySpeech extends AbstractSpeechSynthesis {
+public class MarySpeech extends AbstractSpeechSynthesis<MarySpeechConfig> {
 
   public final static Logger log = LoggerFactory.getLogger(MarySpeech.class);
 
diff --git a/src/main/java/org/myrobotlab/service/Maven.java b/src/main/java/org/myrobotlab/service/Maven.java
index 6b100cdf6e..c9afdb4a52 100644
--- a/src/main/java/org/myrobotlab/service/Maven.java
+++ b/src/main/java/org/myrobotlab/service/Maven.java
@@ -12,11 +12,12 @@
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.io.FileIO;
 import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 import picocli.CommandLine.Option;
 
-public class Maven extends Service {
+public class Maven extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/MobilePlatform.java b/src/main/java/org/myrobotlab/service/MobilePlatform.java
index 14809daeaa..60d4e36fdd 100644
--- a/src/main/java/org/myrobotlab/service/MobilePlatform.java
+++ b/src/main/java/org/myrobotlab/service/MobilePlatform.java
@@ -30,6 +30,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.MotorControl;
 import org.slf4j.Logger;
 
@@ -52,7 +53,7 @@
  *         Differential_steer_drive_dead_reckoning
  */
 @Deprecated // use Chassis
-public class MobilePlatform extends Service {
+public class MobilePlatform extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
   public final static Logger log = LoggerFactory.getLogger(MobilePlatform.class);
diff --git a/src/main/java/org/myrobotlab/service/Motor.java b/src/main/java/org/myrobotlab/service/Motor.java
index f57df11ab7..6b410e1f7d 100644
--- a/src/main/java/org/myrobotlab/service/Motor.java
+++ b/src/main/java/org/myrobotlab/service/Motor.java
@@ -13,7 +13,7 @@
  * 
  */
 
-public class Motor extends AbstractMotor {
+public class Motor extends AbstractMotor<MotorConfig> {
 
   private static final long serialVersionUID = 1L;
 
@@ -70,7 +70,7 @@ public void setPwmFreq(Integer pwmfreq) {
   }
 
   @Override
-  public ServiceConfig getConfig() {    
+  public MotorConfig getConfig() {    
     MotorConfig config = (MotorConfig)super.getConfig();
     config.dirPin = getDirPin();
     config.pwrPin = getPwrPin();
@@ -78,9 +78,8 @@ public ServiceConfig getConfig() {
     return config;
   }
 
-  @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    MotorConfig config = (MotorConfig)super.apply(c);
+  public MotorConfig apply(MotorConfig config) {
+    super.apply(config);
     
     if (config.pwrPin != null) {
       setPwrPin(pwrPin);
@@ -91,7 +90,7 @@ public ServiceConfig apply(ServiceConfig c) {
     if (config.pwmFreq != null) {
       setPwmFreq(pwmFreq);
     }
-    return c;
+    return config;
   }
 
   public static void main(String[] args) {
diff --git a/src/main/java/org/myrobotlab/service/MotorDualPwm.java b/src/main/java/org/myrobotlab/service/MotorDualPwm.java
index 9a6b872d71..10687ba938 100644
--- a/src/main/java/org/myrobotlab/service/MotorDualPwm.java
+++ b/src/main/java/org/myrobotlab/service/MotorDualPwm.java
@@ -10,7 +10,7 @@
 import org.myrobotlab.service.config.MotorDualPwmConfig;
 import org.myrobotlab.service.config.ServiceConfig;
 
-public class MotorDualPwm extends AbstractMotor {
+public class MotorDualPwm extends AbstractMotor<MotorDualPwmConfig> {
   private static final long serialVersionUID = 1L;
 
   protected String leftPwmPin;
@@ -69,18 +69,17 @@ public void setPwmFreq(Integer pwmfreq) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
+  public MotorDualPwmConfig getConfig() {
     // FIXME - may need to do call super.config for config that has parent :(
-    MotorDualPwmConfig config = (MotorDualPwmConfig)super.getConfig();
+    super.getConfig();
     config.leftPwmPin = leftPwmPin;
     config.rightPwmPin = rightPwmPin;
     config.pwmFreq = pwmFreq;
     return config;
   }
 
-  @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    MotorDualPwmConfig config =  (MotorDualPwmConfig)super.apply(c);
+  public MotorDualPwmConfig apply(MotorDualPwmConfig c) {
+    super.apply(c);
     if (config.leftPwmPin != null) {
       setLeftPwmPin(config.leftPwmPin);
     }
@@ -90,7 +89,7 @@ public ServiceConfig apply(ServiceConfig c) {
     if (config.pwmFreq != null) {
       setPwmFreq(config.pwmFreq);
     }
-    return c;
+    return config;
   }
 
   public static void main(String[] args) throws InterruptedException {
diff --git a/src/main/java/org/myrobotlab/service/MotorHat4Pi.java b/src/main/java/org/myrobotlab/service/MotorHat4Pi.java
index 927d2a98e8..6862aaf807 100644
--- a/src/main/java/org/myrobotlab/service/MotorHat4Pi.java
+++ b/src/main/java/org/myrobotlab/service/MotorHat4Pi.java
@@ -8,9 +8,8 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.abstracts.AbstractMotor;
 import org.myrobotlab.service.config.MotorHat4PiConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 
-public class MotorHat4Pi extends AbstractMotor {
+public class MotorHat4Pi extends AbstractMotor<MotorHat4PiConfig> {
   private static final long serialVersionUID = 1L;
 
   Integer leftDirPin;
@@ -92,16 +91,14 @@ public String getMotorId() {
   }
 
   @Override
-  public ServiceConfig getConfig() {
+  public MotorHat4PiConfig getConfig() {
     // FIXME - may need to do call super.config for config that has parent :(
-    MotorHat4PiConfig config = (MotorHat4PiConfig) super.getConfig();
     config.motorId = motorId;
     return config;
   }
 
-  @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    MotorHat4PiConfig config = (MotorHat4PiConfig) super.apply(c);
+  public MotorHat4PiConfig apply(MotorHat4PiConfig c) {
+    super.apply(c);
     setMotor(config.motorId);
     return c;
   }
diff --git a/src/main/java/org/myrobotlab/service/MotorPort.java b/src/main/java/org/myrobotlab/service/MotorPort.java
index 00abe31899..d908d79e37 100644
--- a/src/main/java/org/myrobotlab/service/MotorPort.java
+++ b/src/main/java/org/myrobotlab/service/MotorPort.java
@@ -15,7 +15,7 @@
  *         string value can handle either we use a String port.
  *
  */
-public class MotorPort extends AbstractMotor {
+public class MotorPort extends AbstractMotor<MotorPortConfig> {
   private static final long serialVersionUID = 1L;
 
   public MotorPort(String n, String id) {
diff --git a/src/main/java/org/myrobotlab/service/MouseSim.java b/src/main/java/org/myrobotlab/service/MouseSim.java
index 33f67420c8..050aa2c7c9 100644
--- a/src/main/java/org/myrobotlab/service/MouseSim.java
+++ b/src/main/java/org/myrobotlab/service/MouseSim.java
@@ -8,13 +8,14 @@
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 /**
  * @author MaVo (MyRobotLab) / LunDev (GitHub)
  */
 
-public class MouseSim extends Service {
+public class MouseSim extends Service<ServiceConfig> {
   static final long serialVersionUID = 1L;
   static final Logger log = LoggerFactory.getLogger(MouseSim.class);
 
diff --git a/src/main/java/org/myrobotlab/service/MouthControl.java b/src/main/java/org/myrobotlab/service/MouthControl.java
index 5653c97a62..f89ac8ce3e 100644
--- a/src/main/java/org/myrobotlab/service/MouthControl.java
+++ b/src/main/java/org/myrobotlab/service/MouthControl.java
@@ -19,7 +19,7 @@
  * It's peers are the jaw servo, speech service and an arduino.
  *
  */
-public class MouthControl extends Service implements SpeechListener {
+public class MouthControl extends Service<MouthControlConfig> implements SpeechListener {
 
   private static final long serialVersionUID = 1L;
 
@@ -229,9 +229,9 @@ public void setmouth(Integer closed, Integer opened) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
+  public MouthControlConfig getConfig() {
 
-    MouthControlConfig config = (MouthControlConfig)super.getConfig();
+    super.getConfig();
     // FIXME - remove local fields, use config only
     config.jaw = jaw;
     config.mouth = mouth;
@@ -246,8 +246,8 @@ public ServiceConfig getConfig() {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    MouthControlConfig config = (MouthControlConfig) super.apply(c);
+  public MouthControlConfig apply(MouthControlConfig c) {
+    super.apply(c);
     // FIXME - remove local fields, use config only
     mouthClosedPos = config.mouthClosedPos;
     mouthOpenedPos = config.mouthOpenedPos;
diff --git a/src/main/java/org/myrobotlab/service/Mpr121.java b/src/main/java/org/myrobotlab/service/Mpr121.java
index e0d4bced9c..b3a11ec802 100644
--- a/src/main/java/org/myrobotlab/service/Mpr121.java
+++ b/src/main/java/org/myrobotlab/service/Mpr121.java
@@ -33,7 +33,7 @@
  *         https://www.sparkfun.com/datasheets/Components/MPR121.pdf
  * 
  */
-public class Mpr121 extends Service implements I2CControl, PinArrayControl {
+public class Mpr121 extends Service<Mpr121Config> implements I2CControl, PinArrayControl {
   /**
    * Publisher - Publishes pin data at a regular interval
    */
@@ -926,14 +926,8 @@ public void setDeviceAddress(String deviceAddress) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    Mpr121Config config = (Mpr121Config) super.getConfig();
-    return config;
-  }
-
-  @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    Mpr121Config config = (Mpr121Config) super.apply(c);
+  public Mpr121Config apply(Mpr121Config c) {
+    super.apply(c);
     // FIXME remove local fields in favor of config only
     if (config.address != null) {
       setAddress(config.address);
diff --git a/src/main/java/org/myrobotlab/service/Mpu6050.java b/src/main/java/org/myrobotlab/service/Mpu6050.java
index cd4d6956b4..ac33ec9907 100644
--- a/src/main/java/org/myrobotlab/service/Mpu6050.java
+++ b/src/main/java/org/myrobotlab/service/Mpu6050.java
@@ -39,7 +39,7 @@
  * 
  */
 
-public class Mpu6050 extends Service implements I2CControl, OrientationPublisher {
+public class Mpu6050 extends Service<Mpu6050Config> implements I2CControl, OrientationPublisher {
 
   private static final long serialVersionUID = 1L;
 
@@ -4435,8 +4435,8 @@ public boolean isAttached(Attachable instance) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    Mpu6050Config config = (Mpu6050Config)super.getConfig();
+  public Mpu6050Config getConfig() {
+    super.getConfig();
     // FIXME remove local fields in favor or config
     config.start = publisher.isRunning;
     config.sampleRate = sampleRateHz;
@@ -4447,7 +4447,7 @@ public ServiceConfig getConfig() {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
+  public Mpu6050Config apply(Mpu6050Config c) {
     Mpu6050Config config = (Mpu6050Config) super.apply(c);
     // FIXME remove local fields in favor or config
     if (config.start) {
diff --git a/src/main/java/org/myrobotlab/service/Mqtt.java b/src/main/java/org/myrobotlab/service/Mqtt.java
index ddb0a5990b..8466016039 100644
--- a/src/main/java/org/myrobotlab/service/Mqtt.java
+++ b/src/main/java/org/myrobotlab/service/Mqtt.java
@@ -32,6 +32,7 @@
 import org.myrobotlab.mqtt.MqttMsg;
 import org.myrobotlab.net.Connection;
 import org.myrobotlab.net.SslUtil;
+import org.myrobotlab.service.config.MqttConfig;
 import org.myrobotlab.service.interfaces.Gateway;
 import org.myrobotlab.service.interfaces.KeyConsumer;
 import org.slf4j.Logger;
@@ -69,7 +70,7 @@
  * &#64;author kmcgerald and GroG
  * </pre>
  */
-public class Mqtt extends Service implements MqttCallback, IMqttActionListener, Gateway, KeyConsumer {
+public class Mqtt extends Service<MqttConfig> implements MqttCallback, IMqttActionListener, Gateway, KeyConsumer {
 
   public final static Logger log = LoggerFactory.getLogger(Mqtt.class);
 
diff --git a/src/main/java/org/myrobotlab/service/MqttBroker.java b/src/main/java/org/myrobotlab/service/MqttBroker.java
index bbee5bfb81..2a80bd9edd 100644
--- a/src/main/java/org/myrobotlab/service/MqttBroker.java
+++ b/src/main/java/org/myrobotlab/service/MqttBroker.java
@@ -60,7 +60,7 @@
  * whole array is decoded - then each parameter is, similar to http form values
  *
  */
-public class MqttBroker extends Service implements InterceptHandler, Gateway, KeyConsumer {
+public class MqttBroker extends Service<MqttBrokerConfig> implements InterceptHandler, Gateway, KeyConsumer {
 
   public final static Logger log = LoggerFactory.getLogger(MqttBroker.class);
 
@@ -673,20 +673,20 @@ public void setKey(String keyName, String keyValue) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    MqttBrokerConfig c = (MqttBrokerConfig)super.getConfig();
+  public MqttBrokerConfig getConfig() {
+    super.getConfig();
     // FIXME - remove local fields in favor of just config
-    c.address = address;
-    c.mqttPort = mqttPort;
-    c.wsPort = wsPort;
-    c.username = username;
-    c.password = password;
-    return c;
+    config.address = address;
+    config.mqttPort = mqttPort;
+    config.wsPort = wsPort;
+    config.username = username;
+    config.password = password;
+    return config;
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    MqttBrokerConfig config = (MqttBrokerConfig) super.apply(c);
+  public MqttBrokerConfig apply(MqttBrokerConfig c) {
+    super.apply(c);
     // FIXME - remove local fields in favor of just config
     address = config.address;
     mqttPort = config.mqttPort;
diff --git a/src/main/java/org/myrobotlab/service/MultiWii.java b/src/main/java/org/myrobotlab/service/MultiWii.java
index 457015cfd5..d91cdb8d58 100644
--- a/src/main/java/org/myrobotlab/service/MultiWii.java
+++ b/src/main/java/org/myrobotlab/service/MultiWii.java
@@ -5,6 +5,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.SerialDevice;
 import org.slf4j.Logger;
 
@@ -16,7 +17,7 @@
  * MultiWii is a general purpose software to control a multirotor RC model.
  * http://www.multiwii.com/
  */
-public class MultiWii extends Service {
+public class MultiWii extends Service<ServiceConfig> {
 
   transient public SerialDevice serial;
 
diff --git a/src/main/java/org/myrobotlab/service/MyoThalmic.java b/src/main/java/org/myrobotlab/service/MyoThalmic.java
index 496442ccf7..f658c9e1bf 100644
--- a/src/main/java/org/myrobotlab/service/MyoThalmic.java
+++ b/src/main/java/org/myrobotlab/service/MyoThalmic.java
@@ -5,6 +5,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.MyoData;
 import org.myrobotlab.service.interfaces.MyoDataListener;
 import org.myrobotlab.service.interfaces.MyoDataPublisher;
@@ -44,7 +45,7 @@
  * https://github.com/NicholasAStuart/myo-java-JNI-Library
  * 
  */
-public class MyoThalmic extends Service implements DeviceListener, MyoDataListener, MyoDataPublisher {
+public class MyoThalmic extends Service<ServiceConfig> implements DeviceListener, MyoDataListener, MyoDataPublisher {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/NeoPixel.java b/src/main/java/org/myrobotlab/service/NeoPixel.java
index 47fa43eff2..e13daf273d 100644
--- a/src/main/java/org/myrobotlab/service/NeoPixel.java
+++ b/src/main/java/org/myrobotlab/service/NeoPixel.java
@@ -44,7 +44,7 @@
 import org.myrobotlab.service.interfaces.NeoPixelController;
 import org.slf4j.Logger;
 
-public class NeoPixel extends Service implements NeoPixelControl {
+public class NeoPixel extends Service<ServiceConfig> implements NeoPixelControl {
 
   /**
    * Thread to do animations Java side and push the changing of pixels to the
diff --git a/src/main/java/org/myrobotlab/service/OakD.java b/src/main/java/org/myrobotlab/service/OakD.java
index 902cf34bbd..99e9fdbfea 100644
--- a/src/main/java/org/myrobotlab/service/OakD.java
+++ b/src/main/java/org/myrobotlab/service/OakD.java
@@ -5,7 +5,6 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.config.ServiceConfig;
-import org.myrobotlab.service.config.ServoConfig;
 import org.slf4j.Logger;
 /**
  * 
@@ -15,7 +14,7 @@
  * @author GroG
  *
  */
-public class OakD extends Service {
+public class OakD extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/OculusDiy.java b/src/main/java/org/myrobotlab/service/OculusDiy.java
index a4097da3ab..a848cb2989 100644
--- a/src/main/java/org/myrobotlab/service/OculusDiy.java
+++ b/src/main/java/org/myrobotlab/service/OculusDiy.java
@@ -7,6 +7,7 @@
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.math.MapperLinear;
+import org.myrobotlab.service.config.OculusDiyConfig;
 import org.myrobotlab.service.data.Orientation;
 import org.myrobotlab.service.interfaces.OrientationListener;
 import org.myrobotlab.service.interfaces.PinArrayControl;
@@ -18,7 +19,7 @@
  * build of MRLComm to work. Check with \@Alessandruino for questions.
  *
  */
-public class OculusDiy extends Service implements OrientationListener {
+public class OculusDiy extends Service<OculusDiyConfig> implements OrientationListener {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/OculusRift.java b/src/main/java/org/myrobotlab/service/OculusRift.java
index 7bea8f6e63..fadc3f2bef 100644
--- a/src/main/java/org/myrobotlab/service/OculusRift.java
+++ b/src/main/java/org/myrobotlab/service/OculusRift.java
@@ -13,6 +13,7 @@
 import org.myrobotlab.opencv.OpenCVFilterTranspose;
 import org.myrobotlab.opencv.OpenCVFilterUndistort;
 import org.myrobotlab.opencv.OpenCVFilterYolo;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.Orientation;
 import org.myrobotlab.service.interfaces.PointPublisher;
 import org.slf4j.Logger;
@@ -36,7 +37,7 @@
  *
  */
 // TODO: implement publishOculusRiftData ...
-public class OculusRift extends Service implements PointPublisher {
+public class OculusRift extends Service<ServiceConfig> implements PointPublisher {
 
   public static final int ABS_TIME_MS = 0;
   public static final boolean LATENCY_MARKER = false;
diff --git a/src/main/java/org/myrobotlab/service/OledSsd1306.java b/src/main/java/org/myrobotlab/service/OledSsd1306.java
index aed9aa7b4d..eb75bbeca4 100644
--- a/src/main/java/org/myrobotlab/service/OledSsd1306.java
+++ b/src/main/java/org/myrobotlab/service/OledSsd1306.java
@@ -19,6 +19,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.I2CControl;
 import org.myrobotlab.service.interfaces.I2CController;
 import org.slf4j.Logger;
@@ -49,7 +50,7 @@
  *         pin and VCC
  * 
  */
-public class OledSsd1306 extends Service implements I2CControl {
+public class OledSsd1306 extends Service<ServiceConfig> implements I2CControl {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/OpenCV.java b/src/main/java/org/myrobotlab/service/OpenCV.java
index b18858bad4..c73b4413c3 100644
--- a/src/main/java/org/myrobotlab/service/OpenCV.java
+++ b/src/main/java/org/myrobotlab/service/OpenCV.java
@@ -125,7 +125,6 @@
 import org.myrobotlab.reflection.Reflector;
 import org.myrobotlab.service.abstracts.AbstractComputerVision;
 import org.myrobotlab.service.config.OpenCVConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.ImageData;
 import org.myrobotlab.service.interfaces.ImageListener;
 import org.myrobotlab.service.interfaces.ImagePublisher;
@@ -144,7 +143,7 @@
  * Audet : https://github.com/bytedeco/javacv
  * 
  */
-public class OpenCV extends AbstractComputerVision implements ImagePublisher {
+public class OpenCV extends AbstractComputerVision<OpenCVConfig> implements ImagePublisher {
 
   int vpId = 0;
 
@@ -2023,8 +2022,8 @@ public void saveFile(String filename, String data) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    OpenCVConfig config = (OpenCVConfig) super.getConfig();
+  public OpenCVConfig getConfig() {
+    super.getConfig();
     // FIXME - remove member vars use config only
     config.capturing = capturing;
     config.cameraIndex = cameraIndex;
@@ -2041,8 +2040,8 @@ public ServiceConfig getConfig() {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    OpenCVConfig config = (OpenCVConfig) super.apply(c);
+  public OpenCVConfig apply(OpenCVConfig c) {
+    super.apply(c);
     setCameraIndex(config.cameraIndex);
     setGrabberType(config.grabberType);
     setInputFileName(config.inputFile);
diff --git a/src/main/java/org/myrobotlab/service/OpenNi.java b/src/main/java/org/myrobotlab/service/OpenNi.java
index ed7f0f65a1..fc3d278cf9 100644
--- a/src/main/java/org/myrobotlab/service/OpenNi.java
+++ b/src/main/java/org/myrobotlab/service/OpenNi.java
@@ -19,6 +19,7 @@
 import org.myrobotlab.openni.PImage;
 import org.myrobotlab.openni.PVector;
 import org.myrobotlab.openni.Skeleton;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.VideoSink;
 import org.slf4j.Logger;
 
@@ -48,7 +49,7 @@
  * 
  * 
  */
-public class OpenNi extends Service // implements
+public class OpenNi extends Service<ServiceConfig> // implements
 // UserTracker.NewFrameListener,
 // HandTracker.NewFrameListener
 {
diff --git a/src/main/java/org/myrobotlab/service/OpenWeatherMap.java b/src/main/java/org/myrobotlab/service/OpenWeatherMap.java
index c2a494502a..47227141f1 100644
--- a/src/main/java/org/myrobotlab/service/OpenWeatherMap.java
+++ b/src/main/java/org/myrobotlab/service/OpenWeatherMap.java
@@ -7,7 +7,6 @@
 import org.json.JSONObject;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.service.config.OpenWeatherMapConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 /**
@@ -18,7 +17,7 @@
  * ( 3 hours TO 5 days forecast )
  * 
  */
-public class OpenWeatherMap extends HttpClient {
+  public class OpenWeatherMap extends HttpClient<OpenWeatherMapConfig>  {
 
   private static final long serialVersionUID = 1L;
   private String apiForecast = "http://api.openweathermap.org/data/2.5/forecast/?q=";
@@ -252,8 +251,8 @@ public String getApiKey() {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    OpenWeatherMapConfig config = (OpenWeatherMapConfig)super.getConfig();
+  public OpenWeatherMapConfig getConfig() {
+    super.getConfig();
     // FIXME - remove local fields in favor of only config
     config.currentUnits = units;
     config.currentTown = location;
@@ -261,8 +260,8 @@ public ServiceConfig getConfig() {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    OpenWeatherMapConfig config = (OpenWeatherMapConfig) super.apply(c);
+  public OpenWeatherMapConfig apply(OpenWeatherMapConfig c) {
+    super.apply(c);
     // FIXME - remove local fields in favor of only config
     if (config.currentUnits != null) {
       setUnits(config.currentUnits);
diff --git a/src/main/java/org/myrobotlab/service/Osc.java b/src/main/java/org/myrobotlab/service/Osc.java
index 63bfe69efd..5f4dc3e929 100644
--- a/src/main/java/org/myrobotlab/service/Osc.java
+++ b/src/main/java/org/myrobotlab/service/Osc.java
@@ -14,6 +14,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 import com.illposed.osc.OSCListener;
@@ -21,7 +22,7 @@
 import com.illposed.osc.OSCPortIn;
 import com.illposed.osc.OSCPortOut;
 
-public class Osc extends Service implements OSCListener {
+public class Osc extends Service<ServiceConfig> implements OSCListener {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Pcf8574.java b/src/main/java/org/myrobotlab/service/Pcf8574.java
index 8723ffa480..be2682cbba 100644
--- a/src/main/java/org/myrobotlab/service/Pcf8574.java
+++ b/src/main/java/org/myrobotlab/service/Pcf8574.java
@@ -45,7 +45,7 @@
  * 
  */
 
-public class Pcf8574 extends Service
+public class Pcf8574 extends Service<Pcf8574Config>
     implements I2CControl, /* FIXME - add I2CController */ PinArrayControl {
   /**
    * Publisher - Publishes pin data at a regular interval
@@ -726,14 +726,14 @@ public void stopService() {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    Pcf8574Config config = (Pcf8574Config) super.getConfig();
+  public Pcf8574Config getConfig() {
+    super.getConfig();
     return config;
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    Pcf8574Config config = (Pcf8574Config) super.apply(c);
+  public Pcf8574Config apply(Pcf8574Config c) {
+    super.apply(c);
     // FIXME remove local fields in favor of config only
     if (config.address != null) {
       setAddress(config.address);
diff --git a/src/main/java/org/myrobotlab/service/Pid.java b/src/main/java/org/myrobotlab/service/Pid.java
index b8894435f8..d2a630eb2c 100644
--- a/src/main/java/org/myrobotlab/service/Pid.java
+++ b/src/main/java/org/myrobotlab/service/Pid.java
@@ -62,7 +62,7 @@
  * https://en.wikipedia.org/wiki/PID_controller#Integral_windup
  * 
  */
-public class Pid extends Service implements PidControl {
+public class Pid extends Service<PidConfig> implements PidControl {
 
   public static class PidOutput {
     public long ts;
@@ -519,8 +519,8 @@ private double constrain(double value, Double min, Double max) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    PidConfig config = (PidConfig)super.getConfig();
+  public PidConfig getConfig() {
+    super.getConfig();
     config.data = data;
     return config;
   }
@@ -533,8 +533,8 @@ public void reset(String key) {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    PidConfig config = (PidConfig) super.apply(c);
+  public PidConfig apply(PidConfig c) {
+    super.apply(c);
     if (config.data != null) {
       data = config.data;
       for (String key : config.data.keySet()) {
diff --git a/src/main/java/org/myrobotlab/service/Pingdar.java b/src/main/java/org/myrobotlab/service/Pingdar.java
index 62c6d6f290..fe931b945c 100644
--- a/src/main/java/org/myrobotlab/service/Pingdar.java
+++ b/src/main/java/org/myrobotlab/service/Pingdar.java
@@ -6,6 +6,7 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.sensor.EncoderData;
 import org.myrobotlab.sensor.EncoderListener;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.RangeListener;
 import org.myrobotlab.service.interfaces.RangingControl;
 import org.slf4j.Logger;
@@ -16,7 +17,7 @@
  * module. The result is a sonar style range finding.
  *
  */
-public class Pingdar extends Service implements RangingControl, RangeListener, EncoderListener {
+public class Pingdar extends Service<ServiceConfig> implements RangingControl, RangeListener, EncoderListener {
 
   public static class Point {
 
diff --git a/src/main/java/org/myrobotlab/service/Pir.java b/src/main/java/org/myrobotlab/service/Pir.java
index bc5f35328c..5a2f0d750c 100644
--- a/src/main/java/org/myrobotlab/service/Pir.java
+++ b/src/main/java/org/myrobotlab/service/Pir.java
@@ -16,7 +16,7 @@
 import org.myrobotlab.service.interfaces.PinListener;
 import org.slf4j.Logger;
 
-public class Pir extends Service implements PinListener {
+public class Pir extends Service<PirConfig> implements PinListener {
 
   public final static Logger log = LoggerFactory.getLogger(Pir.class);
 
@@ -216,8 +216,8 @@ public boolean isEnabled() {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    PirConfig config = (PirConfig) super.apply(c);
+  public PirConfig apply(PirConfig c) {
+    super.apply(c);
     
     if (config.controller != null) {
       attach(config.controller);;
@@ -233,16 +233,16 @@ public ServiceConfig apply(ServiceConfig c) {
   }
   
   @Override
-  public ServiceConfig getConfig() {
-    PirConfig c = (PirConfig)super.getConfig();
-    if (c.controller != null) {
+  public PirConfig getConfig() {
+    super.getConfig();
+    if (config.controller != null) {
       // it makes sense that the controller should always be local for a PIR
       // but in general this is bad practice on 2 levels
       // 1. in some other context it might make sense not to be local
       // 2. it should just be another listener on ServiceConfig.listener
-      c.controller=CodecUtils.getShortName(c.controller);
+      config.controller=CodecUtils.getShortName(config.controller);
     }
-    return c;
+    return config;
   }
 
   @Override
diff --git a/src/main/java/org/myrobotlab/service/Polly.java b/src/main/java/org/myrobotlab/service/Polly.java
index e2acb2c260..5a447902d4 100644
--- a/src/main/java/org/myrobotlab/service/Polly.java
+++ b/src/main/java/org/myrobotlab/service/Polly.java
@@ -45,7 +45,7 @@
  * @author GroG
  *
  */
-public class Polly extends AbstractSpeechSynthesis {
+public class Polly extends AbstractSpeechSynthesis<PollyConfig> {
 
   private static final long serialVersionUID = 1L;
 
@@ -253,8 +253,7 @@ public boolean isReady() {
     return ready;
   }
 
-  @Override
-  public ServiceConfig apply(ServiceConfig c) {
+  public PollyConfig apply(PollyConfig c) {
     super.apply(c);
     getVoices();
     return c;
diff --git a/src/main/java/org/myrobotlab/service/ProgramAB.java b/src/main/java/org/myrobotlab/service/ProgramAB.java
index ff123320fc..63aebc9030 100644
--- a/src/main/java/org/myrobotlab/service/ProgramAB.java
+++ b/src/main/java/org/myrobotlab/service/ProgramAB.java
@@ -61,7 +61,7 @@
  * @author kwatters
  *
  */
-public class ProgramAB extends Service
+public class ProgramAB extends Service<ProgramABConfig>
     implements TextListener, TextPublisher, LocaleProvider, LogPublisher, ProgramABListener, UtterancePublisher, UtteranceListener, ResponsePublisher {
 
   /**
@@ -559,8 +559,7 @@ public void reloadSession(String userName, String botName) throws IOException {
    * @return
    */
   public Map<String, String> getPredicates() {
-    ProgramABConfig c = (ProgramABConfig) config;
-    return getPredicates(c.currentUserName, c.currentBotName);
+    return getPredicates(config.currentUserName, config.currentBotName);
   }
 
   /**
@@ -638,8 +637,7 @@ public void removeBotProperty(String botName, String name) {
   }
 
   public Session startSession() throws IOException {
-    ProgramABConfig c = (ProgramABConfig) config;
-    return startSession(c.currentUserName);
+    return startSession(config.currentUserName);
   }
 
   // FIXME - it should just set the current userName only
@@ -811,15 +809,13 @@ public String setPath(String path) {
   }
 
   public void setCurrentBotName(String botName) {
-    ProgramABConfig c = (ProgramABConfig) config;
-    c.currentBotName = botName;
+    config.currentBotName = botName;
     invoke("getBotImage", botName);
     broadcastState();
   }
 
   public void setCurrentUserName(String currentUserName) {
-    ProgramABConfig c = (ProgramABConfig) config;
-    c.currentUserName = currentUserName;
+    config.currentUserName = currentUserName;
     broadcastState();
   }
 
@@ -832,13 +828,11 @@ public String getSessionKey(String userName, String botName) {
   }
 
   public String getCurrentUserName() {
-    ProgramABConfig c = (ProgramABConfig) config;
-    return c.currentUserName;
+    return config.currentUserName;
   }
 
   public String getCurrentBotName() {
-    ProgramABConfig c = (ProgramABConfig) config;
-    return c.currentBotName;
+    return config.currentBotName;
   }
 
   /**
@@ -998,8 +992,7 @@ public String publishLog(String msg) {
   }
 
   public BotInfo getBotInfo() {
-    ProgramABConfig c = (ProgramABConfig) config;
-    return getBotInfo(c.currentBotName);
+    return getBotInfo(config.currentBotName);
   }
 
   /**
@@ -1078,54 +1071,54 @@ public void saveAimlFile(String botName, String filename, String data) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    ProgramABConfig c = (ProgramABConfig) super.getConfig();
-    if (c.bots == null) {
-      c.bots = new ArrayList<>();
+  public ProgramABConfig getConfig() {
+    super.getConfig();
+    if (config.bots == null) {
+      config.bots = new ArrayList<>();
     }
 
-    c.bots.clear();
+    config.bots.clear();
     for (BotInfo bot : bots.values()) {
 
       Path pathAbsolute = Paths.get(bot.path.getAbsolutePath());
       Path pathBase = Paths.get(System.getProperty("user.dir"));
       Path pathRelative = pathBase.relativize(pathAbsolute);
-      c.bots.add(pathRelative.toString());
+      config.bots.add(pathRelative.toString());
 
     }
 
-    return c;
+    return config;
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig config) {
-    ProgramABConfig c = (ProgramABConfig) super.apply(config);
-    if (c.bots != null && c.bots.size() > 0) {
+  public ProgramABConfig apply(ProgramABConfig c) {
+    super.apply(c);
+    if (config.bots != null && config.bots.size() > 0) {
       // bots.clear();
-      for (String botPath : c.bots) {
+      for (String botPath : config.bots) {
         addBotPath(botPath);
       }
     }
     
-    if (c.botDir == null) {
-      c.botDir = getResourceDir();
+    if (config.botDir == null) {
+      config.botDir = getResourceDir();
     }
 
-    List<File> botsFromScanning = scanForBots(c.botDir);
+    List<File> botsFromScanning = scanForBots(config.botDir);
     for (File file : botsFromScanning) {
       addBotPath(file.getAbsolutePath());
     }
 
-    if (c.currentUserName != null) {
-      setCurrentUserName(c.currentUserName);
+    if (config.currentUserName != null) {
+      setCurrentUserName(config.currentUserName);
     }
     
-    if (c.currentBotName != null) {
-      setCurrentUserName(c.currentBotName);
+    if (config.currentBotName != null) {
+      setCurrentUserName(config.currentBotName);
     }    
     
-    if (c.startTopic != null) {
-      setTopic(c.startTopic);  
+    if (config.startTopic != null) {
+      setTopic(config.startTopic);  
     }
     
 
@@ -1297,23 +1290,19 @@ synchronized public void addCategoryToFile(Bot bot, Category c) {
    * wakes the global session up
    */
   public void wake() {
-    ProgramABConfig c = (ProgramABConfig) super.getConfig();
-    c.sleep = false;
+    config.sleep = false;
   }
 
   /**
    * sleeps the global session
    */
   public void sleep() {
-    ProgramABConfig c = (ProgramABConfig) super.getConfig();
-    c.sleep = true;
+    config.sleep = true;
   }
 
   @Override
   public void onUtterance(Utterance utterance) throws Exception {
     
-    ProgramABConfig c = (ProgramABConfig) super.getConfig();
-
     log.info("Utterance Received " + utterance);
 
     boolean talkToBots = false;
@@ -1343,8 +1332,8 @@ public void onUtterance(Utterance utterance) throws Exception {
         // TODO: don't talk to bots.. it won't go well..
         // TODO: the discord api can provide use the list of mentioned users.
         // for now.. we'll just see if we see Mr. Turing as a substring.
-        c.sleep = (c.sleep || utterance.text.contains("@")) && !utterance.text.contains(botName);
-        if (!c.sleep) {
+        config.sleep = (config.sleep || utterance.text.contains("@")) && !utterance.text.contains(botName);
+        if (!config.sleep) {
           shouldIRespond = true;
         }
       }
diff --git a/src/main/java/org/myrobotlab/service/Py4j.java b/src/main/java/org/myrobotlab/service/Py4j.java
index 89002d8ee6..fd2755a733 100644
--- a/src/main/java/org/myrobotlab/service/Py4j.java
+++ b/src/main/java/org/myrobotlab/service/Py4j.java
@@ -3,7 +3,6 @@
 import java.io.BufferedReader;
 import java.io.File;
 import java.io.IOException;
-import java.io.InputStream;
 import java.io.InputStreamReader;
 import java.util.ArrayList;
 import java.util.Collections;
@@ -54,7 +53,7 @@
  * 
  * @author GroG
  */
-public class Py4j extends Service implements GatewayServerListener {
+public class Py4j extends Service<Py4jConfig> implements GatewayServerListener {
 
   /**
    * POJO class to tie all the data elements of a external python process
diff --git a/src/main/java/org/myrobotlab/service/Python.java b/src/main/java/org/myrobotlab/service/Python.java
index 1021af0d5c..02ce853f15 100644
--- a/src/main/java/org/myrobotlab/service/Python.java
+++ b/src/main/java/org/myrobotlab/service/Python.java
@@ -50,7 +50,7 @@
  * @author GroG
  * 
  */
-public class Python extends Service implements ServiceLifeCycleListener, MessageListener {
+public class Python extends Service<PythonConfig> implements ServiceLifeCycleListener, MessageListener {
   
   /**
    * this thread handles all callbacks to Python process all input and sets msg
@@ -177,7 +177,7 @@ public void run() {
       }
     }
   }
-
+  
   public final static transient Logger log = LoggerFactory.getLogger(Python.class);
   // TODO this needs to be moved into an actual cache if it is to be used
   // Cache of compile python code
@@ -313,8 +313,7 @@ public Python(String n, String id) {
    * @throws IOException
    */
   public void openScript(String scriptName) throws IOException {
-    PythonConfig c = (PythonConfig)config;
-    File script = new File(c.scriptRootDir + fs + scriptName);
+    File script = new File(config.scriptRootDir + fs + scriptName);
 
     if (!script.exists()) {
       error("file %s not found", script.getAbsolutePath());
@@ -327,7 +326,6 @@ public void openScript(String scriptName) throws IOException {
   
 
   public void closeScript(String file) {
-    PythonConfig c = (PythonConfig) config;
     if (openedScripts.containsKey(file)) {
       openedScripts.remove(file);
       broadcastState();
@@ -408,9 +406,8 @@ synchronized public void createPythonInterpreter() {
   }
 
   public void addModulePath(String path) {
-    PythonConfig c = (PythonConfig) config;
-    if (c.modulePaths != null) {
-      c.modulePaths.add(path);
+    if (config.modulePaths != null) {
+      config.modulePaths.add(path);
     }
     
     if (interp != null) {
@@ -751,8 +748,7 @@ public void setLocalScriptDir(String path) {
    * @throws IOException
    */
   public void saveScript(String scriptName, String code) throws IOException {
-    PythonConfig c = (PythonConfig)config;
-    FileIO.toFile(c.scriptRootDir + fs + scriptName, code);
+    FileIO.toFile(config.scriptRootDir + fs + scriptName, code);
     info("saved file %s", scriptName);
   }
 
@@ -791,11 +787,10 @@ public void defaultInvokeMethod(String method, Object... params) {
   synchronized public void startService() {
     super.startService();
     
-    PythonConfig c = (PythonConfig) config;
-    if (c.scriptRootDir == null) {
-        c.scriptRootDir = new File(getDataInstanceDir()).getAbsolutePath();
+    if (config.scriptRootDir == null) {
+        config.scriptRootDir = new File(getDataInstanceDir()).getAbsolutePath();
     }
-    File dataDir = new File(c.scriptRootDir);
+    File dataDir = new File(config.scriptRootDir);
     dataDir.mkdirs();    
     
     Map<String, ServiceInterface> services = Runtime.getLocalServices();
@@ -806,8 +801,8 @@ synchronized public void startService() {
     Runtime.getInstance().attachServiceLifeCycleListener(getName());
     
     // run start scripts if there are any
-    if (c.startScripts != null) {
-      for (String script : c.startScripts) {
+    if (config.startScripts != null) {
+      for (String script : config.startScripts) {
         // i think in this context its safer to block
         try {
           execFile(script, true);
@@ -856,9 +851,7 @@ public boolean stop() {
   @Override
   public void stopService() {
     // run any stop scripts
-    PythonConfig c = (PythonConfig) config;
-
-    for (String script : c.stopScripts) {
+    for (String script : config.stopScripts) {
       // i think in this context its safer to block
       try {
         execFile(script, true);
@@ -949,9 +942,9 @@ public void onStopped(String fullname) {
   }
 
 
-  @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    PythonConfig config = (PythonConfig) super.apply(c);
+  public PythonConfig apply(PythonConfig c) {
+    super.apply(c);
+    config = (PythonConfig)c;
     
     // apply is the first method called after construction,
     // since we offer the capability of executing scripts specified in config
@@ -991,12 +984,11 @@ public ServiceConfig apply(ServiceConfig c) {
    * @throws IOException
    */
   public List<String> getScriptList() throws IOException {
-    PythonConfig c = (PythonConfig)config;
     List<String> sorted = new ArrayList<>();
-    List<File> files = FileIO.getFileList(c.scriptRootDir, true);
+    List<File> files = FileIO.getFileList(config.scriptRootDir, true);
     for (File file : files) {
       if (file.toString().endsWith(".py")) {
-        sorted.add(file.toString().substring(c.scriptRootDir.length() + 1));
+        sorted.add(file.toString().substring(config.scriptRootDir.length() + 1));
       }
     }
     Collections.sort(sorted);
@@ -1067,4 +1059,9 @@ public static void main(String[] args) {
 
   }
 
+  @Override
+  public PythonConfig getConfig() {
+    return config;
+  }
+
 }
diff --git a/src/main/java/org/myrobotlab/service/Random.java b/src/main/java/org/myrobotlab/service/Random.java
index faed6d4364..4e5b368b10 100644
--- a/src/main/java/org/myrobotlab/service/Random.java
+++ b/src/main/java/org/myrobotlab/service/Random.java
@@ -18,7 +18,6 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.config.RandomConfig;
 import org.myrobotlab.service.config.RandomConfig.RandomMessageConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 /**
@@ -27,7 +26,7 @@
  * @author GroG
  *
  */
-public class Random extends Service {
+public class Random extends Service<RandomConfig> {
 
   private static final long serialVersionUID = 1L;
 
@@ -236,9 +235,8 @@ public void process(String key) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-
-    RandomConfig config = (RandomConfig)super.getConfig();
+  public RandomConfig getConfig() {
+    super.getConfig();
 
     config.enabled = enabled;
 
@@ -256,8 +254,8 @@ public ServiceConfig getConfig() {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    RandomConfig config = (RandomConfig) c;
+  public RandomConfig apply(RandomConfig c) {
+    super.apply(c);
     enabled = config.enabled;
 
     try {
@@ -272,7 +270,7 @@ public ServiceConfig apply(ServiceConfig c) {
       error(e);
     }
 
-    return c;
+    return config;
   }
 
   public RandomMessage remove(String name, String method) {
diff --git a/src/main/java/org/myrobotlab/service/RasPi.java b/src/main/java/org/myrobotlab/service/RasPi.java
index 5cdc18f0d8..ea6e33444f 100644
--- a/src/main/java/org/myrobotlab/service/RasPi.java
+++ b/src/main/java/org/myrobotlab/service/RasPi.java
@@ -49,7 +49,7 @@
  * More Info : http://pi4j.com/
  * 
  */
-public class RasPi extends AbstractMicrocontroller implements I2CController, GpioPinListenerDigital {
+public class RasPi extends AbstractMicrocontroller<RasPiConfig> implements I2CController, GpioPinListenerDigital {
 
   public static class I2CDeviceMap {
     transient public I2CBus bus;
diff --git a/src/main/java/org/myrobotlab/service/Rekognition.java b/src/main/java/org/myrobotlab/service/Rekognition.java
index dd7b2bfed5..70f9f550ba 100644
--- a/src/main/java/org/myrobotlab/service/Rekognition.java
+++ b/src/main/java/org/myrobotlab/service/Rekognition.java
@@ -12,6 +12,7 @@
 
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 import com.amazonaws.auth.AWSCredentials;
@@ -33,7 +34,7 @@
 import com.amazonaws.services.rekognition.model.Label;
 import com.amazonaws.util.IOUtils;
 
-public class Rekognition extends Service {
+public class Rekognition extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Relay.java b/src/main/java/org/myrobotlab/service/Relay.java
index bd7c40edb5..c56999f2d0 100644
--- a/src/main/java/org/myrobotlab/service/Relay.java
+++ b/src/main/java/org/myrobotlab/service/Relay.java
@@ -6,9 +6,10 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
-public class Relay extends Service {
+public class Relay extends Service<ServiceConfig> {
 
   public Arduino arduino;
   public Integer pin;
diff --git a/src/main/java/org/myrobotlab/service/RoboClaw.java b/src/main/java/org/myrobotlab/service/RoboClaw.java
index a26d3dfbe8..83203b99f8 100644
--- a/src/main/java/org/myrobotlab/service/RoboClaw.java
+++ b/src/main/java/org/myrobotlab/service/RoboClaw.java
@@ -16,6 +16,7 @@
 import org.myrobotlab.serial.CRC;
 import org.myrobotlab.service.Pid.PidData;
 import org.myrobotlab.service.abstracts.AbstractMotorController;
+import org.myrobotlab.service.config.MotorConfig;
 import org.myrobotlab.service.interfaces.MotorControl;
 import org.myrobotlab.service.interfaces.MotorController;
 import org.myrobotlab.service.interfaces.PortConnector;
@@ -54,7 +55,7 @@
  *         this value IS correct
  * 
  */
-public class RoboClaw extends AbstractMotorController implements EncoderPublisher, PortConnector, MotorController, SerialDataListener {
+public class RoboClaw extends AbstractMotorController<MotorConfig> implements EncoderPublisher, PortConnector, MotorController, SerialDataListener {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Roomba.java b/src/main/java/org/myrobotlab/service/Roomba.java
index 504b9184f8..66b8e9bffb 100644
--- a/src/main/java/org/myrobotlab/service/Roomba.java
+++ b/src/main/java/org/myrobotlab/service/Roomba.java
@@ -32,6 +32,7 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.roomba.RoombaComm;
 import org.myrobotlab.roomba.RoombaCommPort;
+import org.myrobotlab.service.config.RoombaConfig;
 import org.slf4j.Logger;
 
 /**
@@ -41,7 +42,7 @@
  *
  * More Info: <a href="http://hackingroomba.com/code/roombacomm/">RoombaComm</a>
  */
-public class Roomba extends Service {
+public class Roomba extends Service<RoombaConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Ros.java b/src/main/java/org/myrobotlab/service/Ros.java
index 0c16a500aa..0d6b9a2a1c 100644
--- a/src/main/java/org/myrobotlab/service/Ros.java
+++ b/src/main/java/org/myrobotlab/service/Ros.java
@@ -36,7 +36,7 @@
  * @author GroG
  *
  */
-public class Ros extends Service implements RemoteMessageHandler, ConnectionEventListener {
+public class Ros extends Service<RosConfig> implements RemoteMessageHandler, ConnectionEventListener {
 
   /**
    * @see https://github.com/biobotus/rosbridge_suite/blob/master/ROSBRIDGE_PROTOCOL.md
@@ -148,8 +148,8 @@ public Ros(String n, String id) {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    RosConfig config = (RosConfig) super.apply(c);
+  public RosConfig apply(RosConfig c) {
+    super.apply(c);
     if (config.connect) {
       connect(config.bridgeUrl);
       if (config.subscriptions != null) {
@@ -185,8 +185,8 @@ public void disconnect() {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    RosConfig config = (RosConfig) super.getConfig();
+  public RosConfig getConfig() {
+    super.getConfig();
     config.connect = connected;
     return config;
   }
diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java
index bd8782961e..5842a6b3cd 100644
--- a/src/main/java/org/myrobotlab/service/Runtime.java
+++ b/src/main/java/org/myrobotlab/service/Runtime.java
@@ -61,6 +61,7 @@
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.framework.ServiceReservation;
 import org.myrobotlab.framework.Status;
+import org.myrobotlab.framework.interfaces.ConfigurableService;
 import org.myrobotlab.framework.interfaces.MessageListener;
 import org.myrobotlab.framework.interfaces.NameProvider;
 import org.myrobotlab.framework.interfaces.ServiceInterface;
@@ -84,7 +85,6 @@
 import org.myrobotlab.process.Launcher;
 import org.myrobotlab.service.config.RuntimeConfig;
 import org.myrobotlab.service.config.ServiceConfig;
-import org.myrobotlab.service.config.ServiceConfig.Listener;
 import org.myrobotlab.service.data.Locale;
 import org.myrobotlab.service.data.ServiceTypeNameResults;
 import org.myrobotlab.service.interfaces.ConnectionManager;
@@ -122,7 +122,7 @@
  * VAR OF RUNTIME !
  *
  */
-public class Runtime extends Service implements MessageListener, ServiceLifeCyclePublisher, RemoteMessageHandler, ConnectionManager, Gateway, LocaleProvider {
+public class Runtime extends Service<RuntimeConfig> implements MessageListener, ServiceLifeCyclePublisher, RemoteMessageHandler, ConnectionManager, Gateway, LocaleProvider {
   final static private long serialVersionUID = 1L;
 
   // FIXME - AVOID STATIC FIELDS !!! use .getInstance() to get the singleton
@@ -138,7 +138,8 @@ public class Runtime extends Service implements MessageListener, ServiceLifeCycl
    * to start and configure new services. The master plan is an accumulation of
    * all these requests.
    */
-  final Plan masterPlan = new Plan("runtime");
+  @Deprecated /* use the filesystem only no memory plan */
+  transient final Plan masterPlan = new Plan("runtime");
 
   /**
    * thread for non-blocking install of services
@@ -174,7 +175,7 @@ public class Runtime extends Service implements MessageListener, ServiceLifeCycl
       "org.myrobotlab.service.interfaces.ServiceLifeCycleListener", "org.myrobotlab.framework.interfaces.StatePublisher"));
 
   protected final Set<String> serviceTypes = new HashSet<>();
-
+  
   /**
    * The directory name currently being used for config. This is NOT full path
    * name. It cannot be null, it cannot have "/" or "\" in the name - it has to
@@ -420,7 +421,7 @@ synchronized private static Map<String, ServiceInterface> createServicesFromPlan
     // Plan's config
     RuntimeConfig plansRtConfig = (RuntimeConfig) plan.get("runtime");
     // current Runtime config
-    RuntimeConfig currentConfig = (RuntimeConfig) Runtime.getInstance().config;
+    RuntimeConfig currentConfig = Runtime.getInstance().config;
 
     for (String service : plansRtConfig.getRegistry()) {
       // FIXME - determine if you want to return a complete merge of activated
@@ -436,10 +437,16 @@ synchronized private static Map<String, ServiceInterface> createServicesFromPlan
       sc.state = "CREATING";
       ServiceInterface si = createService(service, sc.type, null);
       sc.state = "CREATED";
-      si.setConfig(sc);
-      si.apply(sc);
+      // process  the base listeners/subscription of ServiceConfig
+      si.addConfigListeners(sc);
+      if (si.getName().equals("mouth"))
+      {
+        log.info("here");
+      }
+      if (si instanceof ConfigurableService) {
+        ((ConfigurableService)si).apply(sc);
+      }
       createdServices.put(service, si);
-      // si.startService(); bad idea
       currentConfig.add(service);
     }
 
@@ -2647,9 +2654,7 @@ public String publishFinishedConfig(String configName) {
    */
   synchronized static public ServiceInterface start(String name, String type) {
     try {
-      if (name.equals("proxy")) {
-        log.info("herex");
-      }
+
 
       ServiceInterface requestedService = Runtime.getService(name);
       if (requestedService != null) {
@@ -2686,7 +2691,8 @@ synchronized static public ServiceInterface start(String name, String type) {
       }
 
       if (requestedService == null) {
-        log.error("here");
+        Runtime.getInstance().error("could not start %s of type %s", name, type);
+        return null;
       }
 
       // getConfig() was problematic here for JMonkeyEngine
@@ -3977,21 +3983,21 @@ public void addConnection(String uuid, String id, Connection connection) {
     addRoute(id, uuid, 10);
   }
 
-  @Override
-  public ServiceConfig getFilteredConfig() {
-    RuntimeConfig sc = (RuntimeConfig) super.getFilteredConfig();
-    Set<Listener> removeList = new HashSet<>();
-    for (Listener listener : sc.listeners) {
-      if (listener.callback.equals("onReleased") || listener.callback.equals("onStarted") || listener.callback.equals("onRegistered") || listener.callback.equals("onStopped")
-          || listener.callback.equals("onCreated")) {
-        removeList.add(listener);
-      }
-    }
-    for (Listener remove : removeList) {
-      sc.listeners.remove(remove);
-    }
-    return sc;
-  }
+//  @Override
+//  public ServiceConfig getFilteredConfig() {
+//    RuntimeConfig sc = (RuntimeConfig) super.getFilteredConfig();
+//    Set<Listener> removeList = new HashSet<>();
+//    for (Listener listener : sc.listeners) {
+//      if (listener.callback.equals("onReleased") || listener.callback.equals("onStarted") || listener.callback.equals("onRegistered") || listener.callback.equals("onStopped")
+//          || listener.callback.equals("onCreated")) {
+//        removeList.add(listener);
+//      }
+//    }
+//    for (Listener remove : removeList) {
+//      sc.listeners.remove(remove);
+//    }
+//    return sc;
+//  }
 
   /**
    * Unregister all connections that a specified client has made.
@@ -4879,9 +4885,12 @@ public String setAllIds(String id) {
     return id;
   }
 
+
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    RuntimeConfig config = (RuntimeConfig) super.apply(c);
+  public RuntimeConfig apply(RuntimeConfig c) {
+    super.apply(c);
+    config = c;
+    
     setLocale(config.locale);
 
     if (config.id != null) {
@@ -5027,9 +5036,6 @@ public boolean saveService(String configName, String serviceName, String filenam
       }
 
       for (String s : servicesToSave) {
-        if (CodecUtils.getShortName(s).equals("i01")) {
-          log.info("here");
-        }
         ServiceInterface si = getService(s);
         // TODO - switch to save "NON FILTERED" config !!!!
         // get filtered clone of config for saving
@@ -5342,4 +5348,10 @@ public String getConfigPath() {
     return CONFIG_ROOT + fs + configName;
   }
 
+  @Override
+  public RuntimeConfig getConfig() {
+    config = super.getConfig();
+    return config;
+  }
+
 }
diff --git a/src/main/java/org/myrobotlab/service/Sabertooth.java b/src/main/java/org/myrobotlab/service/Sabertooth.java
index 3173c767af..652e05649d 100644
--- a/src/main/java/org/myrobotlab/service/Sabertooth.java
+++ b/src/main/java/org/myrobotlab/service/Sabertooth.java
@@ -13,6 +13,7 @@
 import org.myrobotlab.service.interfaces.MotorControl;
 import org.myrobotlab.service.interfaces.PortConnector;
 import org.myrobotlab.service.interfaces.SerialDevice;
+
 import org.slf4j.Logger;
 
 /**
@@ -30,7 +31,7 @@
  * @author GroG
  * 
  */
-public class Sabertooth extends AbstractMotorController implements PortConnector {
+public class Sabertooth extends AbstractMotorController<SabertoothConfig> implements PortConnector {
 
   private static final long serialVersionUID = 1L;
 
@@ -300,8 +301,8 @@ public void detach() {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    SabertoothConfig config = (SabertoothConfig)super.getConfig();
+  public SabertoothConfig getConfig() {
+    super.getConfig();
     // FIXME - remove fields and use config only
     config.port = getSerialPort();
     config.connect = isConnected;
@@ -309,8 +310,8 @@ public ServiceConfig getConfig() {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    SabertoothConfig config = (SabertoothConfig) super.apply(c);
+  public SabertoothConfig apply(SabertoothConfig c) {
+    super.apply(c);
     if (config.connect) {
       try {
         connect(config.port);
diff --git a/src/main/java/org/myrobotlab/service/Security.java b/src/main/java/org/myrobotlab/service/Security.java
index 811ee0d51a..0219c7ca53 100644
--- a/src/main/java/org/myrobotlab/service/Security.java
+++ b/src/main/java/org/myrobotlab/service/Security.java
@@ -47,13 +47,14 @@
 import org.myrobotlab.framework.interfaces.ServiceInterface;
 import org.myrobotlab.io.FileIO;
 import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.AuthorizationProvider;
 import org.myrobotlab.service.interfaces.KeyConsumer;
 import org.slf4j.Logger;
 
 // controlling export is "nice" but its control messages are the most important to mediate
 
-public class Security extends Service implements AuthorizationProvider {
+public class Security extends Service<ServiceConfig> implements AuthorizationProvider {
 
   protected Set<String> serviceKeyNames = new HashSet<>();
 
@@ -772,4 +773,16 @@ public void addServiceKeyNames(String[] keyNamesIn) {
     }
   }
 
+  @Override
+  public ServiceConfig apply(ServiceConfig c) {
+    super.apply(c);
+    config = c;
+    return config;
+  }
+
+  @Override
+  public ServiceConfig getConfig() {
+    return config;
+  }
+
 }
diff --git a/src/main/java/org/myrobotlab/service/SegmentDisplay.java b/src/main/java/org/myrobotlab/service/SegmentDisplay.java
index 2934846d96..9bad17635e 100644
--- a/src/main/java/org/myrobotlab/service/SegmentDisplay.java
+++ b/src/main/java/org/myrobotlab/service/SegmentDisplay.java
@@ -5,9 +5,10 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
-public class SegmentDisplay extends Service {
+public class SegmentDisplay extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/SensorMonitor.java b/src/main/java/org/myrobotlab/service/SensorMonitor.java
index f2dfd3b02c..ed8e79b25b 100644
--- a/src/main/java/org/myrobotlab/service/SensorMonitor.java
+++ b/src/main/java/org/myrobotlab/service/SensorMonitor.java
@@ -36,6 +36,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.Pin;
 import org.myrobotlab.service.data.Trigger;
 import org.slf4j.Logger;
@@ -47,7 +48,7 @@
  * would be triggered if a sensor goes above or below some threshold.
  *
  */
-public class SensorMonitor extends Service {
+public class SensorMonitor extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Serial.java b/src/main/java/org/myrobotlab/service/Serial.java
index bf93bea2d9..5df86bede3 100644
--- a/src/main/java/org/myrobotlab/service/Serial.java
+++ b/src/main/java/org/myrobotlab/service/Serial.java
@@ -47,7 +47,7 @@
  * Serial - a service that allows reading and writing to a serial port device.
  *
  */
-public class Serial extends Service implements SerialControl, QueueSource, SerialDataListener, RecordControl, SerialDevice, PortPublisher, PortConnector {
+public class Serial extends Service<SerialConfig> implements SerialControl, QueueSource, SerialDataListener, RecordControl, SerialDevice, PortPublisher, PortConnector {
 
   /**
    * general read timeout - 0 is infinite &gt; 0 is number of milliseconds to
@@ -1294,16 +1294,16 @@ public void stopTcpServer() throws IOException {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    SerialConfig config = (SerialConfig) super.getConfig();
+  public SerialConfig getConfig() {
+    super.getConfig();
     // FIXME remove fields and use config only
     config.port = lastPortName;
     return config;
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    SerialConfig config = (SerialConfig) super.apply(c);
+  public SerialConfig apply(SerialConfig c) {
+    super.apply(c);
 
     if (config.port != null) {
       try {
diff --git a/src/main/java/org/myrobotlab/service/SerialRelay.java b/src/main/java/org/myrobotlab/service/SerialRelay.java
index 7f0f371e44..6c2d97a7fd 100644
--- a/src/main/java/org/myrobotlab/service/SerialRelay.java
+++ b/src/main/java/org/myrobotlab/service/SerialRelay.java
@@ -11,13 +11,14 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.SerialRelayData;
 import org.myrobotlab.service.interfaces.SerialDataListener;
 import org.myrobotlab.service.interfaces.SerialDevice;
 import org.myrobotlab.service.interfaces.SerialRelayListener;
 import org.slf4j.Logger;
 
-public class SerialRelay extends Service implements SerialDevice, Attachable {
+public class SerialRelay extends Service<ServiceConfig> implements SerialDevice, Attachable {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Servo.java b/src/main/java/org/myrobotlab/service/Servo.java
index 42c4c3677e..3e0b46ce95 100644
--- a/src/main/java/org/myrobotlab/service/Servo.java
+++ b/src/main/java/org/myrobotlab/service/Servo.java
@@ -61,7 +61,7 @@
  * 
  */
 
-public class Servo extends AbstractServo implements ServiceLifeCycleListener {
+public class Servo extends AbstractServo<ServoConfig> implements ServiceLifeCycleListener {
 
   private static final long serialVersionUID = 1L;
 
@@ -83,7 +83,6 @@ public Servo(String n, String id) {
    */
   @Override
   protected boolean processMove(Double newPos, boolean blocking, Long timeoutMs) {
-    ServoConfig c = (ServoConfig) super.getFilteredConfig();
     if (newPos == null) {
       log.info("servo processMove(null) not valid position");
       return false;
@@ -104,7 +103,7 @@ protected boolean processMove(Double newPos, boolean blocking, Long timeoutMs) {
       firstMove = false;
     }
 
-    if (c.autoDisable && !enabled) {
+    if (config.autoDisable && !enabled) {
       // if the servo was disable with a timer - re-enable it
       enable();
     }
@@ -197,7 +196,7 @@ protected boolean processMove(Double newPos, boolean blocking, Long timeoutMs) {
       sleep(blockingTimeMs);
       isBlocking = false;
       isMoving = false;
-      if (c.autoDisable) {
+      if (config.autoDisable) {
         // and start our countdown
         addTaskOneShot(idleTimeout, "disable");
       }
diff --git a/src/main/java/org/myrobotlab/service/ServoMixer.java b/src/main/java/org/myrobotlab/service/ServoMixer.java
index 9f39bbe703..dc6c3f7127 100755
--- a/src/main/java/org/myrobotlab/service/ServoMixer.java
+++ b/src/main/java/org/myrobotlab/service/ServoMixer.java
@@ -36,7 +36,7 @@
  * @author GroG, kwatters, others...
  * 
  */
-public class ServoMixer extends Service implements ServiceLifeCycleListener, SelectListener {
+public class ServoMixer extends Service<ServoMixerConfig> implements ServiceLifeCycleListener, SelectListener {
 
   /**
    * The Player plays a requested gesture, which is a sequence of Poses. 
diff --git a/src/main/java/org/myrobotlab/service/Shoutbox.java b/src/main/java/org/myrobotlab/service/Shoutbox.java
index 0376e96665..a567ae073e 100644
--- a/src/main/java/org/myrobotlab/service/Shoutbox.java
+++ b/src/main/java/org/myrobotlab/service/Shoutbox.java
@@ -28,10 +28,11 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.programab.Response;
 import org.myrobotlab.service.Xmpp.XmppMsg;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 // FIXME - use Peers !
-public class Shoutbox extends Service {
+public class Shoutbox extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
   public final static Logger log = LoggerFactory.getLogger(Shoutbox.class);
diff --git a/src/main/java/org/myrobotlab/service/SlackBot.java b/src/main/java/org/myrobotlab/service/SlackBot.java
index 7d61214f9d..990fc21855 100755
--- a/src/main/java/org/myrobotlab/service/SlackBot.java
+++ b/src/main/java/org/myrobotlab/service/SlackBot.java
@@ -26,7 +26,7 @@
  * A slack bot gateway for utterance publishers and listeners.
  * 
  */
-public class SlackBot extends Service implements UtteranceListener, UtterancePublisher {
+public class SlackBot extends Service<SlackBotConfig> implements UtteranceListener, UtterancePublisher {
 
   public final static Logger log = LoggerFactory.getLogger(SlackBot.class);
 
@@ -43,8 +43,8 @@ public SlackBot(String reservedKey, String inId) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    SlackBotConfig config = (SlackBotConfig)super.getConfig();
+  public SlackBotConfig getConfig() {
+    super.getConfig();
     // FIXME remove members and use config only
     config.appToken = appToken;
     config.botToken = botToken;
@@ -52,7 +52,7 @@ public ServiceConfig getConfig() {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
+  public SlackBotConfig apply(SlackBotConfig c) {
     SlackBotConfig config = (SlackBotConfig) super.apply(c);
     appToken = config.appToken;
     botToken = config.botToken;
diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index cd455375b5..e912365efb 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -26,7 +26,6 @@
 import org.apache.solr.common.SolrDocument;
 import org.apache.solr.common.SolrInputDocument;
 import org.apache.solr.core.CoreContainer;
-
 import org.bytedeco.opencv.opencv_core.IplImage;
 import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.document.Document;
@@ -67,7 +66,7 @@
  * @author kwatters
  *
  */
-public class Solr extends Service implements DocumentListener, TextListener, MessageListener {
+public class Solr extends Service<SolrConfig> implements DocumentListener, TextListener, MessageListener {
 
 
   private static final String CORE_NAME = "core1";
@@ -1164,9 +1163,9 @@ public void releaseService() {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig inConfig) {
+  public SolrConfig apply(SolrConfig inConfig) {
     // 
-    SolrConfig config = (SolrConfig)super.apply(inConfig);
+    super.apply(inConfig);
     if (config.embedded) {
       // 
       try {
@@ -1181,11 +1180,9 @@ public ServiceConfig apply(ServiceConfig inConfig) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    // return our config
-    // we need to create 
-    SolrConfig config = (SolrConfig)super.getConfig();
-    // config.embedded = this.embedded
+  public SolrConfig getConfig() {
+    super.getConfig();
+
     if (this.embeddedSolrServer != null) {
       config.embedded = true;
     }
@@ -1196,8 +1193,5 @@ public ServiceConfig getConfig() {
     
     return config;
   }
-
-  
-  // Config support
   
 }
diff --git a/src/main/java/org/myrobotlab/service/Sphinx.java b/src/main/java/org/myrobotlab/service/Sphinx.java
index 192f5206a3..af7a082a68 100644
--- a/src/main/java/org/myrobotlab/service/Sphinx.java
+++ b/src/main/java/org/myrobotlab/service/Sphinx.java
@@ -68,7 +68,7 @@
  * 
  */
 @Deprecated /* we need another offline solution - one that doesn't suck */
-public class Sphinx extends AbstractSpeechRecognizer {
+public class Sphinx extends AbstractSpeechRecognizer<SpeechRecognizerConfig> {
 
   class SpeechProcessor extends Thread {
     Sphinx myService = null;
diff --git a/src/main/java/org/myrobotlab/service/SpotMicro.java b/src/main/java/org/myrobotlab/service/SpotMicro.java
index 7a61a7065a..5c3f84f515 100644
--- a/src/main/java/org/myrobotlab/service/SpotMicro.java
+++ b/src/main/java/org/myrobotlab/service/SpotMicro.java
@@ -5,10 +5,9 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.config.ServiceConfig;
-import org.myrobotlab.service.config.ServoConfig;
 import org.slf4j.Logger;
 
-public class SpotMicro extends Service {
+public class SpotMicro extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
@@ -18,16 +17,6 @@ public SpotMicro(String n, String id) {
     super(n, id);
   }
 
-  @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    return c;
-  }
-
-  @Override
-  public ServiceConfig getConfig() {
-    return config;
-  }
-
   public static void main(String[] args) {
     try {
 
diff --git a/src/main/java/org/myrobotlab/service/Test.java b/src/main/java/org/myrobotlab/service/Test.java
index d3bf958054..50460a63eb 100644
--- a/src/main/java/org/myrobotlab/service/Test.java
+++ b/src/main/java/org/myrobotlab/service/Test.java
@@ -33,6 +33,7 @@
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.process.GitHub;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.StatusListener;
 import org.myrobotlab.service.meta.abstracts.MetaData;
 import org.slf4j.Logger;
@@ -55,7 +56,7 @@
  *         method appended is a callback
  *
  */
-public class Test extends Service implements StatusListener {
+public class Test extends Service<ServiceConfig> implements StatusListener {
 
   /**
    * filter services by availabilities
diff --git a/src/main/java/org/myrobotlab/service/UltrasonicSensor.java b/src/main/java/org/myrobotlab/service/UltrasonicSensor.java
index eaa57a4576..8a3c1025a0 100644
--- a/src/main/java/org/myrobotlab/service/UltrasonicSensor.java
+++ b/src/main/java/org/myrobotlab/service/UltrasonicSensor.java
@@ -30,7 +30,7 @@
  * UltrasonicSensor implements RangeListener just for testing purposes
  *
  */
-public class UltrasonicSensor extends Service implements RangeListener, RangePublisher, UltrasonicSensorControl {
+public class UltrasonicSensor extends Service<UltrasonicSensorConfig> implements RangeListener, RangePublisher, UltrasonicSensorControl {
 
   private final static Logger log = LoggerFactory.getLogger(UltrasonicSensor.class);
 
@@ -162,7 +162,7 @@ public Set<String> getAttached() {
   @Override
   public UltrasonicSensorConfig getConfig() {
 
-    UltrasonicSensorConfig config = (UltrasonicSensorConfig)super.getConfig();
+    super.getConfig();
     // FIXME - remove member variables use config directly
     config.controller = controllerName;
     config.triggerPin = trigPin;
@@ -234,8 +234,8 @@ protected boolean isAttached(UltrasonicSensorController controller) {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    UltrasonicSensorConfig config = (UltrasonicSensorConfig) super.apply(c);
+  public UltrasonicSensorConfig apply(UltrasonicSensorConfig c) {
+    super.apply(c);
 
     if (config.triggerPin != null)
       setTriggerPin(config.triggerPin);
diff --git a/src/main/java/org/myrobotlab/service/VideoStreamer.java b/src/main/java/org/myrobotlab/service/VideoStreamer.java
index f21acbebb6..b47256e5ca 100644
--- a/src/main/java/org/myrobotlab/service/VideoStreamer.java
+++ b/src/main/java/org/myrobotlab/service/VideoStreamer.java
@@ -11,6 +11,7 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.net.MjpegServer;
 import org.myrobotlab.service.abstracts.AbstractVideoSink;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.VideoSource;
 import org.slf4j.Logger;
 
@@ -28,7 +29,7 @@
  */
 
 public class VideoStreamer
-    extends AbstractVideoSink /* extends Service implements VideoSink */ {
+    extends AbstractVideoSink<ServiceConfig> /* extends Service implements VideoSink */ {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/VirtualArduino.java b/src/main/java/org/myrobotlab/service/VirtualArduino.java
index 4fb23d38ec..8d53922761 100644
--- a/src/main/java/org/myrobotlab/service/VirtualArduino.java
+++ b/src/main/java/org/myrobotlab/service/VirtualArduino.java
@@ -13,6 +13,7 @@
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.PinDefinition;
 import org.myrobotlab.service.interfaces.PortConnector;
 import org.myrobotlab.service.interfaces.PortListener;
@@ -28,7 +29,7 @@
  * @author GroG
  *
  */
-public class VirtualArduino extends Service implements PortPublisher, PortListener, PortConnector, SerialDataListener {
+public class VirtualArduino extends Service<ServiceConfig> implements PortPublisher, PortListener, PortConnector, SerialDataListener {
 
   private static final long serialVersionUID = 1L;
   public final static Logger log = LoggerFactory.getLogger(VirtualArduino.class);
diff --git a/src/main/java/org/myrobotlab/service/WebGui.java b/src/main/java/org/myrobotlab/service/WebGui.java
index 904a71796f..e3756fa9e2 100644
--- a/src/main/java/org/myrobotlab/service/WebGui.java
+++ b/src/main/java/org/myrobotlab/service/WebGui.java
@@ -34,7 +34,6 @@
 import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.framework.MRLListener;
 import org.myrobotlab.framework.Message;
-import org.myrobotlab.framework.MethodCache;
 import org.myrobotlab.framework.Platform;
 import org.myrobotlab.framework.Registration;
 import org.myrobotlab.framework.Service;
@@ -45,7 +44,6 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.net.BareBonesBrowserLaunch;
 import org.myrobotlab.net.Connection;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.config.WebGuiConfig;
 import org.myrobotlab.service.interfaces.AuthorizationProvider;
 import org.myrobotlab.service.interfaces.Gateway;
@@ -64,7 +62,7 @@
  * services are already APIs - perhaps a data API - same as service without the
  * message wrapper
  */
-public class WebGui extends Service implements AuthorizationProvider, Gateway, Handler, ServiceLifeCycleListener {
+public class WebGui extends Service<WebGuiConfig> implements AuthorizationProvider, Gateway, Handler, ServiceLifeCycleListener {
 
   public static class LiveVideoStreamHandler implements Handler {
 
@@ -91,7 +89,7 @@ public void handle(AtmosphereResource r) {
       }
     }
   }
-
+  
   private final transient IncomingMsgQueue inMsgQueue = new IncomingMsgQueue();
 
   public static class Panel {
@@ -174,6 +172,7 @@ static public String getApiKey(String uri) {
   // just marking as transient to remove some of the data load 10240 max frame
   transient Map<String, Panel> panels = new HashMap<String, Panel>();
 
+  // FIXME - add as a config member
   public Integer port;
 
   public String root = "root";
@@ -326,10 +325,8 @@ public Config.Builder getNettosphereConfig() {
 
     configBuilder.resource("/stream", stream);
 
-    WebGuiConfig c = (WebGuiConfig) config;
-
     // add all webgui resource directories
-    for (String resource : c.resources) {
+    for (String resource : config.resources) {
       configBuilder.resource(resource);
     }
 
@@ -1154,18 +1151,17 @@ public void stopMdns() {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    WebGuiConfig config = (WebGuiConfig) super.getConfig();
-    // FIXME - remove member variables use config only
+  // FIXME port and autoStartBrowser should just be part of config
+  // then this override can be removed
+  public WebGuiConfig getConfig() {
     config.port = port;
     config.autoStartBrowser = autoStartBrowser;
     return config;
   }
 
-  @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    WebGuiConfig config = (WebGuiConfig) super.apply(c);
-
+  public WebGuiConfig apply(WebGuiConfig c) {
+    super.apply(c);
+    
     if (config.port != null && (port != null && config.port.intValue() != port.intValue())) {
       setPort(config.port);
     }
@@ -1302,4 +1298,6 @@ public void onStopped(String name) {
   @Override
   public void onReleased(String name) {
   }
+
+
 }
\ No newline at end of file
diff --git a/src/main/java/org/myrobotlab/service/WebSocketConnector.java b/src/main/java/org/myrobotlab/service/WebSocketConnector.java
index 995ebc7cf1..dacf200686 100644
--- a/src/main/java/org/myrobotlab/service/WebSocketConnector.java
+++ b/src/main/java/org/myrobotlab/service/WebSocketConnector.java
@@ -9,6 +9,7 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.net.Connection;
 import org.myrobotlab.net.WsClient;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.ConnectionManager;
 import org.myrobotlab.service.interfaces.RemoteMessageHandler;
 import org.myrobotlab.service.interfaces.TextPublisher;
@@ -18,7 +19,7 @@
  * @author MaVo (MyRobotLab) / LunDev (GitHub)
  */
 
-public class WebSocketConnector extends Service implements RemoteMessageHandler, ConnectionManager, TextPublisher {
+public class WebSocketConnector extends Service<ServiceConfig> implements RemoteMessageHandler, ConnectionManager, TextPublisher {
   static final long serialVersionUID = 1L;
   static final Logger log = LoggerFactory.getLogger(WebSocketConnector.class);
 
diff --git a/src/main/java/org/myrobotlab/service/Webcam.java b/src/main/java/org/myrobotlab/service/Webcam.java
index f56c1bf8bb..d20faf8804 100644
--- a/src/main/java/org/myrobotlab/service/Webcam.java
+++ b/src/main/java/org/myrobotlab/service/Webcam.java
@@ -12,6 +12,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.math.geometry.Point;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.string.StringUtil;
 import org.slf4j.Logger;
 
@@ -20,7 +21,7 @@
 import com.github.sarxos.webcam.WebcamStreamer;
 import com.github.sarxos.webcam.ds.v4l4j.V4l4jDriver;
 
-public class Webcam extends Service implements WebcamListener {
+public class Webcam extends Service<ServiceConfig> implements WebcamListener {
 
   protected class VideoProcessor implements Runnable {
 
diff --git a/src/main/java/org/myrobotlab/service/WebkitSpeechSynthesis.java b/src/main/java/org/myrobotlab/service/WebkitSpeechSynthesis.java
index b5306a69d7..d13a23468e 100644
--- a/src/main/java/org/myrobotlab/service/WebkitSpeechSynthesis.java
+++ b/src/main/java/org/myrobotlab/service/WebkitSpeechSynthesis.java
@@ -9,6 +9,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.abstracts.AbstractSpeechSynthesis;
+import org.myrobotlab.service.config.SpeechSynthesisConfig;
 import org.myrobotlab.service.data.AudioData;
 import org.slf4j.Logger;
 
@@ -20,7 +21,7 @@
  * @author GroG
  *
  */
-public class WebkitSpeechSynthesis extends AbstractSpeechSynthesis {
+public class WebkitSpeechSynthesis extends AbstractSpeechSynthesis<SpeechSynthesisConfig> {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/Wii.java b/src/main/java/org/myrobotlab/service/Wii.java
index ebba625bcf..7447b38d06 100644
--- a/src/main/java/org/myrobotlab/service/Wii.java
+++ b/src/main/java/org/myrobotlab/service/Wii.java
@@ -34,6 +34,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 import jssc.SerialPortEvent;
@@ -64,7 +65,7 @@
  * http://www.bot-thoughts.com/2010/12/connecting-mbed-to-wiimote-ir-camera.html
  *
  */
-public class Wii extends Service implements WiimoteListener, SerialPortEventListener {
+public class Wii extends Service<ServiceConfig> implements WiimoteListener, SerialPortEventListener {
 
   public static class IRData implements Serializable {
     private static final long serialVersionUID = 1L;
diff --git a/src/main/java/org/myrobotlab/service/Wikipedia.java b/src/main/java/org/myrobotlab/service/Wikipedia.java
index 6686d35ed6..414fbef7ca 100644
--- a/src/main/java/org/myrobotlab/service/Wikipedia.java
+++ b/src/main/java/org/myrobotlab/service/Wikipedia.java
@@ -5,7 +5,6 @@
 import java.net.URLEncoder;
 import java.nio.charset.StandardCharsets;
 import java.util.ArrayList;
-import java.util.Map;
 import java.util.List;
 import java.util.Map;
 
@@ -59,7 +58,7 @@
  * @author GroG
  *
  */
-public class Wikipedia extends Service implements SearchPublisher, ImagePublisher, TextPublisher {
+public class Wikipedia extends Service<WikipediaConfig>  implements SearchPublisher, ImagePublisher, TextPublisher {
 
   public final static Logger log = LoggerFactory.getLogger(Wikipedia.class);
 
diff --git a/src/main/java/org/myrobotlab/service/WorkE.java b/src/main/java/org/myrobotlab/service/WorkE.java
index 489ddf6eab..9bede4d64b 100644
--- a/src/main/java/org/myrobotlab/service/WorkE.java
+++ b/src/main/java/org/myrobotlab/service/WorkE.java
@@ -13,6 +13,7 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.opencv.OpenCVData;
 import org.myrobotlab.service.abstracts.AbstractSpeechSynthesis.WordFilter;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.JoystickData;
 import org.myrobotlab.service.interfaces.JoystickListener;
 import org.myrobotlab.service.interfaces.MotorControl;
@@ -25,7 +26,7 @@
 import org.myrobotlab.service.interfaces.TextPublisher;
 import org.slf4j.Logger;
 
-public class WorkE extends Service implements StatusListener, TextPublisher, SpeechSynthesisControl, SpeechSynthesisControlPublisher, JoystickListener {
+public class WorkE extends Service<ServiceConfig> implements StatusListener, TextPublisher, SpeechSynthesisControl, SpeechSynthesisControlPublisher, JoystickListener {
 
   public final static Logger log = LoggerFactory.getLogger(WorkE.class);
 
diff --git a/src/main/java/org/myrobotlab/service/Xmpp.java b/src/main/java/org/myrobotlab/service/Xmpp.java
index 82d0ceb964..46f6b6b029 100644
--- a/src/main/java/org/myrobotlab/service/Xmpp.java
+++ b/src/main/java/org/myrobotlab/service/Xmpp.java
@@ -42,6 +42,7 @@
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.net.Connection;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.Gateway;
 import org.slf4j.Logger;
 
@@ -54,7 +55,7 @@
  * @author GROG
  *
  */
-public class Xmpp extends Service implements Gateway, ChatManagerListener, ChatMessageListener, MessageListener, RosterListener, ConnectionListener {// ,
+public class Xmpp extends Service<ServiceConfig> implements Gateway, ChatManagerListener, ChatMessageListener, MessageListener, RosterListener, ConnectionListener {// ,
 
   public static class Contact {
     public String user;
@@ -99,9 +100,11 @@ public XmppMsg(Chat chat, Message msg) {
   String serviceName = "myrobotlab.org"; // xmpp.myrobotlab.org
 
   int port = 5222;
-  transient XMPPTCPConnectionConfiguration config;
+  transient XMPPTCPConnectionConfiguration configx;
   transient XMPPTCPConnection connection;
   transient ChatManager chatManager;
+  
+  protected ServiceConfig config;
 
   transient Roster roster = null;
 
diff --git a/src/main/java/org/myrobotlab/service/_TemplateService.java b/src/main/java/org/myrobotlab/service/_TemplateService.java
index 0c90dd27a6..61798b307e 100644
--- a/src/main/java/org/myrobotlab/service/_TemplateService.java
+++ b/src/main/java/org/myrobotlab/service/_TemplateService.java
@@ -7,7 +7,7 @@
 import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
-public class _TemplateService extends Service {
+public class _TemplateService extends Service<ServiceConfig> {
 
   private static final long serialVersionUID = 1L;
 
@@ -23,14 +23,13 @@ public _TemplateService(String n, String id) {
    * <pre>
   @Override
   public ServiceConfig apply(ServiceConfig c) {
-    // _TemplateServiceConfig config = (_TemplateService)super.apply(c);
-    // if more complex config handling is needed
+    super.apply(c)
     return c;
   }
 
   @Override
   public ServiceConfig getConfig() {
-    // _TemplateServiceConfig config = (_TemplateService)super.getConfig();
+    super.getConfig()
     return config;
   }
   </pre>
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractComputerVision.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractComputerVision.java
index d410874c8b..0329c6c707 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractComputerVision.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractComputerVision.java
@@ -1,8 +1,9 @@
 package org.myrobotlab.service.abstracts;
 
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.ComputerVision;
 
-public abstract class AbstractComputerVision extends AbstractVideoSource implements ComputerVision {
+public abstract class AbstractComputerVision<C extends ServiceConfig> extends AbstractVideoSource<C> implements ComputerVision {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractMicrocontroller.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractMicrocontroller.java
index f564ffb25d..2beafb2958 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractMicrocontroller.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractMicrocontroller.java
@@ -9,13 +9,14 @@
 import org.myrobotlab.arduino.BoardInfo;
 import org.myrobotlab.arduino.BoardType;
 import org.myrobotlab.framework.Service;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.PinData;
 import org.myrobotlab.service.interfaces.Microcontroller;
 import org.myrobotlab.service.interfaces.PinArrayListener;
 import org.myrobotlab.service.interfaces.PinDefinition;
 import org.myrobotlab.service.interfaces.PinListener;
 
-public abstract class AbstractMicrocontroller extends Service implements Microcontroller {
+public abstract class AbstractMicrocontroller<C extends ServiceConfig> extends Service<C> implements Microcontroller {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
index c4fd8ea595..2b9e794a54 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
@@ -59,7 +59,7 @@
  * 
  */
 
-abstract public class AbstractMotor extends Service implements MotorControl, EncoderListener {
+abstract public class AbstractMotor<C extends GeneralMotorConfig> extends Service<C> implements MotorControl, EncoderListener {
 
   private static final long serialVersionUID = 1L;
 
@@ -135,7 +135,7 @@ public Set<String> refreshControllers() {
   }
 
   public MotorController getController() {
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     return (MotorController) Runtime.getService(c.controller);
   }
 
@@ -147,13 +147,13 @@ public double getPowerLevel() {
 
   @Override
   public boolean isAttached(MotorController controller) {
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     return controller.getName().equals(c.controller);
   }
 
   @Override
   public boolean isInverted() {
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     return c.mapper.maxIn < c.mapper.minOut;
   }
 
@@ -169,10 +169,10 @@ public void move(double powerInput) {
       info("%s is locked - will not move");
       return;
     }
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     // FIXME make mapper.isInInputRange(x)
-    double min = (c.mapper.minIn < c.mapper.maxIn) ? c.mapper.minIn : c.mapper.maxIn;
-    double max = (c.mapper.minIn < c.mapper.maxIn) ? c.mapper.maxIn : c.mapper.minIn;
+    double min = Math.min(c.mapper.minIn, c.mapper.maxIn);
+    double max = Math.max(c.mapper.minIn, c.mapper.maxIn);
 
     if (powerInput < min) {
       warn("requested power %.2f is under minimum %.2f", powerInput, c.mapper.minIn);
@@ -211,7 +211,7 @@ public double publishPowerOutputChange(double output) {
   @Override
   public void setInverted(boolean invert) {
     log.warn("setting {} inverted = {}", getName(), invert);
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     double temp = c.mapper.minIn;
     c.mapper.minIn = c.mapper.maxIn;
     c.mapper.maxIn = temp;
@@ -220,7 +220,7 @@ public void setInverted(boolean invert) {
 
   @Override
   public void setMinMax(double min, double max) {
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     c.mapper.minIn = min;
     c.mapper.maxIn = max;
     info("updated min %.2f max %.2f", min, max);
@@ -228,7 +228,7 @@ public void setMinMax(double min, double max) {
   }
 
   public void map(double minX, double maxX, double minY, double maxY) {
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     c.mapper.map(minX, maxX, minY, maxY);
     broadcastState();
   }
@@ -304,7 +304,7 @@ public void setEncoder(EncoderPublisher encoder) {
 
   @Override
   public void detachMotorController(MotorController controller) {
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     controller.detach(this);
     controller = null;
     c.controller = null;
@@ -350,7 +350,7 @@ public void attachMotorController(MotorController controller) throws Exception {
     }
 
     log.info("attachMotorController {}", controller.getName());
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     c.controller = controller.getName();
     motorPorts = controller.getPorts();
     // TODO: KW: set a reasonable mapper. for pwm motor it's probable -1 to 1 to
@@ -385,7 +385,7 @@ public boolean isAttached() {
 
   @Override
   public void detach() {
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     c.controller = null;
     // MAKE NOTE!: don't want to do this anymore for fear of infinit detach loop
     // just detach this service
@@ -398,7 +398,7 @@ public void detach() {
   // TODO - this could be Java 8 default interface implementation
   @Override
   public void detach(String name) {
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     MotorController controller = getController();
 
     if (controller == null || !name.equals(controller.getName())) {
@@ -422,7 +422,7 @@ public boolean isAttached(String name) {
 
   @Override
   public Set<String> getAttached() {
-    HashSet<String> ret = new HashSet<String>();
+    HashSet<String> ret = new HashSet<>();
     MotorController controller = getController();
     if (controller != null) {
       ret.add(controller.getName());
@@ -432,33 +432,33 @@ public Set<String> getAttached() {
 
   // FIXME promote to interface
   public Mapper getMapper() {
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     return c.mapper;
   }
 
   // FIXME promote to interface
   public void setMapper(MapperSimple mapper) {
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     c.mapper = mapper;
   }
 
   // FIXME promote to interface
   @Override
   public double calcControllerOutput() {
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     return c.mapper.calcOutput(getPowerLevel());
   }
 
   @Override
   public void setAxis(String name) {
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     c.axis = name;
     broadcastState();
   }
 
   @Override
   public String getAxis() {
-    GeneralMotorConfig c = (GeneralMotorConfig) config;
+    GeneralMotorConfig c = config;
     return c.axis;
   }
 
@@ -468,8 +468,8 @@ public void onAnalog(AnalogData data) {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    GeneralMotorConfig config = (GeneralMotorConfig) super.apply(c);
+  public C apply(C c) {
+    GeneralMotorConfig config = super.apply(c);
 
     // config.mapper = new MapperLinear(config.minIn, config.maxIn,
     // config.minOut, config.maxOut);
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractMotorController.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractMotorController.java
index 62b4ea5aca..5f01ebc74f 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractMotorController.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractMotorController.java
@@ -8,10 +8,11 @@
 import org.myrobotlab.math.MapperLinear;
 import org.myrobotlab.math.interfaces.Mapper;
 import org.myrobotlab.service.Runtime;
+import org.myrobotlab.service.config.MotorConfig;
 import org.myrobotlab.service.interfaces.MotorControl;
 import org.myrobotlab.service.interfaces.MotorController;
 
-public abstract class AbstractMotorController extends Service implements MotorController {
+public abstract class AbstractMotorController<C extends MotorConfig> extends Service<C> implements MotorController {
 
   /**
    * currently attached motors to this controller
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractPinEncoder.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractPinEncoder.java
index b04a551f16..7ebc91a687 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractPinEncoder.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractPinEncoder.java
@@ -2,10 +2,11 @@
 
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.sensor.EncoderData;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.EncoderControl;
 import org.myrobotlab.service.interfaces.EncoderController;
 
-public abstract class AbstractPinEncoder extends Service implements EncoderControl {
+public abstract class AbstractPinEncoder<C extends ServiceConfig> extends Service<C> implements EncoderControl {
 
   private static final long serialVersionUID = 1L;
   public String pin;
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractServo.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractServo.java
index b98891a08c..aeb9d4aec5 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractServo.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractServo.java
@@ -1,5 +1,6 @@
 package org.myrobotlab.service.abstracts;
 
+import java.util.Collections;
 import java.util.LinkedHashSet;
 import java.util.List;
 import java.util.Set;
@@ -16,7 +17,6 @@
 import org.myrobotlab.sensor.EncoderPublisher;
 import org.myrobotlab.sensor.TimeEncoder;
 import org.myrobotlab.service.Runtime;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.config.ServoConfig;
 import org.myrobotlab.service.data.AngleData;
 import org.myrobotlab.service.data.ServoMove;
@@ -53,7 +53,7 @@
  *         outputs.
  *
  */
-public abstract class AbstractServo extends Service implements ServoControl, ServoControlPublisher, ServoStatusPublisher, EncoderPublisher {
+public abstract class AbstractServo<C extends ServoConfig> extends Service<C> implements ServoControl, ServoControlPublisher, ServoStatusPublisher, EncoderPublisher {
 
   public final static Logger log = LoggerFactory.getLogger(AbstractServo.class);
 
@@ -294,8 +294,7 @@ public void attach(EncoderControl enc) throws Exception {
   }
 
   public void setController(String name) {
-    ServoConfig c = (ServoConfig) config;
-    c.controller = name;
+    config.controller = name;
     broadcastState();
   }
 
@@ -323,8 +322,6 @@ public AngleData publishJointAngle(AngleData angle) {
    */
   @Override
   public void attachServoController(String service) {
-    ServoConfig c = (ServoConfig) config;
-
     if (service == null) {
       error("attachServoController null");
       return;
@@ -335,7 +332,7 @@ public void attachServoController(String service) {
       return;
     }
 
-    if (isAttached && !CodecUtils.getFullName(service).equals(c.controller)) {
+    if (isAttached && !CodecUtils.getFullName(service).equals(CodecUtils.getFullName(config.controller))) {
       warn("%s already attached to %s detach first", getName(), service);
       return;
     } else if (isAttached) {
@@ -350,8 +347,10 @@ public void attachServoController(String service) {
     addListener("publishServoSetSpeed", service);
     addListener("publishServoEnable", service);
     addListener("publishServoDisable", service);
-
-    c.controller = service;
+    if (CodecUtils.isLocal(service)) {
+      service = CodecUtils.getShortName(service);
+    }
+    config.controller = service;
 
     // "guessing" its ok if it exists ...
     if (Runtime.getService(service) != null) {
@@ -366,7 +365,7 @@ public void attachServoController(String service) {
     send(service, "attach", getName());
     log.info("{} attached to {} on pin {}", getName(), service, pin);
 
-    if (c.autoDisable) {
+    if (config.autoDisable) {
       disable();
       addTaskOneShot(idleTimeout, "disable");
     }
@@ -379,8 +378,7 @@ public void attachServoController(String service) {
    */
   @Override
   public void detach() {
-    ServoConfig c = (ServoConfig) config;
-    detach(c.controller);
+    detach(config.controller);
   }
 
   @Override
@@ -398,14 +396,12 @@ public void detach(ServoController sc) {
    */
   @Override
   public void detach(String controllerName) {
-    ServoConfig c = (ServoConfig) config;
-
     if (!isAttached) {
       log.info("already detached");
       return;
     }
 
-    if (c.controller != null && !c.controller.equals(controllerName)) {
+    if (config.controller != null && !config.controller.equals(controllerName)) {
       log.warn("{} not attached to {}", getName(), controllerName);
       return;
     }
@@ -444,8 +440,7 @@ public void disable() {
 
   @Override
   public void enable() {
-    ServoConfig c = (ServoConfig) config;
-    if (c.autoDisable) {
+    if (config.autoDisable) {
       if (!isMoving) {
         // not moving - safe & expected to put in a disable
         purgeTask("disable");
@@ -465,14 +460,12 @@ public void fullSpeed() {
 
   @Override
   public boolean isAutoDisable() {
-    ServoConfig c = (ServoConfig) config;
-    return c.autoDisable;
+    return config.autoDisable;
   }
 
   @Override
   public String getController() {
-    ServoConfig c = (ServoConfig) config;
-    return c.controller;
+    return config.controller;
   }
 
   @Override
@@ -559,14 +552,12 @@ public boolean isAttached() {
 
   @Override
   public boolean isAttached(Attachable attachable) {
-    ServoConfig c = (ServoConfig) config;
-    return isAttached && c.controller.equals(attachable.getName());
+    return isAttached && config.controller.equals(attachable.getName());
   }
 
   @Override
   public boolean isAttached(String name) {
-    ServoConfig c = (ServoConfig) config;
-    return isAttached && CodecUtils.getFullName(c.controller).equals(CodecUtils.getFullName(name));
+    return isAttached && CodecUtils.getFullName(config.controller).equals(CodecUtils.getFullName(name));
   }
 
   @Override
@@ -816,7 +807,6 @@ public void rest() {
    */
   @Override
   public void setAutoDisable(boolean autoDisable) {
-    ServoConfig c = (ServoConfig) config;
     if (autoDisable) {
       if (!isMoving) {
         // not moving - safe & expected to put in a disable
@@ -825,8 +815,8 @@ public void setAutoDisable(boolean autoDisable) {
     } else {
       purgeTask("disable");
     }
-    boolean valueChanged = c.autoDisable != autoDisable;
-    c.autoDisable = autoDisable;
+    boolean valueChanged = config.autoDisable != autoDisable;
+    config.autoDisable = autoDisable;
     if (valueChanged) {
       broadcastState();
     }
@@ -1065,11 +1055,10 @@ public ServoEvent publishServoStarted(String name, Double position) {
   @Override
   public ServoEvent publishServoStopped(String name, Double position) {
     log.debug("{} publishServoStopped({}, {})", System.currentTimeMillis(), name, position);
-    ServoConfig c = (ServoConfig) config;
     // log.info("TIME-ENCODER SERVO_STOPPED - {}", name);
     // if currently configured to autoDisable - the timer starts now
     // if we are "stopping" going from moving to not moving
-    if (c.autoDisable && isMoving) {
+    if (config.autoDisable && isMoving) {
       // we cancel any pre-existing timer if it exists
       purgeTask("disable");
       // and start our countdown
@@ -1144,8 +1133,8 @@ public void attachServoControlListener(String name) {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    ServoConfig config = (ServoConfig) super.apply(c);
+  public C apply(C c) {
+    super.apply(c);
 
     // important - if starting up
     // and autoDisable - then the assumption at this point
@@ -1171,9 +1160,7 @@ public ServiceConfig apply(ServiceConfig c) {
 
     if (config.synced != null) {
       syncedServos.clear();
-      for (String s : config.synced) {
-        syncedServos.add(s);
-      }
+        Collections.addAll(syncedServos, config.synced);
     }
 
     // rest = config.rest;
@@ -1204,9 +1191,9 @@ public ServiceConfig apply(ServiceConfig c) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
+  public C getConfig() {
 
-    ServoConfig config = (ServoConfig) super.getConfig();
+    super.getConfig();
 
     config.enabled = enabled;
 
@@ -1227,7 +1214,7 @@ public ServiceConfig getConfig() {
     config.sweepMax = sweepMax;
     config.sweepMin = sweepMin;
 
-    if (syncedServos.size() > 0) {
+    if (!syncedServos.isEmpty()) {
       config.synced = new String[syncedServos.size()];
       int i = 0;
       for (String s : syncedServos) {
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechRecognizer.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechRecognizer.java
index b87bd7daae..c6003bc01c 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechRecognizer.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechRecognizer.java
@@ -16,7 +16,7 @@
 import org.myrobotlab.service.interfaces.SpeechSynthesis;
 import org.myrobotlab.service.interfaces.TextListener;
 
-public abstract class AbstractSpeechRecognizer extends Service implements SpeechRecognizer {
+public abstract class AbstractSpeechRecognizer<C extends SpeechRecognizerConfig> extends Service<C> implements SpeechRecognizer {
 
   /**
    * text and confidence (and any additional meta data) to be published
@@ -575,18 +575,18 @@ public void unsetWakeWord() {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    SpeechRecognizerConfig c = (SpeechRecognizerConfig) super.getConfig();
+  public C getConfig() {
+    C c = super.getConfig();
     c.listening = isListening();
     c.wakeWord = getWakeWord();
     Set<String> listeners = getAttached("publishText");
-    c.textListeners = listeners.toArray(new String[listeners.size()]);
+    c.textListeners = listeners.toArray(new String[0]);
     return c;
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {    
-    SpeechRecognizerConfig config = (SpeechRecognizerConfig)super.apply(c);;
+  public C apply(C c) {
+    C config = super.apply(c);
     setWakeWord(config.wakeWord);
     if (config.listening) {
       startListening();
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechSynthesis.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechSynthesis.java
index d70210df21..741c94aca9 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechSynthesis.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechSynthesis.java
@@ -33,7 +33,7 @@
 import org.myrobotlab.service.interfaces.TextPublisher;
 import org.slf4j.Logger;
 
-public abstract class AbstractSpeechSynthesis extends Service implements SpeechSynthesis, TextListener, KeyConsumer, AudioListener {
+public abstract class AbstractSpeechSynthesis<C extends SpeechSynthesisConfig> extends Service<C> implements SpeechSynthesis, TextListener, KeyConsumer, AudioListener {
 
   private static final long serialVersionUID = 1L;
 
@@ -1112,8 +1112,8 @@ public boolean isMute() {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    SpeechSynthesisConfig config = (SpeechSynthesisConfig) super.apply(c);
+  public C apply(C c) {
+    super.apply(c);
 
     setMute(config.mute);
 
@@ -1154,11 +1154,11 @@ public void attachSpeechControl(SpeechSynthesisControl control) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    SpeechSynthesisConfig c = (SpeechSynthesisConfig) super.getConfig();
+  public C getConfig() {
+    C c = super.getConfig();
     c.mute = mute;
     c.blocking = blocking;
-    if (substitutions != null && substitutions.size() > 0) {
+    if (substitutions != null && !substitutions.isEmpty()) {
       c.substitutions = new HashMap<>();
       c.substitutions.putAll(substitutions);
     }
@@ -1166,7 +1166,7 @@ public ServiceConfig getConfig() {
       c.voice = voice.name;
     }
     Set<String> listeners = getAttached("publishStartSpeaking");
-    c.speechRecognizers = listeners.toArray(new String[listeners.size()]);
+    c.speechRecognizers = listeners.toArray(new String[0]);
 
     return c;
   }
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractVideoSink.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractVideoSink.java
index 47246ae947..9850d58630 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractVideoSink.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractVideoSink.java
@@ -3,10 +3,11 @@
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.framework.interfaces.ServiceInterface;
 import org.myrobotlab.image.SerializableImage;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.VideoSink;
 import org.myrobotlab.service.interfaces.VideoSource;
 
-public abstract class AbstractVideoSink extends Service implements VideoSink {
+public abstract class AbstractVideoSink<C extends ServiceConfig> extends Service<C> implements VideoSink {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractVideoSource.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractVideoSource.java
index a1a236bc0d..18e359d1b6 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractVideoSource.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractVideoSource.java
@@ -1,10 +1,11 @@
 package org.myrobotlab.service.abstracts;
 
 import org.myrobotlab.framework.Service;
+import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.VideoSink;
 import org.myrobotlab.service.interfaces.VideoSource;
 
-public abstract class AbstractVideoSource extends Service implements VideoSource {
+public abstract class AbstractVideoSource<C extends ServiceConfig> extends Service<C> implements VideoSource {
 
   private static final long serialVersionUID = 1L;
 
diff --git a/src/main/java/org/myrobotlab/service/config/EmojiConfig.java b/src/main/java/org/myrobotlab/service/config/EmojiConfig.java
index ff8dd2d3f2..e2d6cbbdcc 100644
--- a/src/main/java/org/myrobotlab/service/config/EmojiConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/EmojiConfig.java
@@ -3,7 +3,6 @@
 import java.util.HashMap;
 import java.util.Map;
 
-import org.myrobotlab.framework.Peer;
 import org.myrobotlab.framework.Plan;
 
 public class EmojiConfig extends ServiceConfig {
diff --git a/src/main/java/org/myrobotlab/service/config/SabertoothConfig.java b/src/main/java/org/myrobotlab/service/config/SabertoothConfig.java
index 9bd54ce192..42db50689b 100644
--- a/src/main/java/org/myrobotlab/service/config/SabertoothConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/SabertoothConfig.java
@@ -2,7 +2,7 @@
 
 import org.myrobotlab.framework.Plan;
 
-public class SabertoothConfig extends ServiceConfig {
+public class SabertoothConfig extends MotorConfig {
 
   public String port;
   public boolean connect = false;
diff --git a/src/main/java/org/myrobotlab/string/StringUtil.java b/src/main/java/org/myrobotlab/string/StringUtil.java
index 6ea3e26531..06c152b8db 100644
--- a/src/main/java/org/myrobotlab/string/StringUtil.java
+++ b/src/main/java/org/myrobotlab/string/StringUtil.java
@@ -251,4 +251,14 @@ public static String intArrayToString(int[] ints) {
     return builder.toString();
   }
 
+  public static String removeEnd(final String str, final String remove) {
+    if (str == null || str.length() == 0 || remove == null || remove.length() == 0) {
+      return str;
+    }
+    if (str.endsWith(remove)) {
+      return str.substring(0, str.length() - remove.length());
+    }
+    return str;
+  }
+
 }
diff --git a/src/main/resources/resource/WebGui/app/service/js/ServoGui.js b/src/main/resources/resource/WebGui/app/service/js/ServoGui.js
index aad2fc6554..2175f81481 100644
--- a/src/main/resources/resource/WebGui/app/service/js/ServoGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/ServoGui.js
@@ -124,6 +124,10 @@ angular.module('mrlapp.service.ServoGui', []).controller('ServoGuiCtrl', ['$scop
             // max range of slider bar
         }
 
+        if (service?.config?.controller){
+            $scope.servoOptions.attachName = service?.config?.controller
+        }
+
         $scope.idleSeconds = service.idleTimeout / 1000
         //         $scope.pos.options.minLimit = service.mapper.minX
         //         $scope.pos.options.maxLimit = service.mapper.maxX
diff --git a/src/test/java/org/myrobotlab/framework/ServiceTest.java b/src/test/java/org/myrobotlab/framework/ServiceTest.java
index 6e0af04b91..a9f180362c 100644
--- a/src/test/java/org/myrobotlab/framework/ServiceTest.java
+++ b/src/test/java/org/myrobotlab/framework/ServiceTest.java
@@ -1,18 +1,19 @@
 package org.myrobotlab.framework;
 
-import org.junit.Test;
-import org.myrobotlab.service.config.ServiceConfig;
-import org.myrobotlab.test.AbstractTest;
+import static org.junit.Assert.assertEquals;
 
-import java.util.ArrayList;
 import java.util.List;
 import java.util.Map;
 
-import static org.junit.Assert.assertEquals;
+import org.junit.Test;
+import org.myrobotlab.service.config.ServiceConfig;
+import org.myrobotlab.test.AbstractTest;
 
 public class ServiceTest extends AbstractTest {
 
-    public static class TestService extends Service {
+    public static class TestService extends Service<ServiceConfig> {
+
+        private static final long serialVersionUID = 1L;
 
         /**
          * Constructor of service, reservedkey typically is a services name and inId
@@ -35,10 +36,11 @@ public void testConfigListenerFiltering() {
                 new MRLListener("meth", "random@test-id", "onMeth"),
                 new MRLListener("meth", "random2@test-2-id", "onMeth")
         );
-        t.setConfig(new ServiceConfig());
+        t.apply(new ServiceConfig());
         t.outbox.notifyList = Map.of("meth", listeners);
-        List<ServiceConfig.Listener> filtered = t.getConfig().listeners;
+        List<ServiceConfig.Listener> filtered = t.getFilteredConfig().listeners;
         assertEquals("random", filtered.get(0).listener);
         assertEquals("random2@test-2-id", filtered.get(1).listener);
+        t.getFilteredConfig();
     }
 }
diff --git a/src/test/java/org/myrobotlab/service/ServoTest.java b/src/test/java/org/myrobotlab/service/ServoTest.java
index b13b560892..74bb958eda 100644
--- a/src/test/java/org/myrobotlab/service/ServoTest.java
+++ b/src/test/java/org/myrobotlab/service/ServoTest.java
@@ -344,6 +344,7 @@ public void testHelperMethods() throws Exception {
     servo01.setPin(7);
     servo01.setPin(8);
     servo01.setSpeed(1.0);
+    servo01.detach();
     servo01.setController("blah");
     assertEquals("blah", servo01.getController());
     servo01.attach("arduino01");

From 1d01e49398c98636192329665ef04cecc2132b3a Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Sat, 12 Aug 2023 22:14:31 -0700
Subject: [PATCH 38/54] fixed a couple wrong config clean up others

---
 .../org/myrobotlab/framework/Service.java     |  2 +-
 .../service/Adafruit16CServoDriver.java       |  1 -
 .../java/org/myrobotlab/service/Clock.java    |  7 ++-
 .../java/org/myrobotlab/service/Cron.java     |  5 +-
 .../org/myrobotlab/service/DiscordBot.java    | 17 ++-----
 .../myrobotlab/service/DocumentPipeline.java  | 19 ++++----
 .../org/myrobotlab/service/FileConnector.java |  7 ++-
 .../service/FiniteStateMachine.java           |  8 ++--
 .../myrobotlab/service/GoogleTranslate.java   | 19 --------
 .../java/org/myrobotlab/service/Hd44780.java  | 13 +++--
 .../java/org/myrobotlab/service/I2cMux.java   | 14 +++---
 .../org/myrobotlab/service/ImageDisplay.java  |  6 +--
 .../java/org/myrobotlab/service/InMoov2.java  | 16 ++-----
 .../java/org/myrobotlab/service/Joystick.java |  9 ++--
 .../org/myrobotlab/service/MotorDualPwm.java  | 14 +++---
 .../org/myrobotlab/service/MotorHat4Pi.java   |  2 +-
 .../org/myrobotlab/service/MouthControl.java  | 20 ++++----
 .../java/org/myrobotlab/service/Mpr121.java   | 12 ++---
 .../java/org/myrobotlab/service/OpenCV.java   | 18 +++----
 .../myrobotlab/service/OpenWeatherMap.java    |  8 ++--
 .../java/org/myrobotlab/service/Pcf8574.java  | 13 +++--
 .../org/myrobotlab/service/ProgramAB.java     | 22 ++++-----
 .../java/org/myrobotlab/service/Python.java   |  9 ++--
 .../java/org/myrobotlab/service/Random.java   |  8 ++--
 src/main/java/org/myrobotlab/service/Ros.java |  8 ++--
 .../org/myrobotlab/service/Sabertooth.java    |  6 +--
 .../java/org/myrobotlab/service/Serial.java   |  5 +-
 .../java/org/myrobotlab/service/Solr.java     | 10 ++--
 .../java/org/myrobotlab/service/Tracking.java | 16 +++----
 .../myrobotlab/service/UltrasonicSensor.java  | 17 ++++---
 .../java/org/myrobotlab/service/WebGui.java   | 10 ++--
 .../service/abstracts/AbstractMotor.java      |  4 +-
 .../service/abstracts/AbstractServo.java      | 48 +++++++++----------
 .../abstracts/AbstractSpeechRecognizer.java   | 13 +++--
 .../abstracts/AbstractSpeechSynthesis.java    | 19 ++++----
 .../myrobotlab/service/meta/JoystickMeta.java |  4 +-
 36 files changed, 193 insertions(+), 236 deletions(-)

diff --git a/src/main/java/org/myrobotlab/framework/Service.java b/src/main/java/org/myrobotlab/framework/Service.java
index fe7dfd9450..b6080d2c32 100644
--- a/src/main/java/org/myrobotlab/framework/Service.java
+++ b/src/main/java/org/myrobotlab/framework/Service.java
@@ -1427,7 +1427,7 @@ public T apply(T c) {
    * processes those listeners and adds them to the outbox notifyList.
    */
   public ServiceConfig addConfigListeners(ServiceConfig config) {
-    if (config.listeners != null) {
+    if (config != null && config.listeners != null) {
       for (Listener listener : config.listeners) {
         addListener(listener.method, listener.listener, listener.callback);
       }
diff --git a/src/main/java/org/myrobotlab/service/Adafruit16CServoDriver.java b/src/main/java/org/myrobotlab/service/Adafruit16CServoDriver.java
index 78da519eab..290e3fd8b7 100644
--- a/src/main/java/org/myrobotlab/service/Adafruit16CServoDriver.java
+++ b/src/main/java/org/myrobotlab/service/Adafruit16CServoDriver.java
@@ -24,7 +24,6 @@
 import org.myrobotlab.math.MapperLinear;
 import org.myrobotlab.math.interfaces.Mapper;
 import org.myrobotlab.service.config.Adafruit16CServoDriverConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.ServoMove;
 import org.myrobotlab.service.data.ServoSpeed;
 import org.myrobotlab.service.interfaces.I2CControl;
diff --git a/src/main/java/org/myrobotlab/service/Clock.java b/src/main/java/org/myrobotlab/service/Clock.java
index df211bb4e3..14fd02b2f3 100644
--- a/src/main/java/org/myrobotlab/service/Clock.java
+++ b/src/main/java/org/myrobotlab/service/Clock.java
@@ -203,15 +203,14 @@ public Integer getInterval() {
 
   public ClockConfig apply(ClockConfig c) {    
     super.apply(c);
-    config = (ClockConfig)c;
-    if (config.running != null) {
-      if (config.running) {
+    if (c.running != null) {
+      if (c.running) {
         startClock();
       } else {
         stopClock();
       }
     }
-    return config;
+    return c;
   }
 
   public void restartClock() {
diff --git a/src/main/java/org/myrobotlab/service/Cron.java b/src/main/java/org/myrobotlab/service/Cron.java
index 7e8e0ba00b..9faaabe0d0 100644
--- a/src/main/java/org/myrobotlab/service/Cron.java
+++ b/src/main/java/org/myrobotlab/service/Cron.java
@@ -188,14 +188,13 @@ public String addTask(Task task) {
 
   @Override
   public CronConfig apply(CronConfig c) {
-    super.apply(config);
+    super.apply(c);
     
     // deschedule current tasks
     removeAllTasks();
     
     // add new tasks
-    CronConfig config = (CronConfig)c;
-    for (Task task : config.tasks) {
+    for (Task task : c.tasks) {
       addTask(task);
     }
     return c;
diff --git a/src/main/java/org/myrobotlab/service/DiscordBot.java b/src/main/java/org/myrobotlab/service/DiscordBot.java
index 3770877e84..f3aa3560cf 100644
--- a/src/main/java/org/myrobotlab/service/DiscordBot.java
+++ b/src/main/java/org/myrobotlab/service/DiscordBot.java
@@ -57,24 +57,17 @@ public DiscordBot(String reservedKey, String inId) {
   public DiscordBotConfig apply(DiscordBotConfig c) {
     super.apply(c);
 
-    if (config.token != null) {
-      setToken(config.token);
+    if (c.token != null) {
+      setToken(c.token);
     }
 
-    // REMOVED - OVERLAP WITH SUBSCRIPTIONS
-//    if (config.utteranceListeners != null) {
-//      for (String name : config.utteranceListeners) {
-//        attachUtteranceListener(name);
-//      }
-//    }
-
-    if (config.connect && config.token != null && !config.token.isEmpty()) {
+    if (c.connect && c.token != null && !c.token.isEmpty()) {
       connect();
-    } else if (config.token == null || config.token.isEmpty()) {
+    } else if (c.token == null || c.token.isEmpty()) {
       error("requires valid token to connect");
     }
 
-    return config;
+    return c;
   }
 
   public String getBotName() {
diff --git a/src/main/java/org/myrobotlab/service/DocumentPipeline.java b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
index 86dc854cf5..0d511776c4 100644
--- a/src/main/java/org/myrobotlab/service/DocumentPipeline.java
+++ b/src/main/java/org/myrobotlab/service/DocumentPipeline.java
@@ -18,7 +18,7 @@
 import org.myrobotlab.service.interfaces.DocumentListener;
 import org.myrobotlab.service.interfaces.DocumentPublisher;
 
-public class DocumentPipeline extends Service<ServiceConfig> implements DocumentListener, DocumentPublisher {
+public class DocumentPipeline extends Service<DocumentPipelineConfig> implements DocumentListener, DocumentPublisher {
 
   private static final long serialVersionUID = 1L;
 
@@ -135,7 +135,7 @@ public static void main(String[] args) throws Exception {
     fieldNameMap.put("dc_title", "title");
     fieldNameMap.put("xmpdm_album", "album");
     stage3Config.setMapProperty("fieldNameMap", fieldNameMap);
-    workflowConfig.addStage(stage3Config);;
+    workflowConfig.addStage(stage3Config);;
     // TODO: rename more fields..
     // TODO: delete unnecessary fields.
     pipeline.setConfig(workflowConfig);
@@ -211,23 +211,22 @@ public void publishFlush() {
   }
   
   @Override
-  public ServiceConfig apply(ServiceConfig inConfig) {
-    DocumentPipelineConfig config = (DocumentPipelineConfig)super.apply(inConfig);
-    // 
-    this.workFlowConfig = config.workFlowConfig;
+  public DocumentPipelineConfig apply(DocumentPipelineConfig c) {
+    super.apply(c);
+
+    this.workFlowConfig = c.workFlowConfig;
     try {
       initalize();
     } catch (ClassNotFoundException e) {
       log.error("Error initializing the document pipeline.", e);
       // TODO: shoiuld we throw some runtime here?
     }
-    return config;
+    return c;
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    // return the config
-    DocumentPipelineConfig config = (DocumentPipelineConfig)super.getConfig();
+  public DocumentPipelineConfig getConfig() {
+    super.getConfig();
     config.workFlowConfig = this.workFlowConfig;
     return config;
   }
diff --git a/src/main/java/org/myrobotlab/service/FileConnector.java b/src/main/java/org/myrobotlab/service/FileConnector.java
index a83f9e1209..3b9d9c95d6 100644
--- a/src/main/java/org/myrobotlab/service/FileConnector.java
+++ b/src/main/java/org/myrobotlab/service/FileConnector.java
@@ -125,11 +125,10 @@ public void setDirectory(String directory) {
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig inConfig) {
-    // 
-    FileConnectorConfig config = (FileConnectorConfig)super.apply(inConfig);
+  public ServiceConfig apply(ServiceConfig c) {
+    super.apply(c);
     // anything else?
-    return config;
+    return c;
   }
 
   @Override
diff --git a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java
index 08d1ed45a4..a093f61565 100644
--- a/src/main/java/org/myrobotlab/service/FiniteStateMachine.java
+++ b/src/main/java/org/myrobotlab/service/FiniteStateMachine.java
@@ -245,20 +245,20 @@ public FiniteStateMachineConfig apply(FiniteStateMachineConfig c) {
       // when config is "applied" we need to copy out and
       // re-apply the config using addTransition
       List<Transition> newTransistions = new ArrayList<>();
-      newTransistions.addAll(config.transitions);
+      newTransistions.addAll(c.transitions);
       clear();
       for (Transition t : newTransistions) {
         addTransition(t.from, t.event, t.to);
       }
 
       messageListeners = new HashSet<>();
-      messageListeners.addAll(config.messageListeners);
+      messageListeners.addAll(c.messageListeners);
       broadcastState();
     }
 
     // setCurrent
-    if (config.current != null) {
-      setCurrent(config.current);
+    if (c.current != null) {
+      setCurrent(c.current);
     }
 
     return c;
diff --git a/src/main/java/org/myrobotlab/service/GoogleTranslate.java b/src/main/java/org/myrobotlab/service/GoogleTranslate.java
index 2d322eabcf..ce892a709e 100644
--- a/src/main/java/org/myrobotlab/service/GoogleTranslate.java
+++ b/src/main/java/org/myrobotlab/service/GoogleTranslate.java
@@ -58,25 +58,6 @@ public String translate(String text) throws FileNotFoundException, IOException {
   }
   
 
-  /**
-   * The methods apply and getConfig can be used, if more complex configuration handling is needed.
-   * By default, the framework takes care of most of it, including subscription handling.
-   * <pre>
-  @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    // _TemplateServiceConfig config = (_TemplateService)super.apply(c);
-    // if more complex config handling is needed
-    return c;
-  }
-
-  @Override
-  public ServiceConfig getConfig() {
-    // _TemplateServiceConfig config = (_TemplateService)super.getConfig();
-    return config;
-  }
-  </pre>
-  **/
-
   public static void main(String[] args) {
     try {
 
diff --git a/src/main/java/org/myrobotlab/service/Hd44780.java b/src/main/java/org/myrobotlab/service/Hd44780.java
index 43dfde676f..9294fee992 100644
--- a/src/main/java/org/myrobotlab/service/Hd44780.java
+++ b/src/main/java/org/myrobotlab/service/Hd44780.java
@@ -11,7 +11,6 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.config.Hd44780Config;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.I2CControl;
 import org.myrobotlab.service.interfaces.TextListener;
 import org.slf4j.Logger;
@@ -123,6 +122,10 @@ public Hd44780(String n, String id) {
   @Override
   public void attach(String name) {
     ServiceInterface si = Runtime.getService(name);
+    if (si == null) {
+      error("could not attach to %s not found", name);
+      return;
+    }
     if (si instanceof Pcf8574) {
       attachPcf8574((Pcf8574) si);
       return;
@@ -736,16 +739,16 @@ public Hd44780Config getConfig() {
   public Hd44780Config apply(Hd44780Config c) {
     super.apply(c);
 
-    if (config.controller != null) {
+    if (c.controller != null) {
       try {
-        attach(config.controller);
+        attach(c.controller);
       } catch (Exception e) {
         error(e);
       }
     }
 
-    if (pcf != null && config.backlight != null && config.backlight) {
-      setBackLight(config.backlight);
+    if (pcf != null && c.backlight != null && c.backlight) {
+      setBackLight(c.backlight);
     }
     return c;
   }
diff --git a/src/main/java/org/myrobotlab/service/I2cMux.java b/src/main/java/org/myrobotlab/service/I2cMux.java
index 4f6c24b43e..c3403a1eb4 100644
--- a/src/main/java/org/myrobotlab/service/I2cMux.java
+++ b/src/main/java/org/myrobotlab/service/I2cMux.java
@@ -363,7 +363,7 @@ public String getAddress() {
 
   @Override
   public I2cMuxConfig getConfig() {
-    I2cMuxConfig config = (I2cMuxConfig)super.getConfig();
+    super.getConfig();
     // FIXME this should only be in config, no need for local fields
     config.bus = deviceBus;
     config.address = deviceAddress;
@@ -374,13 +374,13 @@ public I2cMuxConfig getConfig() {
 
   @Override
   public I2cMuxConfig apply(I2cMuxConfig c) {
-    I2cMuxConfig config = (I2cMuxConfig) super.apply(c);
+    super.apply(c);
     // FIXME - remove all this, it should "only" be in config
-    deviceBus = config.bus;
-    deviceAddress = config.address;
-    i2cDevices = config.i2cDevices;
-    if (config.controller != null) {
-      controllerName = config.controller;
+    deviceBus = c.bus;
+    deviceAddress = c.address;
+    i2cDevices = c.i2cDevices;
+    if (c.controller != null) {
+      controllerName = c.controller;
     }
     return c;
   }
diff --git a/src/main/java/org/myrobotlab/service/ImageDisplay.java b/src/main/java/org/myrobotlab/service/ImageDisplay.java
index ded65ab7b7..d115227158 100644
--- a/src/main/java/org/myrobotlab/service/ImageDisplay.java
+++ b/src/main/java/org/myrobotlab/service/ImageDisplay.java
@@ -81,13 +81,13 @@ public void actionPerformed(ActionEvent arg0) {
   @Override
   public ImageDisplayConfig apply(ImageDisplayConfig c) {
     super.apply(c);
-    if (config.displays != null) {
-      for (String displayName : config.displays.keySet()) {
+    if (c.displays != null) {
+      for (String displayName : c.displays.keySet()) {
         close(displayName);
         displayInternal(displayName);
       }
     }
-    return config;
+    return c;
   }
 
   @Override
diff --git a/src/main/java/org/myrobotlab/service/InMoov2.java b/src/main/java/org/myrobotlab/service/InMoov2.java
index 520077321f..51dac5ae44 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2.java
@@ -157,19 +157,19 @@ public InMoov2Config apply(InMoov2Config c) {
 
       locales = Locale.getLocaleMap("en-US", "fr-FR", "es-ES", "de-DE", "nl-NL", "ru-RU", "hi-IN", "it-IT", "fi-FI", "pt-PT", "tr-TR");
 
-      if (config.locale != null) {
-        setLocale(config.locale);
+      if (c.locale != null) {
+        setLocale(c.locale);
       } else {
         setLocale(getSupportedLocale(Runtime.getInstance().getLocale().toString()));
       }
 
       loadInitScripts();
 
-      if (config.loadGestures) {
+      if (c.loadGestures) {
         loadGestures();
       }
 
-      if (config.heartbeat) {
+      if (c.heartbeat) {
         startHeartbeat();
       } else {
         stopHeartbeat();
@@ -181,13 +181,7 @@ public InMoov2Config apply(InMoov2Config c) {
     return c;
   }
 
-  // TODO- Hook to get config event published
-  // public void applyConfig() {
-  //   super.apply();
-  //   log.error("applyConfig()");
-  //   // always getResponse !
-  //   speak("InMoov apply config");
-  // }
+
 
   @Override
   public void attachTextListener(String name) {
diff --git a/src/main/java/org/myrobotlab/service/Joystick.java b/src/main/java/org/myrobotlab/service/Joystick.java
index 9b7a1f8064..0e8bee108a 100644
--- a/src/main/java/org/myrobotlab/service/Joystick.java
+++ b/src/main/java/org/myrobotlab/service/Joystick.java
@@ -728,16 +728,15 @@ public JoystickConfig apply(JoystickConfig c) {
     getControllers();
 
     // get controller request from config
-    JoystickConfig config = (JoystickConfig)super.apply(c);
-    if (config.controller != null) {
+    if (c.controller != null) {
       setController(config.controller);
     }
 
     // stupid transform from array to set - yaml wants array, set prevents
     // duplicates :(
-    if (config.analogListeners != null) {
-      for (String id : config.analogListeners.keySet()) {
-        ArrayList<String> list = config.analogListeners.get(id);
+    if (c.analogListeners != null) {
+      for (String id : c.analogListeners.keySet()) {
+        ArrayList<String> list = c.analogListeners.get(id);
         Set<String> s = analogListeners.get(id);
         if (s == null) {
           s = new HashSet<>();
diff --git a/src/main/java/org/myrobotlab/service/MotorDualPwm.java b/src/main/java/org/myrobotlab/service/MotorDualPwm.java
index 10687ba938..fe4764ae6d 100644
--- a/src/main/java/org/myrobotlab/service/MotorDualPwm.java
+++ b/src/main/java/org/myrobotlab/service/MotorDualPwm.java
@@ -80,16 +80,16 @@ public MotorDualPwmConfig getConfig() {
 
   public MotorDualPwmConfig apply(MotorDualPwmConfig c) {
     super.apply(c);
-    if (config.leftPwmPin != null) {
-      setLeftPwmPin(config.leftPwmPin);
+    if (c.leftPwmPin != null) {
+      setLeftPwmPin(c.leftPwmPin);
     }
-    if (config.rightPwmPin != null) {
-      setRightPwmPin(config.rightPwmPin);
+    if (c.rightPwmPin != null) {
+      setRightPwmPin(c.rightPwmPin);
     }
-    if (config.pwmFreq != null) {
-      setPwmFreq(config.pwmFreq);
+    if (c.pwmFreq != null) {
+      setPwmFreq(c.pwmFreq);
     }
-    return config;
+    return c;
   }
 
   public static void main(String[] args) throws InterruptedException {
diff --git a/src/main/java/org/myrobotlab/service/MotorHat4Pi.java b/src/main/java/org/myrobotlab/service/MotorHat4Pi.java
index 6862aaf807..1bc2bb6c1d 100644
--- a/src/main/java/org/myrobotlab/service/MotorHat4Pi.java
+++ b/src/main/java/org/myrobotlab/service/MotorHat4Pi.java
@@ -99,7 +99,7 @@ public MotorHat4PiConfig getConfig() {
 
   public MotorHat4PiConfig apply(MotorHat4PiConfig c) {
     super.apply(c);
-    setMotor(config.motorId);
+    setMotor(c.motorId);
     return c;
   }
 
diff --git a/src/main/java/org/myrobotlab/service/MouthControl.java b/src/main/java/org/myrobotlab/service/MouthControl.java
index f89ac8ce3e..9d07a7c55e 100644
--- a/src/main/java/org/myrobotlab/service/MouthControl.java
+++ b/src/main/java/org/myrobotlab/service/MouthControl.java
@@ -249,20 +249,20 @@ public MouthControlConfig getConfig() {
   public MouthControlConfig apply(MouthControlConfig c) {
     super.apply(c);
     // FIXME - remove local fields, use config only
-    mouthClosedPos = config.mouthClosedPos;
-    mouthOpenedPos = config.mouthOpenedPos;
-    delaytime = config.delaytime;
-    delaytimestop = config.delaytimestop;
-    delaytimeletter = config.delaytimeletter;
-    jaw = config.jaw;
-    neoPixel = config.neoPixel;
+    mouthClosedPos = c.mouthClosedPos;
+    mouthOpenedPos = c.mouthOpenedPos;
+    delaytime = c.delaytime;
+    delaytimestop = c.delaytimestop;
+    delaytimeletter = c.delaytimeletter;
+    jaw = c.jaw;
+    neoPixel = c.neoPixel;
 
     // mouth needs to attach to us
     // it needs to create notify entries
     // so we fire a message to attach to us
-    mouth = config.mouth;
-    if (config.mouth != null) {
-      mouth = config.mouth;
+    mouth = c.mouth;
+    if (c.mouth != null) {
+      mouth = c.mouth;
       send(mouth, "attach", getName());
     }
 
diff --git a/src/main/java/org/myrobotlab/service/Mpr121.java b/src/main/java/org/myrobotlab/service/Mpr121.java
index b3a11ec802..d71ca4da60 100644
--- a/src/main/java/org/myrobotlab/service/Mpr121.java
+++ b/src/main/java/org/myrobotlab/service/Mpr121.java
@@ -929,16 +929,16 @@ public void setDeviceAddress(String deviceAddress) {
   public Mpr121Config apply(Mpr121Config c) {
     super.apply(c);
     // FIXME remove local fields in favor of config only
-    if (config.address != null) {
-      setAddress(config.address);
+    if (c.address != null) {
+      setAddress(c.address);
     }
-    if (config.bus != null) {
-      setBus(config.bus);
+    if (c.bus != null) {
+      setBus(c.bus);
     }
 
-    if (config.controller != null) {
+    if (c.controller != null) {
       try {
-        attach(config.controller);
+        attach(c.controller);
       } catch (Exception e) {
         error(e);
       }
diff --git a/src/main/java/org/myrobotlab/service/OpenCV.java b/src/main/java/org/myrobotlab/service/OpenCV.java
index c73b4413c3..7a26a17dca 100644
--- a/src/main/java/org/myrobotlab/service/OpenCV.java
+++ b/src/main/java/org/myrobotlab/service/OpenCV.java
@@ -2042,24 +2042,24 @@ public OpenCVConfig getConfig() {
   @Override
   public OpenCVConfig apply(OpenCVConfig c) {
     super.apply(c);
-    setCameraIndex(config.cameraIndex);
-    setGrabberType(config.grabberType);
-    setInputFileName(config.inputFile);
-    setInputSource(config.inputSource);
+    setCameraIndex(c.cameraIndex);
+    setGrabberType(c.grabberType);
+    setInputFileName(c.inputFile);
+    setInputSource(c.inputSource);
 
-    setNativeViewer(config.nativeViewer);
+    setNativeViewer(c.nativeViewer);
 
-    setWebViewer(config.webViewer);
+    setWebViewer(c.webViewer);
 
     filters.clear();
-    if (config.filters != null) {
-      for (OpenCVFilter f : config.filters.values()) {
+    if (c.filters != null) {
+      for (OpenCVFilter f : c.filters.values()) {
         addFilter(f);
         // TODO: better configuration of the filter when it's added.
       }
     }
 
-    if (config.capturing) {
+    if (c.capturing) {
       capture();
     }
 
diff --git a/src/main/java/org/myrobotlab/service/OpenWeatherMap.java b/src/main/java/org/myrobotlab/service/OpenWeatherMap.java
index 47227141f1..2a9fcb045e 100644
--- a/src/main/java/org/myrobotlab/service/OpenWeatherMap.java
+++ b/src/main/java/org/myrobotlab/service/OpenWeatherMap.java
@@ -263,11 +263,11 @@ public OpenWeatherMapConfig getConfig() {
   public OpenWeatherMapConfig apply(OpenWeatherMapConfig c) {
     super.apply(c);
     // FIXME - remove local fields in favor of only config
-    if (config.currentUnits != null) {
-      setUnits(config.currentUnits);
+    if (c.currentUnits != null) {
+      setUnits(c.currentUnits);
     }
-    if (config.currentTown != null) {
-      setLocation(config.currentTown);
+    if (c.currentTown != null) {
+      setLocation(c.currentTown);
     }
     return c;
   }
diff --git a/src/main/java/org/myrobotlab/service/Pcf8574.java b/src/main/java/org/myrobotlab/service/Pcf8574.java
index be2682cbba..4e7410d0d2 100644
--- a/src/main/java/org/myrobotlab/service/Pcf8574.java
+++ b/src/main/java/org/myrobotlab/service/Pcf8574.java
@@ -16,7 +16,6 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.config.Pcf8574Config;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.data.PinData;
 import org.myrobotlab.service.interfaces.I2CControl;
 import org.myrobotlab.service.interfaces.I2CController;
@@ -735,16 +734,16 @@ public Pcf8574Config getConfig() {
   public Pcf8574Config apply(Pcf8574Config c) {
     super.apply(c);
     // FIXME remove local fields in favor of config only
-    if (config.address != null) {
-      setAddress(config.address);
+    if (c.address != null) {
+      setAddress(c.address);
     }
-    if (config.bus != null) {
-      setBus(config.bus);
+    if (c.bus != null) {
+      setBus(c.bus);
     }
 
-    if (config.controller != null) {
+    if (c.controller != null) {
       try {
-        attach(config.controller);
+        attach(c.controller);
       } catch (Exception e) {
         error(e);
       }
diff --git a/src/main/java/org/myrobotlab/service/ProgramAB.java b/src/main/java/org/myrobotlab/service/ProgramAB.java
index 63aebc9030..171f67feae 100644
--- a/src/main/java/org/myrobotlab/service/ProgramAB.java
+++ b/src/main/java/org/myrobotlab/service/ProgramAB.java
@@ -1093,32 +1093,32 @@ public ProgramABConfig getConfig() {
   @Override
   public ProgramABConfig apply(ProgramABConfig c) {
     super.apply(c);
-    if (config.bots != null && config.bots.size() > 0) {
+    if (c.bots != null && c.bots.size() > 0) {
       // bots.clear();
-      for (String botPath : config.bots) {
+      for (String botPath : c.bots) {
         addBotPath(botPath);
       }
     }
     
-    if (config.botDir == null) {
-      config.botDir = getResourceDir();
+    if (c.botDir == null) {
+      c.botDir = getResourceDir();
     }
 
-    List<File> botsFromScanning = scanForBots(config.botDir);
+    List<File> botsFromScanning = scanForBots(c.botDir);
     for (File file : botsFromScanning) {
       addBotPath(file.getAbsolutePath());
     }
 
-    if (config.currentUserName != null) {
-      setCurrentUserName(config.currentUserName);
+    if (c.currentUserName != null) {
+      setCurrentUserName(c.currentUserName);
     }
     
-    if (config.currentBotName != null) {
-      setCurrentUserName(config.currentBotName);
+    if (c.currentBotName != null) {
+      setCurrentUserName(c.currentBotName);
     }    
     
-    if (config.startTopic != null) {
-      setTopic(config.startTopic);  
+    if (c.startTopic != null) {
+      setTopic(c.startTopic);  
     }
     
 
diff --git a/src/main/java/org/myrobotlab/service/Python.java b/src/main/java/org/myrobotlab/service/Python.java
index 02ce853f15..4153d0513f 100644
--- a/src/main/java/org/myrobotlab/service/Python.java
+++ b/src/main/java/org/myrobotlab/service/Python.java
@@ -944,17 +944,16 @@ public void onStopped(String fullname) {
 
   public PythonConfig apply(PythonConfig c) {
     super.apply(c);
-    config = (PythonConfig)c;
     
     // apply is the first method called after construction,
     // since we offer the capability of executing scripts specified in config
     // the interpreter must be configured and created here
     init();
     
-    if (config.startScripts != null && config.startScripts.size() > 0) {
+    if (c.startScripts != null && c.startScripts.size() > 0) {
 
       if (isRunning()) {
-        for (String script : config.startScripts) {
+        for (String script : c.startScripts) {
           try {
             execFile(script);
           } catch (Exception e) {
@@ -966,8 +965,8 @@ public PythonConfig apply(PythonConfig c) {
 
     PySystemState sys = Py.getSystemState();
 
-    if (config.modulePaths != null) {
-      for (String path : config.modulePaths) {
+    if (c.modulePaths != null) {
+      for (String path : c.modulePaths) {
         sys.path.append(new PyString(path));
       }
     }
diff --git a/src/main/java/org/myrobotlab/service/Random.java b/src/main/java/org/myrobotlab/service/Random.java
index 4e5b368b10..93b8178fd2 100644
--- a/src/main/java/org/myrobotlab/service/Random.java
+++ b/src/main/java/org/myrobotlab/service/Random.java
@@ -256,11 +256,11 @@ public RandomConfig getConfig() {
   @Override
   public RandomConfig apply(RandomConfig c) {
     super.apply(c);
-    enabled = config.enabled;
+    enabled = c.enabled;
 
     try {
-      for (String key : config.randomMessages.keySet()) {
-        RandomMessageConfig msgc = config.randomMessages.get(key);
+      for (String key : c.randomMessages.keySet()) {
+        RandomMessageConfig msgc = c.randomMessages.get(key);
         addRandom(msgc.minIntervalMs, msgc.maxIntervalMs, key.substring(0, key.lastIndexOf(".")), key.substring(key.lastIndexOf(".") + 1), msgc.data);
         if (!msgc.enabled) {
           disable(key);
@@ -270,7 +270,7 @@ public RandomConfig apply(RandomConfig c) {
       error(e);
     }
 
-    return config;
+    return c;
   }
 
   public RandomMessage remove(String name, String method) {
diff --git a/src/main/java/org/myrobotlab/service/Ros.java b/src/main/java/org/myrobotlab/service/Ros.java
index 0d6b9a2a1c..bea1ad4bc2 100644
--- a/src/main/java/org/myrobotlab/service/Ros.java
+++ b/src/main/java/org/myrobotlab/service/Ros.java
@@ -150,10 +150,10 @@ public Ros(String n, String id) {
   @Override
   public RosConfig apply(RosConfig c) {
     super.apply(c);
-    if (config.connect) {
-      connect(config.bridgeUrl);
-      if (config.subscriptions != null) {
-        for (String topic : config.subscriptions) {
+    if (c.connect) {
+      connect(c.bridgeUrl);
+      if (c.subscriptions != null) {
+        for (String topic : c.subscriptions) {
           rosSubscribe(topic);
         }
       }
diff --git a/src/main/java/org/myrobotlab/service/Sabertooth.java b/src/main/java/org/myrobotlab/service/Sabertooth.java
index 652e05649d..a022a347eb 100644
--- a/src/main/java/org/myrobotlab/service/Sabertooth.java
+++ b/src/main/java/org/myrobotlab/service/Sabertooth.java
@@ -9,11 +9,9 @@
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.service.abstracts.AbstractMotorController;
 import org.myrobotlab.service.config.SabertoothConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.MotorControl;
 import org.myrobotlab.service.interfaces.PortConnector;
 import org.myrobotlab.service.interfaces.SerialDevice;
-
 import org.slf4j.Logger;
 
 /**
@@ -312,9 +310,9 @@ public SabertoothConfig getConfig() {
   @Override
   public SabertoothConfig apply(SabertoothConfig c) {
     super.apply(c);
-    if (config.connect) {
+    if (c.connect) {
       try {
-        connect(config.port);
+        connect(c.port);
       } catch (Exception e) {
         error(e);
       }
diff --git a/src/main/java/org/myrobotlab/service/Serial.java b/src/main/java/org/myrobotlab/service/Serial.java
index 5df86bede3..af16f3522a 100644
--- a/src/main/java/org/myrobotlab/service/Serial.java
+++ b/src/main/java/org/myrobotlab/service/Serial.java
@@ -33,7 +33,6 @@
 import org.myrobotlab.serial.PortStream;
 import org.myrobotlab.serial.SerialControl;
 import org.myrobotlab.service.config.SerialConfig;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.PortConnector;
 import org.myrobotlab.service.interfaces.PortPublisher;
 import org.myrobotlab.service.interfaces.QueueSource;
@@ -1305,10 +1304,10 @@ public SerialConfig getConfig() {
   public SerialConfig apply(SerialConfig c) {
     super.apply(c);
 
-    if (config.port != null) {
+    if (c.port != null) {
       try {
         if (isConnected()) {
-          connect(config.port);
+          connect(c.port);
         }
       } catch (Exception e) {
         log.error("load connecting threw", e);
diff --git a/src/main/java/org/myrobotlab/service/Solr.java b/src/main/java/org/myrobotlab/service/Solr.java
index e912365efb..33a81a21ee 100644
--- a/src/main/java/org/myrobotlab/service/Solr.java
+++ b/src/main/java/org/myrobotlab/service/Solr.java
@@ -1163,10 +1163,10 @@ public void releaseService() {
   }
 
   @Override
-  public SolrConfig apply(SolrConfig inConfig) {
+  public SolrConfig apply(SolrConfig c) {
     // 
-    super.apply(inConfig);
-    if (config.embedded) {
+    super.apply(c);
+    if (c.embedded) {
       // 
       try {
         startEmbedded();
@@ -1174,9 +1174,9 @@ public SolrConfig apply(SolrConfig inConfig) {
         // TODO: how should we handle this?
         log.warn("Error starting embedded solr instance.", e);
         e.printStackTrace();
-      };
+      };
     }
-    return config;
+    return c;
   }
 
   @Override
diff --git a/src/main/java/org/myrobotlab/service/Tracking.java b/src/main/java/org/myrobotlab/service/Tracking.java
index 3d05493de1..d4d2c93128 100644
--- a/src/main/java/org/myrobotlab/service/Tracking.java
+++ b/src/main/java/org/myrobotlab/service/Tracking.java
@@ -27,7 +27,7 @@
  * @author GroG
  *
  */
-public class Tracking extends Service {
+public class Tracking extends Service<TrackingConfig> {
 
   private static final long serialVersionUID = 1L;
 
@@ -274,24 +274,24 @@ public void attachCv(String cv) {
   }
 
   @Override
-  public ServiceConfig getConfig() {
-    TrackingConfig config = (TrackingConfig) super.getConfig();
+  public TrackingConfig getConfig() {
+    super.getConfig();
     config.enabled = (state == TrackingState.IDLE) ? false : true;
     return config;
   }
 
   @Override
-  public ServiceConfig apply(ServiceConfig c) {
-    TrackingConfig config = (TrackingConfig) super.apply(c);
+  public TrackingConfig apply(TrackingConfig c) {
+    super.apply(c);
 
-    config.lostTrackingDelayMs = lostTrackingDelayMs;
+    c.lostTrackingDelayMs = lostTrackingDelayMs;
 
-    if (config.enabled) {
+    if (c.enabled) {
       // enable();
     } else {
       disable();
     }
-    return config;
+    return c;
   }
 
   public boolean isIdle() {
diff --git a/src/main/java/org/myrobotlab/service/UltrasonicSensor.java b/src/main/java/org/myrobotlab/service/UltrasonicSensor.java
index 8a3c1025a0..c5df12d252 100644
--- a/src/main/java/org/myrobotlab/service/UltrasonicSensor.java
+++ b/src/main/java/org/myrobotlab/service/UltrasonicSensor.java
@@ -12,7 +12,6 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.logging.LoggingFactory;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.config.UltrasonicSensorConfig;
 import org.myrobotlab.service.data.RangeData;
 import org.myrobotlab.service.interfaces.RangeListener;
@@ -237,18 +236,18 @@ protected boolean isAttached(UltrasonicSensorController controller) {
   public UltrasonicSensorConfig apply(UltrasonicSensorConfig c) {
     super.apply(c);
 
-    if (config.triggerPin != null)
-      setTriggerPin(config.triggerPin);
+    if (c.triggerPin != null)
+      setTriggerPin(c.triggerPin);
 
-    if (config.echoPin != null)
-      setEchoPin(config.echoPin);
+    if (c.echoPin != null)
+      setEchoPin(c.echoPin);
 
-    if (config.timeout != null)
-      timeout = config.timeout;
+    if (c.timeout != null)
+      timeout = c.timeout;
 
-    if (config.controller != null) {
+    if (c.controller != null) {
       try {
-        attach(config.controller);
+        attach(c.controller);
       } catch (Exception e) {
         error(e);
       }
diff --git a/src/main/java/org/myrobotlab/service/WebGui.java b/src/main/java/org/myrobotlab/service/WebGui.java
index e3756fa9e2..d5e0de4efd 100644
--- a/src/main/java/org/myrobotlab/service/WebGui.java
+++ b/src/main/java/org/myrobotlab/service/WebGui.java
@@ -1162,14 +1162,14 @@ public WebGuiConfig getConfig() {
   public WebGuiConfig apply(WebGuiConfig c) {
     super.apply(c);
     
-    if (config.port != null && (port != null && config.port.intValue() != port.intValue())) {
-      setPort(config.port);
+    if (c.port != null && (port != null && c.port.intValue() != port.intValue())) {
+      setPort(c.port);
     }
-    autoStartBrowser(config.autoStartBrowser);
-    if (config.enableMdns) {
+    autoStartBrowser(c.autoStartBrowser);
+    if (c.enableMdns) {
       startMdns();
     }
-    return config;
+    return c;
   }
 
   public static void main(String[] args) {
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
index 2b9e794a54..eb496e0d35 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractMotor.java
@@ -477,9 +477,9 @@ public C apply(C c) {
     // mapper.setClip(config.clip);
 
     // FIXME ?? future use only ServiceConfig.listeners ?
-    if (config.controller != null) {
+    if (c.controller != null) {
       try {
-        attach(config.controller);
+        attach(c.controller);
       } catch (Exception e) {
         error(e);
       }
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractServo.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractServo.java
index aeb9d4aec5..5c57cef155 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractServo.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractServo.java
@@ -1140,41 +1140,41 @@ public C apply(C c) {
     // and autoDisable - then the assumption at this point
     // is it is currently disabled, otherwise it will take
     // a move to disable
-    if (config.autoDisable) {
+    if (c.autoDisable) {
       disable();
     }
-    if (config.minIn != null && config.maxIn != null && config.minOut != null && config.maxOut != null) {
-      mapper = new MapperLinear(config.minIn, config.maxIn, config.minOut, config.maxOut);
+    if (c.minIn != null && c.maxIn != null && c.minOut != null && c.maxOut != null) {
+      mapper = new MapperLinear(c.minIn, c.maxIn, c.minOut, c.maxOut);
     }
-    mapper.setInverted(config.inverted);
-    mapper.setClip(config.clip);
-    enabled = config.enabled;
-    if (config.idleTimeout != null) {
-      idleTimeout = config.idleTimeout;
+    mapper.setInverted(c.inverted);
+    mapper.setClip(c.clip);
+    enabled = c.enabled;
+    if (c.idleTimeout != null) {
+      idleTimeout = c.idleTimeout;
     }
-    pin = config.pin;
+    pin = c.pin;
 
-    speed = config.speed;
-    sweepMax = config.sweepMax;
-    sweepMin = config.sweepMin;
+    speed = c.speed;
+    sweepMax = c.sweepMax;
+    sweepMin = c.sweepMin;
 
-    if (config.synced != null) {
+    if (c.synced != null) {
       syncedServos.clear();
-        Collections.addAll(syncedServos, config.synced);
+        Collections.addAll(syncedServos, c.synced);
     }
 
-    // rest = config.rest;
-    if (config.rest != null) {
-      rest = config.rest;
-      targetPos = config.rest;
-      // currentInputP = mapper.calcOutput(config.rest);
-      currentInputPos = config.rest;
-      broadcast("publishEncoderData", new EncoderData(getName(), pin, config.rest, config.rest));
+    // rest = c.rest;
+    if (c.rest != null) {
+      rest = c.rest;
+      targetPos = c.rest;
+      // currentInputP = mapper.calcOutput(c.rest);
+      currentInputPos = c.rest;
+      broadcast("publishEncoderData", new EncoderData(getName(), pin, c.rest, c.rest));
     }
 
-    if (config.controller != null) {
+    if (c.controller != null) {
       try {
-        attach(config.controller);
+        attach(c.controller);
       } catch (Exception e) {
         error(e);
       }
@@ -1182,7 +1182,7 @@ public C apply(C c) {
 
     // connect and attach on an arduino can take considerable time
     // so we'll add our id
-    if (config.autoDisable) {
+    if (c.autoDisable) {
       disable();
       addTaskOneShot(idleTimeout, "disable");
     }
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechRecognizer.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechRecognizer.java
index c6003bc01c..fa54857772 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechRecognizer.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechRecognizer.java
@@ -8,7 +8,6 @@
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.framework.interfaces.Attachable;
 import org.myrobotlab.service.Runtime;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.config.SpeechRecognizerConfig;
 import org.myrobotlab.service.data.AudioData;
 import org.myrobotlab.service.data.Locale;
@@ -586,22 +585,22 @@ public C getConfig() {
 
   @Override
   public C apply(C c) {
-    C config = super.apply(c);
-    setWakeWord(config.wakeWord);
-    if (config.listening) {
+    super.apply(c);
+    setWakeWord(c.wakeWord);
+    if (c.listening) {
       startListening();
     } else {
       stopListening();
     }
 
-    if (config.recording) {
+    if (c.recording) {
       startRecording();
     } else {
       stopRecording();
     }
 
-    if (config.textListeners != null) {
-      for (String listener : config.textListeners) {
+    if (c.textListeners != null) {
+      for (String listener : c.textListeners) {
         addListener("publishText", listener);
       }
     }
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechSynthesis.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechSynthesis.java
index 741c94aca9..50bd64ccd0 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechSynthesis.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractSpeechSynthesis.java
@@ -19,7 +19,6 @@
 import org.myrobotlab.service.AudioFile;
 import org.myrobotlab.service.Runtime;
 import org.myrobotlab.service.Security;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.config.SpeechSynthesisConfig;
 import org.myrobotlab.service.data.AudioData;
 import org.myrobotlab.service.data.Locale;
@@ -1115,24 +1114,24 @@ public boolean isMute() {
   public C apply(C c) {
     super.apply(c);
 
-    setMute(config.mute);
+    setMute(c.mute);
 
-    setBlocking(config.blocking);
+    setBlocking(c.blocking);
 
-    if (config.substitutions != null) {
-      for (String n : config.substitutions.keySet()) {
-        replaceWord(n, config.substitutions.get(n));
+    if (c.substitutions != null) {
+      for (String n : c.substitutions.keySet()) {
+        replaceWord(n, c.substitutions.get(n));
       }
     }
     // some systems require querying set of voices
     getVoices();
     
-    if (config.voice != null) {
-      setVoice(config.voice);
+    if (c.voice != null) {
+      setVoice(c.voice);
     }
 
-    if (config.speechRecognizers != null) {
-      for (String name : config.speechRecognizers) {
+    if (c.speechRecognizers != null) {
+      for (String name : c.speechRecognizers) {
         try {
           attachSpeechListener(name);
         } catch (Exception e) {
diff --git a/src/main/java/org/myrobotlab/service/meta/JoystickMeta.java b/src/main/java/org/myrobotlab/service/meta/JoystickMeta.java
index 03342dee4a..9a8d6107a8 100644
--- a/src/main/java/org/myrobotlab/service/meta/JoystickMeta.java
+++ b/src/main/java/org/myrobotlab/service/meta/JoystickMeta.java
@@ -22,10 +22,10 @@ public JoystickMeta() {
 
     log.info("Joystick.getMetaData {}  isArm() {}", platform, platform.isArm());
     if (platform.isArm()) {
-      log.info("loading arm binaries");
+      log.info("adding armv7 native dependencies");
       addDependency("jinput-natives", "jinput-natives-armv7.hfp", "2.0.7", "zip");
     } else {
-      log.info("loading non-arm binaries");
+      log.info("adding jinput native dependencies");
       addDependency("jinput-natives", "jinput-natives", "2.0.7", "zip");
     }
     // addDependency("net.java.jinput", "jinput-platform", "2.0.7");

From 226dfb632d1a19ef7878d2c6c848f1f82ad21a14 Mon Sep 17 00:00:00 2001
From: GroG <grog@myrobotlab.org>
Date: Sun, 13 Aug 2023 07:34:55 -0700
Subject: [PATCH 39/54] Better process stream handling (#1331)

* Better process stream handling

* other parts

* added fullname to filtering

* removing status list
---
 .../java/org/myrobotlab/framework/Outbox.java |  51 ++++++--
 .../org/myrobotlab/framework/Service.java     |  13 +-
 .../interfaces/ServiceInterface.java          |  17 ++-
 .../org/myrobotlab/service/LocalSpeech.java   |  70 ++++++++---
 .../java/org/myrobotlab/service/Runtime.java  | 111 ++++++++----------
 5 files changed, 170 insertions(+), 92 deletions(-)

diff --git a/src/main/java/org/myrobotlab/framework/Outbox.java b/src/main/java/org/myrobotlab/framework/Outbox.java
index 775134d3b4..01921add9f 100644
--- a/src/main/java/org/myrobotlab/framework/Outbox.java
+++ b/src/main/java/org/myrobotlab/framework/Outbox.java
@@ -37,13 +37,13 @@
 
 import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.framework.interfaces.MessageListener;
-import org.myrobotlab.framework.interfaces.NameProvider;
 import org.myrobotlab.framework.interfaces.ServiceInterface;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.service.Runtime;
 import org.myrobotlab.service.interfaces.Gateway;
 import org.slf4j.Logger;
 
+
 /*
  * Outbox is a message based thread which sends messages based on addListener lists and current
  * queue status.  It is only aware of the Service directory, addListener lists, and operators.
@@ -62,18 +62,24 @@ public class Outbox implements Runnable, Serializable {
   static public final String BROADCAST = "BROADCAST";
   static public final String PROCESSANDBROADCAST = "PROCESSANDBROADCAST";
 
-  NameProvider myService = null;
-  LinkedList<Message> msgBox = new LinkedList<Message>();
+  protected String name = null;
+  private transient  LinkedList<Message> msgBox = new LinkedList<Message>();
   private boolean isRunning = false;
   private boolean blocking = false;
   int maxQueue = 1024;
   int initialThreadCount = 1;
   transient ArrayList<Thread> outboxThreadPool = new ArrayList<Thread>();
 
+  protected Map<String, FilterInterface> filters = new HashMap<>();
+
+  public interface FilterInterface {
+    public boolean filter(Message msg);
+  }
+
   /**
    * pub/sub listeners - HashMap &lt; {topic}, List {listeners} &gt;
    */
-  public Map<String, List<MRLListener>> notifyList = new HashMap<String, List<MRLListener>>();
+  protected Map<String, List<MRLListener>> notifyList = new HashMap<String, List<MRLListener>>();
 
   List<MessageListener> listeners = new ArrayList<MessageListener>();
 
@@ -87,8 +93,8 @@ public void setAutoClean(boolean autoClean) {
     this.autoClean = autoClean;
   }
 
-  public Outbox(NameProvider myService) {
-    this.myService = myService;
+  public Outbox(String myService) {
+    this.name = myService;
   }
 
   public Set<String> getAttached(String publishingPoint) {
@@ -135,7 +141,7 @@ public void add(Message msg) {
       if (msgBox.size() > maxQueue) {
         // log.warn("{} outbox BUFFER OVERRUN size {} Dropping message to
         // {}.{}", myService.getName(), msgBox.size(), msg.name, msg.method);
-        log.warn("{} outbox BUFFER OVERRUN size {} Dropping message to {}", myService.getName(), msgBox.size(), msg);
+        log.warn("{} outbox BUFFER OVERRUN size {} Dropping message to {}", name, msgBox.size(), msg);
       }
       msgBox.addFirst(msg);
 
@@ -210,7 +216,10 @@ public void run() {
           MRLListener listener = subList.get(i);
           msg.setName(listener.callbackName);
           msg.method = listener.callbackMethod;
-          send(msg);
+          
+          if (!isFiltered(msg)) {
+            send(msg);  
+          }                    
 
           // must make new for internal queues
           // otherwise you'll change the name on
@@ -223,9 +232,25 @@ public void run() {
         }
         continue;
       }
-
     } // while (isRunning)
   }
+    
+  public FilterInterface addFilter(String name, String method, FilterInterface filter) {
+    return filters.put(String.format("%s.%s", CodecUtils.getFullName(name), method), filter);
+  }
+  
+  public FilterInterface removeFilter(String name, String method) {
+    return filters.remove(String.format("%s.%s", CodecUtils.getFullName(name), method));
+  }
+  
+  public boolean isFiltered(Message msg) {
+    String fullname = CodecUtils.getFullName(msg.name);
+    if (filters.size() == 0 || !filters.containsKey(String.format("%s.%s", fullname, msg.method))) {
+      return false;
+    } else {
+      return filters.get(String.format("%s.%s", fullname, msg.method)).filter(msg);
+    }
+  }
 
   public int size() {
     return msgBox.size();
@@ -233,7 +258,7 @@ public int size() {
 
   public void start() {
     for (int i = outboxThreadPool.size(); i < initialThreadCount; ++i) {
-      Thread t = new Thread(this, myService.getName() + "_outbox_" + i);
+      Thread t = new Thread(this, name + "_outbox_" + i);
       outboxThreadPool.add(t);
       t.start();
     }
@@ -351,4 +376,10 @@ synchronized public void detach(String service) {
     }
   }
 
+  public Map<String, List<MRLListener>> getNotifyList() {
+    return notifyList;
+  }
+
+
+
 }
diff --git a/src/main/java/org/myrobotlab/framework/Service.java b/src/main/java/org/myrobotlab/framework/Service.java
index b6080d2c32..08534f2081 100644
--- a/src/main/java/org/myrobotlab/framework/Service.java
+++ b/src/main/java/org/myrobotlab/framework/Service.java
@@ -67,7 +67,6 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.Logging;
 import org.myrobotlab.service.Runtime;
-import org.myrobotlab.service.config.RuntimeConfig;
 import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.config.ServiceConfig.Listener;
 import org.myrobotlab.service.data.Locale;
@@ -144,7 +143,7 @@ public abstract class Service<T extends ServiceConfig> implements Runnable, Seri
 
   transient protected Inbox inbox = null;
 
-  transient protected Outbox outbox = null;
+  protected Outbox outbox = null;
 
   protected String serviceVersion = null;
 
@@ -194,6 +193,7 @@ public abstract class Service<T extends ServiceConfig> implements Runnable, Seri
    * a definition. However, since serialization will not process statics - we are making
    * it a member variable
    */
+  // FIXME - this should be a map
   protected Map<String, String> interfaceSet;
 
   /**
@@ -663,7 +663,7 @@ public Service(String reservedKey, String inId) {
     loadLocalizations();
 
     this.inbox = new Inbox(getFullName());
-    this.outbox = new Outbox(this);
+    this.outbox = new Outbox(getFullName());
 
     File versionFile = new File(getResourceDir() + fs + "version.txt");
     if (versionFile.exists()) {
@@ -2786,6 +2786,13 @@ public void setPeerName(String key, String fullName) {
     // should we also make or update a config file - if the config path is set?
     info("updated %s name to %s", oldName, peer.name);
   }
+  
+  /**
+   * get all the subscriptions to this service
+   */
+  public Map<String, List<MRLListener>>  getNotifyList(){
+    return getOutbox().getNotifyList();
+  }
 
   /**
    * Update a peer's type. First its done in the current Plan, and it will also
diff --git a/src/main/java/org/myrobotlab/framework/interfaces/ServiceInterface.java b/src/main/java/org/myrobotlab/framework/interfaces/ServiceInterface.java
index 18334da95e..aad5e3a823 100644
--- a/src/main/java/org/myrobotlab/framework/interfaces/ServiceInterface.java
+++ b/src/main/java/org/myrobotlab/framework/interfaces/ServiceInterface.java
@@ -8,6 +8,7 @@
 
 import org.myrobotlab.framework.Inbox;
 import org.myrobotlab.framework.MRLListener;
+import org.myrobotlab.framework.MethodCache;
 import org.myrobotlab.framework.MethodEntry;
 import org.myrobotlab.framework.Outbox;
 import org.myrobotlab.framework.Peer;
@@ -135,9 +136,13 @@ public interface ServiceInterface extends ServiceQueue, LoggingSink, NameTypePro
 
   /**
    * reflectively sets a part of config
-   *  
-   * @param fieldname - the name of the config field
-   * @param value - the value
+   *   
+   * @param fieldname
+   * @param value
+   * @throws IllegalArgumentException
+   * @throws IllegalAccessException
+   * @throws NoSuchFieldException
+   * @throws SecurityException
    */
   void setConfigValue(String fieldname, Object value)  throws IllegalArgumentException, IllegalAccessException, NoSuchFieldException, SecurityException;
 
@@ -216,5 +221,9 @@ public interface ServiceInterface extends ServiceQueue, LoggingSink, NameTypePro
    * @return
    */
   public ServiceConfig addConfigListeners(ServiceConfig config);
-  
+
+  /**
+   * get all the subscriptions to this service
+   */
+  public Map<String, List<MRLListener>>  getNotifyList();
 }
diff --git a/src/main/java/org/myrobotlab/service/LocalSpeech.java b/src/main/java/org/myrobotlab/service/LocalSpeech.java
index 9496bf3fb7..292198f3f6 100644
--- a/src/main/java/org/myrobotlab/service/LocalSpeech.java
+++ b/src/main/java/org/myrobotlab/service/LocalSpeech.java
@@ -132,7 +132,7 @@ public AudioData generateAudioData(AudioData audioData, String toSpeak) throws I
       args.add("$speak.SelectVoice('" + getVoice().getVoiceProvider().toString() + "');");
       args.add("$speak.SetOutputToWaveFile('" + localFileName + "');");
       args.add("$speak.speak('" + toSpeak + "')");
-      String ret = Runtime.execute("powershell.exe", args, null, null, null);
+      String ret = Runtime.execute("powershell.exe", args, null, null, true);
 
       log.info("powershell returned : {}", ret);
 
@@ -206,8 +206,10 @@ public void loadVoices() {
 
     String voicesText = null;
 
+    // FIXME this is not right - it should be based on speechType not OS
+    // speechType should be "set" based on OS and user preference
     if (platform.isWindows()) {
-
+      
       try {
 
         List<String> args = new ArrayList<>();
@@ -219,7 +221,7 @@ public void loadVoices() {
         args.add("Select-Object  -Property * | ");
         // args.add("Select-Object -Property Culture, Name, Gender, Age");
         args.add("ConvertTo-Json ");
-        voicesText = Runtime.execute("powershell.exe", args, null, null, null);
+        voicesText = Runtime.execute("powershell.exe", args, null, null, true);
 
         // voicesText = Runtime.execute("cmd.exe", "/c", "\"\"" + ttsPath + "\""
         // + " -V" + "\"");
@@ -269,9 +271,11 @@ public void loadVoices() {
           addVoice(matcher.group(1).toLowerCase(), "male", matcher.group(2), matcher.group(1).toLowerCase());
         }
       }
-    } else if (platform.isLinux()) {
-      addVoice("Linus", "male", "en-US", "festival");
     }
+    // let apply config add and set the voices
+//    else if (platform.isLinux()) {
+//      addVoice("Linus", "male", "en-US", "festival");
+//    }
   }
 
   public void removeExt(boolean b) {
@@ -282,6 +286,11 @@ public void removeExt(boolean b) {
    * @return setEspeak sets the Linux tts to espeak template
    */
   public boolean setEspeak() {
+    if (!Runtime.getPlatform().isLinux()) {
+      error("espeak only supported on Linux");
+      return false;
+    }
+
     LocalSpeechConfig c = (LocalSpeechConfig) config;
     c.speechType = "Espeak";
     voices.clear();
@@ -296,6 +305,11 @@ public boolean setEspeak() {
    * @return setFestival sets the Linux tts to festival template
    */
   public boolean setFestival() {
+    if (!Runtime.getPlatform().isLinux()) {
+      error("festival only supported on Linux");
+      return false;
+    }
+
     LocalSpeechConfig c = (LocalSpeechConfig) config;
     voices.clear();
     addVoice("Linus", "male", "en-US", "festival");
@@ -303,10 +317,6 @@ public boolean setFestival() {
     removeExt(false);
     setTtsHack(false);
     setTtsCommand("echo \"{text}\" | text2wave -o {filename}");
-    if (!Runtime.getPlatform().isLinux()) {
-      error("festival only supported on Linux");
-      return false;
-    }
     return true;
   }
 
@@ -316,6 +326,11 @@ public boolean setFestival() {
    * @return true if successfully switched
    */
   public boolean setPico2Wav() {
+    if (!Runtime.getPlatform().isLinux()) {
+      error("pico2wave only supported on Linux");
+      return false;
+    }
+    
     LocalSpeechConfig c = (LocalSpeechConfig) config;
     c.speechType = "Pico2Wav";
     removeExt(false);
@@ -328,12 +343,13 @@ public boolean setPico2Wav() {
     addVoice("es-ES", "female", "es-ES", "pico2wav");
     addVoice("fr-FR", "female", "fr-FR", "pico2wav");
     addVoice("it-IT", "female", "it-IT", "pico2wav");
+    
+    if (voice == null) {
+      setVoice(getLocale().getTag());
+    }
 
     setTtsCommand("pico2wave -l {voice_name} -w {filename} \"{text}\" ");
-    if (!Runtime.getPlatform().isLinux()) {
-      error("pico2wave only supported on Linux");
-      return false;
-    }
+ 
     broadcastState();
     return true;
   }
@@ -477,6 +493,26 @@ public void setTtsHack(boolean b) {
   public void setTtsPath(String ttsPath) {
     this.ttsPath = ttsPath;
   }
+  
+  public boolean isExecutableAvailable(String executableName) {
+    ProcessBuilder processBuilder = new ProcessBuilder();
+    String command = "";
+    boolean isWindows = System.getProperty("os.name").toLowerCase().startsWith("windows");
+    if (isWindows) {
+        command = "where " + executableName;
+    } else {
+        command = "which " + executableName;
+    }
+    processBuilder.command("sh", "-c", command);
+    try {
+        Process process = processBuilder.start();
+        process.waitFor();
+        return process.exitValue() == 0;
+    } catch (IOException | InterruptedException e) {
+        e.printStackTrace();
+        return false;
+    }
+}
 
   public LocalSpeechConfig apply(LocalSpeechConfig config) {
     super.apply(config);
@@ -489,7 +525,11 @@ public LocalSpeechConfig apply(LocalSpeechConfig config) {
       } else if (platform.isMac()) {
         setSay();
       } else if (platform.isLinux()) {
-        setFestival();
+        if (isExecutableAvailable("pico2wave")) {
+          setPico2Wav();
+        } else {
+          setFestival();
+        }
       } else {
         error("%s unknown platform %s", getName(), platform.getOS());
       }
@@ -537,7 +577,7 @@ public static void main(String[] args) {
       arguments.add("Add-Type -AssemblyName System.Speech;");
       arguments.add("$speak = New-Object System.Speech.Synthesis.SpeechSynthesizer;");
       arguments.add("$speak.speak('HELLO !!!!');");
-      Runtime.execute("powershell.exe", arguments, null, null, null);
+      Runtime.execute("powershell.exe", arguments, null, null, true);
       // log.info(ret);
 
       mouth.speakBlocking("hello my name is sam, sam i am yet again, how \"are you? do you 'live in a zoo too? ");
diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java
index 5842a6b3cd..24682c4dfb 100644
--- a/src/main/java/org/myrobotlab/service/Runtime.java
+++ b/src/main/java/org/myrobotlab/service/Runtime.java
@@ -32,6 +32,7 @@
 import java.util.List;
 import java.util.Map;
 import java.util.Objects;
+import java.util.Queue;
 import java.util.Random;
 import java.util.Set;
 import java.util.TimeZone;
@@ -95,6 +96,7 @@
 import org.myrobotlab.service.meta.abstracts.MetaData;
 import org.myrobotlab.string.StringUtil;
 import org.slf4j.Logger;
+import org.yaml.snakeyaml.constructor.ConstructorException;
 
 import picocli.CommandLine;
 
@@ -3434,7 +3436,7 @@ static public void removeAllSubscriptions() {
     for (ServiceInterface si : getLocalServices().values()) {
       List<String> nlks = si.getNotifyListKeySet();
       for (int i = 0; i < nlks.size(); ++i) {
-        si.getOutbox().notifyList.clear();
+        si.getNotifyList().clear();
       }
     }
   }
@@ -3505,7 +3507,7 @@ static public String execute(String... args) {
       }
     }
 
-    return execute(program, list, null, null, null);
+    return execute(program, list, null, null, true);
   }
 
   /**
@@ -3527,79 +3529,69 @@ static public String execute(String... args) {
    *          Whether this method blocks for the program to execute
    * @return The programs stderr and stdout output
    */
-  static public String execute(String program, List<String> args, String workingDir, Map<String, String> additionalEnv, Boolean block) {
-
+  static public String execute(String program, List<String> args, String workingDir, Map<String, String> additionalEnv, boolean block) {
     log.info("execToString(\"{} {}\")", program, args);
 
-    ArrayList<String> command = new ArrayList<String>();
+    List<String> command = new ArrayList<>();
     command.add(program);
     if (args != null) {
-      for (String arg : args) {
-        command.add(arg);
-      }
+        command.addAll(args);
     }
 
-    Integer exitValue = null;
-
     ProcessBuilder builder = new ProcessBuilder(command);
+    if (workingDir != null) {
+        builder.directory(new File(workingDir));
+    }
 
     Map<String, String> environment = builder.environment();
     if (additionalEnv != null) {
-      environment.putAll(additionalEnv);
+        environment.putAll(additionalEnv);
     }
-    StringBuilder outputBuilder;
-
-    try {
-      Process handle = builder.start();
-
-      InputStream stdErr = handle.getErrorStream();
-      InputStream stdOut = handle.getInputStream();
 
-      // TODO: we likely don't need this
-      // OutputStream stdIn = handle.getOutputStream();
+    StringBuilder outputBuilder = new StringBuilder();
 
-      outputBuilder = new StringBuilder();
-      byte[] buff = new byte[32768];
-
-      // TODO: should we read both of these streams?
-      // if we break out of the first loop is the process terminated?
-
-      // read stdout
-      for (int n; (n = stdOut.read(buff)) != -1;) {
-        outputBuilder.append(new String(buff, 0, n));
-      }
-
-      // read stderr
-      for (int n; (n = stdErr.read(buff)) != -1;) {
-        outputBuilder.append(new String(buff, 0, n));
-      }
-
-      stdOut.close();
-      stdErr.close();
+    try {
+        Process handle = builder.start();
 
-      // TODO: stdin if we use it.
-      // stdIn.close();
+        InputStream stdErr = handle.getErrorStream();
+        InputStream stdOut = handle.getInputStream();
 
-      // the process should be closed by now?
+        // Read the output streams in separate threads to avoid potential blocking
+        Thread stdErrThread = new Thread(() -> readStream(stdErr, outputBuilder));
+        stdErrThread.start();
 
-      handle.waitFor();
+        Thread stdOutThread = new Thread(() -> readStream(stdOut, outputBuilder));
+        stdOutThread.start();
 
-      handle.destroy();
+        if (block) {
+            int exitValue = handle.waitFor();
+            outputBuilder.append("Exit Value: ").append(exitValue);
+            log.info("Command exited with exit value: {}", exitValue);
+        } else {
+            log.info("Command started");
+        }
 
-      exitValue = handle.exitValue();
-      // print the output from the command
-      // TODO replace with logging calls
-      System.out.println(outputBuilder.toString());
-      System.out.println("Exit Value : " + exitValue);
-      outputBuilder.append("Exit Value : " + exitValue);
+        return outputBuilder.toString();
+    } catch (IOException e) {
+        log.error("Error executing command", e);
+        return e.getMessage();
+    } catch (InterruptedException e) {
+        Thread.currentThread().interrupt();
+        log.error("Command execution interrupted", e);
+        return e.getMessage();
+    }
+}
 
-      return outputBuilder.toString();
-    } catch (Exception e) {
-      log.error("execute threw", e);
-      exitValue = 5;
-      return e.getMessage();
+private static void readStream(InputStream inputStream, StringBuilder outputBuilder) {
+    try (BufferedReader reader = new BufferedReader(new InputStreamReader(inputStream))) {
+        String line;
+        while ((line = reader.readLine()) != null) {
+            outputBuilder.append(line).append(System.lineSeparator());
+        }
+    } catch (IOException e) {
+        log.error("Error reading process output", e);
     }
-  }
+}
 
   /**
    * Get the current battery level of the computer this MRL instance is running
@@ -3956,7 +3948,7 @@ public List<MetaData> getServiceTypes() {
     }
     return filteredTypes;
   }
-
+  
   /**
    * Register a connection route from one instance to this one.
    *
@@ -4217,10 +4209,7 @@ public Gateway getGatway(String remoteId) {
    *         name
    */
   static public String getFullName(String shortname) {
-    if (shortname == null) {
-      return null;
-    }
-    if (shortname.contains("@")) {
+    if (shortname == null || shortname.contains("@")) {
       // already long form
       return shortname;
     }
@@ -4852,6 +4841,8 @@ public ServiceConfig readServiceConfig(String configName, String name) {
     if (check.exists()) {
       try {
         sc = CodecUtils.readServiceConfig(filename);
+      } catch (ConstructorException e) {
+        error("%s invalid %s %s. Please remove it from the file.", name, filename, e.getCause().getMessage());
       } catch (IOException e) {
         error(e);
       }

From 168c1eb4d7a9cb9de698cfd0692681a518c27e29 Mon Sep 17 00:00:00 2001
From: GroG <grog@myrobotlab.org>
Date: Sun, 13 Aug 2023 15:53:33 -0700
Subject: [PATCH 40/54] BoofCV (#1332)

* boofcv updates

* removed boofcv in opencv
---
 pom.xml                                       | 968 +++++++++---------
 .../org/myrobotlab/boofcv/BoofCVFilter.java   |  52 +
 .../boofcv/BoofCVFilterTrackerObjectQuad.java |  68 ++
 .../org/myrobotlab/boofcv/BoofCvData.java     |  31 -
 .../boofcv/CaptureCalibrationImagesApp.java   | 187 ----
 .../boofcv/CreateRgbPointCloudFileApp.java    |  80 --
 .../boofcv/DisplayKinectPointCloudApp.java    |  88 --
 .../boofcv/ExampleDepthPointCloud.java        | 100 --
 .../boofcv/ExampleVisualOdometryDepth.java    | 216 ----
 .../boofcv/IntrinsicToDepthParameters.java    |  53 -
 .../myrobotlab/boofcv/LogKinectDataApp.java   | 131 ---
 .../boofcv/OpenKinectExampleParam.java        |  30 -
 .../myrobotlab/boofcv/OpenKinectOdometry.java | 451 --------
 .../boofcv/OpenKinectPointCloud.java          | 225 ----
 .../boofcv/OpenKinectStreamingTest.java       | 141 ---
 .../boofcv/OverlayRgbDepthStreamsApp.java     |  98 --
 .../boofcv/PlaybackKinectLogApp.java          |  95 --
 .../interfaces => cv}/ComputerVision.java     |   3 +-
 .../opencv/OpenCVFilterKinectPointCloud.java  | 310 ------
 .../java/org/myrobotlab/service/BoofCV.java   | 431 ++++++++
 .../java/org/myrobotlab/service/BoofCv.java   |  50 -
 .../java/org/myrobotlab/service/Tracking.java |   3 +-
 .../abstracts/AbstractComputerVision.java     |   2 +-
 .../service/config/BoofCVConfig.java          |  12 +
 .../myrobotlab/service/meta/BoofCVMeta.java   |  23 +
 .../myrobotlab/service/meta/BoofCvMeta.java   |  26 -
 .../resource/{BoofCv.png => BoofCV.png}       | Bin
 .../{BoofCv/BoofCv.py => BoofCV/BoofCV.py}    |   0
 .../resource/BoofCv/basket_depth.png          | Bin 94310 -> 0 bytes
 .../resources/resource/BoofCv/basket_rgb.png  | Bin 579028 -> 0 bytes
 src/main/resources/resource/BoofCv/boofcv.yml |   4 -
 .../resources/resource/BoofCv/intrinsic.yaml  |  19 -
 .../resource/BoofCv/visualdepth.yaml          |  20 -
 .../WebGui/app/service/js/BoofCVGui.js        | 243 +++++
 .../WebGui/app/service/views/BoofCVGui.html   | 246 +++++
 35 files changed, 1556 insertions(+), 2850 deletions(-)
 create mode 100644 src/main/java/org/myrobotlab/boofcv/BoofCVFilter.java
 create mode 100644 src/main/java/org/myrobotlab/boofcv/BoofCVFilterTrackerObjectQuad.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/BoofCvData.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/CaptureCalibrationImagesApp.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/CreateRgbPointCloudFileApp.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/DisplayKinectPointCloudApp.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/ExampleDepthPointCloud.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/ExampleVisualOdometryDepth.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/IntrinsicToDepthParameters.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/LogKinectDataApp.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/OpenKinectExampleParam.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/OpenKinectOdometry.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/OpenKinectPointCloud.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/OpenKinectStreamingTest.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/OverlayRgbDepthStreamsApp.java
 delete mode 100644 src/main/java/org/myrobotlab/boofcv/PlaybackKinectLogApp.java
 rename src/main/java/org/myrobotlab/{service/interfaces => cv}/ComputerVision.java (81%)
 delete mode 100644 src/main/java/org/myrobotlab/opencv/OpenCVFilterKinectPointCloud.java
 create mode 100644 src/main/java/org/myrobotlab/service/BoofCV.java
 delete mode 100644 src/main/java/org/myrobotlab/service/BoofCv.java
 create mode 100644 src/main/java/org/myrobotlab/service/config/BoofCVConfig.java
 create mode 100644 src/main/java/org/myrobotlab/service/meta/BoofCVMeta.java
 delete mode 100644 src/main/java/org/myrobotlab/service/meta/BoofCvMeta.java
 rename src/main/resources/resource/{BoofCv.png => BoofCV.png} (100%)
 rename src/main/resources/resource/{BoofCv/BoofCv.py => BoofCV/BoofCV.py} (100%)
 delete mode 100644 src/main/resources/resource/BoofCv/basket_depth.png
 delete mode 100644 src/main/resources/resource/BoofCv/basket_rgb.png
 delete mode 100644 src/main/resources/resource/BoofCv/boofcv.yml
 delete mode 100644 src/main/resources/resource/BoofCv/intrinsic.yaml
 delete mode 100644 src/main/resources/resource/BoofCv/visualdepth.yaml
 create mode 100644 src/main/resources/resource/WebGui/app/service/js/BoofCVGui.js
 create mode 100644 src/main/resources/resource/WebGui/app/service/views/BoofCVGui.html

diff --git a/pom.xml b/pom.xml
index 3dfa83b437..f3502dffce 100644
--- a/pom.xml
+++ b/pom.xml
@@ -1,102 +1,102 @@
-<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-  xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
-  <!-- 
-    # configure jvm and javac
-    sudo update-alternatives (minus minus) config java
-    sudo update-alternatives (minus minus) config javac 
-    export JAVA_HOME=/usr/lib/jvm/java-8-openjdk-amd64
-    export PATH=$JAVA_HOME/bin:$PATH
-
-    # shows system vars and env vars
-    mvn -DskipTests help:system
-    
-    # fast build
-    mvn -DskipTests package -o 
-
-    # specific test
-    mvn test -Dtest="org.myrobotlab.service.WebGuiTest#postTest"  
-
-    # compile only sync with raspi
-    rsync -zarvh target/classes pi@192.168.0.104:/opt/mrl/myrobotlab/target
-    rsync -zarvh src pi@192.168.0.104:/opt/mrl/myrobotlab
-    # for jar in root
-    rsync -zarvh target/myrobotlab.jar pi@192.168.0.104:/opt/mrl/myrobotlab
-    
-    # javadoc check
-    mvn -q javadoc:javadoc -o
-    
-    # specific test
-    mvn test -Dtest=OpenCVTest#testGetClassifications
-
-    # installing in a local repo
-    mvn install:install-file  -Dfile=target/myrobotlab.jar \
-                      -DgroupId=myrobotlab.org \
-                      -DartifactId=myrobotlab \
-                      -Dversion=1.1.401 \
-                      -Dpackaging=jar \
-                      -DlocalRepositoryPath=test-repo
-
-    # proxy
-    -Dhttp.proxyHost=webproxy -Dhttp.proxyPort=80 -Dhttps.proxyHost=webproxy -Dhttps.proxyPort=80
-
-    # single dep
-    mvn org.apache.maven.plugins:maven-dependency-plugin:2.8:get -Dartifact=org.myrobotlab:worke:0.0.2:jar:sources -Ddest=.
-    mvn org.apache.maven.plugins:maven-dependency-plugin:2.8:get -Dartifact=org.myrobotlab:worke:0.0.2:zip -Ddest=.
-
-    # doclets
-    javadoc -classpath target/myrobotlab.jar:libraries/jar/* -docletpath target/myrobotlab.jar -doclet org.myrobotlab.doclet.ScannerDoclet  src/main/java/org/myrobotlab/service/Clock.java minus-show-comments/show-elements
-    # specific test
-    mvn -Dtest=org.myrobotlab.opencv.OpenCVFilterFaceDetectTest test
-
-    # doclets
-    javadoc -classpath target/myrobotlab.jar:libraries/jar/* -docletpath target/myrobotlab.jar -doclet org.myrobotlab.doclet.ScannerDoclet  src/main/java/org/myrobotlab/service/Clock.java minus-show-comments/show-elements
-  
-    # how to mount sshfs from a raspi and maintain a single build
-    usermod -a -G i2c xxxxx
-    usermod -a -G gpio xxxxx
-    sshfs xxxxx@yyyyy.myrobotlab.org:/home/xxxxx /home/xxxxx/sshfs/blade2
-    java -classpath target/classes:libraries/jar/* org.myrobotlab.service.Runtime &#45;&#45;from-launcher -s webgui WebGui python Python
-
-    # jpackage
-    jpackage &#45;&#45;verbose &#45;&#45;name myrobotlab &#45;&#45;input target &#45;&#45;main-jar myrobotlab.jar &#45;&#45;main-class org.myrobotlab.service.Runtime &#45;&#45;java-options '-Xmx512m -Xms512m -Djava.library.path=libraries/native -Djna.library.path=libraries/native -Dfile.encoding=UTF-8' &#45;&#45;arguments "&#45;&#45;from-launcher &#45;&#45;id historical-gates &#45;&#45;log-level info -s webgui WebGui intro Intro python Python" &#45;&#45;type app-image
-  
-   -->  
-  <modelVersion>4.0.0</modelVersion>
-  <groupId>org.myrobotlab</groupId>
-  <artifactId>mrl</artifactId>
-  <version>0.0.1-SNAPSHOT</version>
-  <name>MyRobotLab</name>
-  <description>Open Source Creative Machine Control</description>
-  <properties>
-      <!-- TODO all manually set manifest properties here e.g. <build.number>${env.BUILD_NUMBER} - for clarity !!!! -->
-      <dependency.locations.enabled>false</dependency.locations.enabled>
-      <!-- begin env vars -->
-      <!-- 
-        global build number comes either from a local build.properties file,
-        or the build.properties is replaced by a curl command
-        curl http://build.myrobotlab.org:8888/getBuildNumber?branch=develop > build.properties
-        maven or jenkins can do this
-        
-       -->
-      <!-- from jenkins env vars -->
-      <version.prefix>1.1.</version.prefix>
-      <!-- force overriding property at command line, use ${maven.build.timestamp}-->
-      <timestamp>${maven.build.timestamp}</timestamp>
-      <maven.build.timestamp.format>yyyyMMddHHmm</maven.build.timestamp.format>      
-      <build.number>${timestamp}</build.number>
-      <version>${version.prefix}${build.number}</version>   
-      <GitBranch>${git.branch}</GitBranch>
-      <username>${NODE_NAME}</username>      
-      <platform>${NODE_LABELS}</platform>      
-      <!-- end env vars -->
-      <!-- echoproperties / -->
-      
-    <maven.compiler.source>11</maven.compiler.source>
-    <maven.compiler.target>11</maven.compiler.target>
-    <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
-
-  </properties>
-  
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+  <!-- 
+    # configure jvm and javac
+    sudo update-alternatives (minus minus) config java
+    sudo update-alternatives (minus minus) config javac 
+    export JAVA_HOME=/usr/lib/jvm/java-8-openjdk-amd64
+    export PATH=$JAVA_HOME/bin:$PATH
+
+    # shows system vars and env vars
+    mvn -DskipTests help:system
+    
+    # fast build
+    mvn -DskipTests package -o 
+
+    # specific test
+    mvn test -Dtest="org.myrobotlab.service.WebGuiTest#postTest"  
+
+    # compile only sync with raspi
+    rsync -zarvh target/classes pi@192.168.0.104:/opt/mrl/myrobotlab/target
+    rsync -zarvh src pi@192.168.0.104:/opt/mrl/myrobotlab
+    # for jar in root
+    rsync -zarvh target/myrobotlab.jar pi@192.168.0.104:/opt/mrl/myrobotlab
+    
+    # javadoc check
+    mvn -q javadoc:javadoc -o
+    
+    # specific test
+    mvn test -Dtest=OpenCVTest#testGetClassifications
+
+    # installing in a local repo
+    mvn install:install-file  -Dfile=target/myrobotlab.jar \
+                      -DgroupId=myrobotlab.org \
+                      -DartifactId=myrobotlab \
+                      -Dversion=1.1.401 \
+                      -Dpackaging=jar \
+                      -DlocalRepositoryPath=test-repo
+
+    # proxy
+    -Dhttp.proxyHost=webproxy -Dhttp.proxyPort=80 -Dhttps.proxyHost=webproxy -Dhttps.proxyPort=80
+
+    # single dep
+    mvn org.apache.maven.plugins:maven-dependency-plugin:2.8:get -Dartifact=org.myrobotlab:worke:0.0.2:jar:sources -Ddest=.
+    mvn org.apache.maven.plugins:maven-dependency-plugin:2.8:get -Dartifact=org.myrobotlab:worke:0.0.2:zip -Ddest=.
+
+    # doclets
+    javadoc -classpath target/myrobotlab.jar:libraries/jar/* -docletpath target/myrobotlab.jar -doclet org.myrobotlab.doclet.ScannerDoclet  src/main/java/org/myrobotlab/service/Clock.java minus-show-comments/show-elements
+    # specific test
+    mvn -Dtest=org.myrobotlab.opencv.OpenCVFilterFaceDetectTest test
+
+    # doclets
+    javadoc -classpath target/myrobotlab.jar:libraries/jar/* -docletpath target/myrobotlab.jar -doclet org.myrobotlab.doclet.ScannerDoclet  src/main/java/org/myrobotlab/service/Clock.java minus-show-comments/show-elements
+  
+    # how to mount sshfs from a raspi and maintain a single build
+    usermod -a -G i2c xxxxx
+    usermod -a -G gpio xxxxx
+    sshfs xxxxx@yyyyy.myrobotlab.org:/home/xxxxx /home/xxxxx/sshfs/blade2
+    java -classpath target/classes:libraries/jar/* org.myrobotlab.service.Runtime &#45;&#45;from-launcher -s webgui WebGui python Python
+
+    # jpackage
+    jpackage &#45;&#45;verbose &#45;&#45;name myrobotlab &#45;&#45;input target &#45;&#45;main-jar myrobotlab.jar &#45;&#45;main-class org.myrobotlab.service.Runtime &#45;&#45;java-options '-Xmx512m -Xms512m -Djava.library.path=libraries/native -Djna.library.path=libraries/native -Dfile.encoding=UTF-8' &#45;&#45;arguments "&#45;&#45;from-launcher &#45;&#45;id historical-gates &#45;&#45;log-level info -s webgui WebGui intro Intro python Python" &#45;&#45;type app-image
+  
+   -->  
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>org.myrobotlab</groupId>
+  <artifactId>mrl</artifactId>
+  <version>0.0.1-SNAPSHOT</version>
+  <name>MyRobotLab</name>
+  <description>Open Source Creative Machine Control</description>
+  <properties>
+      <!-- TODO all manually set manifest properties here e.g. <build.number>${env.BUILD_NUMBER} - for clarity !!!! -->
+      <dependency.locations.enabled>false</dependency.locations.enabled>
+      <!-- begin env vars -->
+      <!-- 
+        global build number comes either from a local build.properties file,
+        or the build.properties is replaced by a curl command
+        curl http://build.myrobotlab.org:8888/getBuildNumber?branch=develop > build.properties
+        maven or jenkins can do this
+        
+       -->
+      <!-- from jenkins env vars -->
+      <version.prefix>1.1.</version.prefix>
+      <!-- force overriding property at command line, use ${maven.build.timestamp}-->
+      <timestamp>${maven.build.timestamp}</timestamp>
+      <maven.build.timestamp.format>yyyyMMddHHmm</maven.build.timestamp.format>      
+      <build.number>${timestamp}</build.number>
+      <version>${version.prefix}${build.number}</version>   
+      <GitBranch>${git.branch}</GitBranch>
+      <username>${NODE_NAME}</username>      
+      <platform>${NODE_LABELS}</platform>      
+      <!-- end env vars -->
+      <!-- echoproperties / -->
+      
+    <maven.compiler.source>11</maven.compiler.source>
+    <maven.compiler.target>11</maven.compiler.target>
+    <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+
+  </properties>
+  
      <repositories>
         <!-- the mother load  -->
         <repository>
@@ -135,9 +135,9 @@
           <url>https://m2.dv8tion.net/releases</url>
         </repository>
      </repositories>
-  
-  
-  <dependencies>
+  
+  
+  <dependencies>
 <!-- AudioFile begin -->
   <dependency>
     <groupId>javazoom</groupId>
@@ -163,26 +163,14 @@
 <!-- Duplicate entry for com.squareup.okhttp3-okhttp-3.9.0 skipping -->
 <!-- AzureTranslator end -->
 
-<!-- BoofCv begin -->
+<!-- BoofCV begin -->
   <dependency>
     <groupId>org.boofcv</groupId>
-    <artifactId>boofcv-core</artifactId>
-    <version>0.31</version>
+    <artifactId>boofcv-all</artifactId>
+    <version>0.40.1</version>
     <scope>provided</scope>
   </dependency>
-  <dependency>
-    <groupId>org.boofcv</groupId>
-    <artifactId>boofcv-swing</artifactId>
-    <version>0.31</version>
-    <scope>provided</scope>
-  </dependency>
-  <dependency>
-    <groupId>org.boofcv</groupId>
-    <artifactId>boofcv-openkinect</artifactId>
-    <version>0.31</version>
-    <scope>provided</scope>
-  </dependency>
-<!-- BoofCv end -->
+<!-- BoofCV end -->
 
 <!-- ChessGame begin -->
   <dependency>
@@ -1746,375 +1734,375 @@
   </dependency>
 <!-- Xmpp end -->
 
-
-  	<dependency>
-	    <groupId>org.mockito</groupId>
-	    <artifactId>mockito-core</artifactId>
-	    <version>3.12.4</version>
-	    <scope>test</scope>
-	</dependency>
-  </dependencies>
-  
-  <build>
-    <resources>
-      <resource>
-        <filtering>false</filtering>
-        <directory>src/main/resources</directory>
-      </resource>
-      <resource>
-        <filtering>false</filtering>
-        <directory>src/main/java</directory>
-        <includes>
-          <include>**</include>
-        </includes>
-        <excludes>
-          <exclude>**/*.java</exclude>
-        </excludes>
-      </resource>
-    </resources>
-    <testResources>
-      <testResource>
-        <filtering>false</filtering>
-        <directory>src/test/resources</directory>
-      </testResource>
-      <testResource>
-        <filtering>false</filtering>
-        <directory>src/test/java</directory>
-        <includes>
-          <include>**</include>
-        </includes>
-        <excludes>
-          <exclude>**/*.java</exclude>
-        </excludes>
-      </testResource>
-      <testResource>
-        <directory>src/main/resources</directory>
-        <targetPath>${project.basedir}</targetPath>
-      </testResource>
-    </testResources>
-
-    <!-- define the plugin -->
-      <pluginManagement>
-        <plugins>
-          <plugin>
-            <groupId>org.codehaus.mojo</groupId>
-            <artifactId>properties-maven-plugin</artifactId>
-            <version>1.0.0</version>
-          </plugin>
-          <plugin>
-            <groupId>org.apache.maven.plugins</groupId>
-            <artifactId>maven-enforcer-plugin</artifactId>
-            <version>3.1.0</version>
-         </plugin>
-        </plugins>
-      </pluginManagement>
-  
-          <!-- use plugin -->
-      <plugins>
-      <plugin>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-enforcer-plugin</artifactId>
-        <executions>
-            <execution>
-                <id>no-duplicate-declared-dependencies</id>
-                <goals>
-                    <goal>enforce</goal>
-                </goals>
-                <configuration>
-                    <rules>
-                        <banDuplicatePomDependencyVersions/>
-                    </rules>
-                </configuration>
-            </execution>
-        </executions>
-      </plugin>
-
-      <plugin>
-          <groupId>org.codehaus.mojo</groupId>
-          <artifactId>properties-maven-plugin</artifactId>        
-          <executions>
-            <execution>
-              <phase>initialize</phase>
-              <goals>
-                <goal>read-project-properties</goal>
-              </goals>
-              <configuration>
-                <files>
-                  <file>build.properties</file>
-                </files>
-              </configuration>
-            </execution>
-          </executions>
-        </plugin>
-  
-      <!-- removed because now we generate serviceData.json during runtime plugin>
-        <groupId>org.codehaus.mojo</groupId>
-        <artifactId>exec-maven-plugin</artifactId>
-        <version>1.6.0</version>
-        <executions>
-          <execution>
-            <id>service-data-execution</id>
-            <phase>prepare-package</phase>
-            <goals>
-              <goal>java</goal>
-            </goals>
-          </execution>
-        </executions>
-        <configuration>
-          <mainClass>org.myrobotlab.framework.repo.ServiceData</mainClass>
-          <classpathScope>test</classpathScope>
-          <arguments>
-                  <argument>target/classes/resource/framework</argument>
-                </arguments>
-        </configuration>
-      </plugin -->
-    
-      <plugin>
-                <groupId>org.apache.maven.plugins</groupId>
-                <artifactId>maven-shade-plugin</artifactId>
-                <version>3.1.0</version>
-                <executions>
-                    <execution>
-                        <phase>package</phase>
-                        <goals>
-                            <goal>shade</goal>
-                        </goals>
-                        <configuration>
-                            <finalName>myrobotlab</finalName>
-                            <!-- finalName>myrobotlab-${git.branch}-${version}</finalName -->
-                            <shadedArtifactAttached>true</shadedArtifactAttached>
-                            <shadedClassifierName>myrobotlab-full</shadedClassifierName>
-                            <minimizeJar>false</minimizeJar>
-                           <!--  <artifactSet>
-                                <excludes>
-                                    <exclude>edu.stanford.nlp:*</exclude>
-                                </excludes>
-                            </artifactSet>  -->
-                            <transformers>
-                                <transformer
-                                        implementation="org.apache.maven.plugins.shade.resource.ManifestResourceTransformer">
-                                        <manifestEntries>
-                                          <Main-Class>org.myrobotlab.service.Runtime</Main-Class>
-                                          <Major-Version>${version}</Major-Version>
-                                          <Implementation-Version>${version}</Implementation-Version>                               
-              
-                        <Build-Version>${build.number}</Build-Version>
-                        <Build-Time>${maven.build.timestamp}</Build-Time>
-                        <Build-Host>${agent.name}</Build-Host>
-                        <Build-User>${user.name}</Build-User>
-                        
-                    <!-- maven git plugin id info -->
-                      <GitTags>${git.tags}</GitTags>
-                      <GitBranch>${git.branch}</GitBranch>
-                      <GitDirty>${git.dirty}</GitDirty>
-                      <GitRemoteOriginUrl>${git.remote.origin.url}</GitRemoteOriginUrl>
-                      <GitCommitId>${git.commit.id}</GitCommitId>
-                      <GitCommitIdAbbrev>${git.commit.id.abbrev}</GitCommitIdAbbrev>
-                      <GitCommitIdFull>${git.commit.id.full}</GitCommitIdFull>
-                      <GitCommitIdDescribe>${git.commit.id.describe}</GitCommitIdDescribe>
-                      <GitCommitIdDescribeShort>${git.commit.id.describe-short}</GitCommitIdDescribeShort>
-                      <GitCommitUserName>${git.commit.user.name}</GitCommitUserName>
-                      <GitCommitUserEmail>${git.commit.user.email}</GitCommitUserEmail>
-                      <!-- removed because multi-line value can break manifest
-                        GitCommitMessageFull>${git.commit.message.full}</GitCommitMessageFull                         
-                      <GitCommitMessageShort>${git.commit.message.short}</GitCommitMessageShort>
-                      -->
-                      <GitCommitTime>${git.commit.time}</GitCommitTime>
-                      <GitClosestTagName>${git.closest.tag.name}</GitClosestTagName>
-                      <GitClosestTagCommitCount>${git.closest.tag.commit.count}</GitClosestTagCommitCount>
-                      <GitBuildUserName>${git.build.user.name}</GitBuildUserName>
-                      <GitBuildUserEmail>${git.build.user.email}</GitBuildUserEmail>
-                      <GitBuildTime>${git.build.time}</GitBuildTime>
-                      <GitBuildVersion>${git.build.version}</GitBuildVersion>                        
-                        
-                                        </manifestEntries>                                    
-                                </transformer>
-                            </transformers>
-                             <filters>
-                                <filter>
-                                    <artifact>*:*</artifact>
-                                    <excludes>
-                                        <exclude>module-info.class</exclude>
-                                        <exclude>META-INF/*.SF</exclude>
-                                        <exclude>META-INF/*.DSA</exclude>
-                                        <exclude>META-INF/*.RSA</exclude>
-                                    </excludes>
-                                </filter>
-                            </filters>
-                        </configuration>
-                    </execution>
-                </executions>
-            </plugin>
-
-      <plugin>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-assembly-plugin</artifactId>
-        <configuration>
-          <descriptors>
-            <descriptor>assembly.xml</descriptor>
-          </descriptors>
-          <finalName>myrobotlab</finalName>
-          <appendAssemblyId>false</appendAssemblyId>
-        </configuration>
-        <executions>
-          <execution>
-            <id>trigger-assembly</id>
-            <phase>package</phase>
-            <goals>
-              <goal>single</goal>
-            </goals>
-         </execution>
-       </executions>
-      </plugin>
-      
-      <plugin>
-        <inherited>true</inherited>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-compiler-plugin</artifactId>
-        <version>2.3.2</version>
-        <configuration>
-          <source>11</source>
-          <target>11</target>
-          <optimize>true</optimize>
-          <debug>true</debug>
-          <compilerArgument>-parameters</compilerArgument>          
-        </configuration>
-      </plugin>
-
-      <plugin>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-resources-plugin</artifactId>
-        <version>2.4.3</version>
-      </plugin>
-
-      <plugin>
-          <groupId>pl.project13.maven</groupId>
-          <artifactId>git-commit-id-plugin</artifactId>
-          <version>4.9.10</version>
-          <executions>
-              <execution>
-                  <phase>initialize</phase>
-                  <id>get-the-git-infos</id>
-                  <goals>
-                      <goal>revision</goal>
-                  </goals>
-              </execution>
-          </executions>
-          <configuration>
-              <dotGitDirectory>${project.basedir}/.git</dotGitDirectory>
-              <prefix>git</prefix>
-              <verbose>false</verbose>
-              <generateGitPropertiesFile>true</generateGitPropertiesFile>
-              <generateGitPropertiesFilename>${project.build.outputDirectory}/git.properties</generateGitPropertiesFilename>
-              <!-- format>json</format -->
-              <gitDescribe>
-                  <skip>false</skip>
-                  <always>false</always>
-                  <dirty>-dirty</dirty>
-              </gitDescribe>
-          </configuration>
-      </plugin>          
-
-      <plugin>
-        <artifactId>maven-surefire-plugin</artifactId>
-        <groupId>org.apache.maven.plugins</groupId>
-        <version>2.22.2</version>
-        <configuration>
-          <argLine>-Djava.library.path=libraries/native -Djna.library.path=libraries/native</argLine>
-          <includes>
-            <include>**/*Test.java</include>
-          </includes>
-          <excludes>
-            <exclude>**/integration/*</exclude>
-          </excludes>
-             <systemPropertyVariables>
-              </systemPropertyVariables>
-        </configuration>
-      </plugin>
-      <!-- This plugin deletes the .myrobotlab on a build also the target directory from previous builds -->
-      <plugin>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-clean-plugin</artifactId>
-        <version>2.3</version>
-                <configuration>
-                  <filesets>
-                    <fileset>
-                      <directory>data/.myrobotlab</directory>
-                      <followSymlinks>false</followSymlinks>
-            </fileset>
-          <fileset>
-            <directory>libraries</directory>
-            <includes>
-              <include>**</include>
-            </includes>
-            <followSymlinks>false</followSymlinks>
-          </fileset>
-          <fileset>
-            <directory>data</directory>
-            <includes>
-            <include>**</include>
-            </includes>
-          </fileset>
-          <fileset>
-            <directory>resource</directory>
-            <includes>
-            <include>**</include>
-            </includes>
-          </fileset>
-          <fileset>
-            <directory>src/main/resources/resource/framework</directory>
-            <includes>
-              <include>**/serviceData.json</include>
-            </includes>
-            <followSymlinks>false</followSymlinks>
-          </fileset>
-                  </filesets>
-                </configuration>
-      </plugin>
-      <!-- attached to Maven test phase -->
-      <!--
-      <plugin>
-        <groupId>org.jacoco</groupId>
-        <artifactId>jacoco-maven-plugin</artifactId>
-        <version>0.8.8</version>
-        <executions>
-          <execution>
-            <goals>
-              <goal>prepare-agent</goal>
-            </goals>
-          </execution>          
-          <execution>
-            <id>report</id>
-            <phase>test</phase>
-            <goals>
-              <goal>report</goal>
-            </goals>
-          </execution>
-        </executions>
-      </plugin>
-      -->
-    </plugins>
-  </build>
-    <reporting>    
-    <plugins>
-      <plugin>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-surefire-report-plugin</artifactId>
-        <version>2.22.2</version>
-      </plugin>
-      <plugin>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-javadoc-plugin</artifactId>
-        <version>3.0.1</version>
-      </plugin>
-    </plugins>
-    </reporting>
-  <organization>
-    <name>myrobotlab</name>
-    <url>http://myrobotlab.org</url>
-  </organization>
-  <issueManagement>
-      <system>github</system>
-      <url>https://github.com/MyRobotLab/myrobotlab/issues</url>
-  </issueManagement>
-</project>
+
+  	<dependency>
+	    <groupId>org.mockito</groupId>
+	    <artifactId>mockito-core</artifactId>
+	    <version>3.12.4</version>
+	    <scope>test</scope>
+	</dependency>
+  </dependencies>
+  
+  <build>
+    <resources>
+      <resource>
+        <filtering>false</filtering>
+        <directory>src/main/resources</directory>
+      </resource>
+      <resource>
+        <filtering>false</filtering>
+        <directory>src/main/java</directory>
+        <includes>
+          <include>**</include>
+        </includes>
+        <excludes>
+          <exclude>**/*.java</exclude>
+        </excludes>
+      </resource>
+    </resources>
+    <testResources>
+      <testResource>
+        <filtering>false</filtering>
+        <directory>src/test/resources</directory>
+      </testResource>
+      <testResource>
+        <filtering>false</filtering>
+        <directory>src/test/java</directory>
+        <includes>
+          <include>**</include>
+        </includes>
+        <excludes>
+          <exclude>**/*.java</exclude>
+        </excludes>
+      </testResource>
+      <testResource>
+        <directory>src/main/resources</directory>
+        <targetPath>${project.basedir}</targetPath>
+      </testResource>
+    </testResources>
+
+    <!-- define the plugin -->
+      <pluginManagement>
+        <plugins>
+          <plugin>
+            <groupId>org.codehaus.mojo</groupId>
+            <artifactId>properties-maven-plugin</artifactId>
+            <version>1.0.0</version>
+          </plugin>
+          <plugin>
+            <groupId>org.apache.maven.plugins</groupId>
+            <artifactId>maven-enforcer-plugin</artifactId>
+            <version>3.1.0</version>
+         </plugin>
+        </plugins>
+      </pluginManagement>
+  
+          <!-- use plugin -->
+      <plugins>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-enforcer-plugin</artifactId>
+        <executions>
+            <execution>
+                <id>no-duplicate-declared-dependencies</id>
+                <goals>
+                    <goal>enforce</goal>
+                </goals>
+                <configuration>
+                    <rules>
+                        <banDuplicatePomDependencyVersions/>
+                    </rules>
+                </configuration>
+            </execution>
+        </executions>
+      </plugin>
+
+      <plugin>
+          <groupId>org.codehaus.mojo</groupId>
+          <artifactId>properties-maven-plugin</artifactId>        
+          <executions>
+            <execution>
+              <phase>initialize</phase>
+              <goals>
+                <goal>read-project-properties</goal>
+              </goals>
+              <configuration>
+                <files>
+                  <file>build.properties</file>
+                </files>
+              </configuration>
+            </execution>
+          </executions>
+        </plugin>
+  
+      <!-- removed because now we generate serviceData.json during runtime plugin>
+        <groupId>org.codehaus.mojo</groupId>
+        <artifactId>exec-maven-plugin</artifactId>
+        <version>1.6.0</version>
+        <executions>
+          <execution>
+            <id>service-data-execution</id>
+            <phase>prepare-package</phase>
+            <goals>
+              <goal>java</goal>
+            </goals>
+          </execution>
+        </executions>
+        <configuration>
+          <mainClass>org.myrobotlab.framework.repo.ServiceData</mainClass>
+          <classpathScope>test</classpathScope>
+          <arguments>
+                  <argument>target/classes/resource/framework</argument>
+                </arguments>
+        </configuration>
+      </plugin -->
+    
+      <plugin>
+                <groupId>org.apache.maven.plugins</groupId>
+                <artifactId>maven-shade-plugin</artifactId>
+                <version>3.1.0</version>
+                <executions>
+                    <execution>
+                        <phase>package</phase>
+                        <goals>
+                            <goal>shade</goal>
+                        </goals>
+                        <configuration>
+                            <finalName>myrobotlab</finalName>
+                            <!-- finalName>myrobotlab-${git.branch}-${version}</finalName -->
+                            <shadedArtifactAttached>true</shadedArtifactAttached>
+                            <shadedClassifierName>myrobotlab-full</shadedClassifierName>
+                            <minimizeJar>false</minimizeJar>
+                           <!--  <artifactSet>
+                                <excludes>
+                                    <exclude>edu.stanford.nlp:*</exclude>
+                                </excludes>
+                            </artifactSet>  -->
+                            <transformers>
+                                <transformer
+                                        implementation="org.apache.maven.plugins.shade.resource.ManifestResourceTransformer">
+                                        <manifestEntries>
+                                          <Main-Class>org.myrobotlab.service.Runtime</Main-Class>
+                                          <Major-Version>${version}</Major-Version>
+                                          <Implementation-Version>${version}</Implementation-Version>                               
+              
+                        <Build-Version>${build.number}</Build-Version>
+                        <Build-Time>${maven.build.timestamp}</Build-Time>
+                        <Build-Host>${agent.name}</Build-Host>
+                        <Build-User>${user.name}</Build-User>
+                        
+                    <!-- maven git plugin id info -->
+                      <GitTags>${git.tags}</GitTags>
+                      <GitBranch>${git.branch}</GitBranch>
+                      <GitDirty>${git.dirty}</GitDirty>
+                      <GitRemoteOriginUrl>${git.remote.origin.url}</GitRemoteOriginUrl>
+                      <GitCommitId>${git.commit.id}</GitCommitId>
+                      <GitCommitIdAbbrev>${git.commit.id.abbrev}</GitCommitIdAbbrev>
+                      <GitCommitIdFull>${git.commit.id.full}</GitCommitIdFull>
+                      <GitCommitIdDescribe>${git.commit.id.describe}</GitCommitIdDescribe>
+                      <GitCommitIdDescribeShort>${git.commit.id.describe-short}</GitCommitIdDescribeShort>
+                      <GitCommitUserName>${git.commit.user.name}</GitCommitUserName>
+                      <GitCommitUserEmail>${git.commit.user.email}</GitCommitUserEmail>
+                      <!-- removed because multi-line value can break manifest
+                        GitCommitMessageFull>${git.commit.message.full}</GitCommitMessageFull                         
+                      <GitCommitMessageShort>${git.commit.message.short}</GitCommitMessageShort>
+                      -->
+                      <GitCommitTime>${git.commit.time}</GitCommitTime>
+                      <GitClosestTagName>${git.closest.tag.name}</GitClosestTagName>
+                      <GitClosestTagCommitCount>${git.closest.tag.commit.count}</GitClosestTagCommitCount>
+                      <GitBuildUserName>${git.build.user.name}</GitBuildUserName>
+                      <GitBuildUserEmail>${git.build.user.email}</GitBuildUserEmail>
+                      <GitBuildTime>${git.build.time}</GitBuildTime>
+                      <GitBuildVersion>${git.build.version}</GitBuildVersion>                        
+                        
+                                        </manifestEntries>                                    
+                                </transformer>
+                            </transformers>
+                             <filters>
+                                <filter>
+                                    <artifact>*:*</artifact>
+                                    <excludes>
+                                        <exclude>module-info.class</exclude>
+                                        <exclude>META-INF/*.SF</exclude>
+                                        <exclude>META-INF/*.DSA</exclude>
+                                        <exclude>META-INF/*.RSA</exclude>
+                                    </excludes>
+                                </filter>
+                            </filters>
+                        </configuration>
+                    </execution>
+                </executions>
+            </plugin>
+
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-assembly-plugin</artifactId>
+        <configuration>
+          <descriptors>
+            <descriptor>assembly.xml</descriptor>
+          </descriptors>
+          <finalName>myrobotlab</finalName>
+          <appendAssemblyId>false</appendAssemblyId>
+        </configuration>
+        <executions>
+          <execution>
+            <id>trigger-assembly</id>
+            <phase>package</phase>
+            <goals>
+              <goal>single</goal>
+            </goals>
+         </execution>
+       </executions>
+      </plugin>
+      
+      <plugin>
+        <inherited>true</inherited>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-compiler-plugin</artifactId>
+        <version>2.3.2</version>
+        <configuration>
+          <source>11</source>
+          <target>11</target>
+          <optimize>true</optimize>
+          <debug>true</debug>
+          <compilerArgument>-parameters</compilerArgument>          
+        </configuration>
+      </plugin>
+
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-resources-plugin</artifactId>
+        <version>2.4.3</version>
+      </plugin>
+
+      <plugin>
+          <groupId>pl.project13.maven</groupId>
+          <artifactId>git-commit-id-plugin</artifactId>
+          <version>4.9.10</version>
+          <executions>
+              <execution>
+                  <phase>initialize</phase>
+                  <id>get-the-git-infos</id>
+                  <goals>
+                      <goal>revision</goal>
+                  </goals>
+              </execution>
+          </executions>
+          <configuration>
+              <dotGitDirectory>${project.basedir}/.git</dotGitDirectory>
+              <prefix>git</prefix>
+              <verbose>false</verbose>
+              <generateGitPropertiesFile>true</generateGitPropertiesFile>
+              <generateGitPropertiesFilename>${project.build.outputDirectory}/git.properties</generateGitPropertiesFilename>
+              <!-- format>json</format -->
+              <gitDescribe>
+                  <skip>false</skip>
+                  <always>false</always>
+                  <dirty>-dirty</dirty>
+              </gitDescribe>
+          </configuration>
+      </plugin>          
+
+      <plugin>
+        <artifactId>maven-surefire-plugin</artifactId>
+        <groupId>org.apache.maven.plugins</groupId>
+        <version>2.22.2</version>
+        <configuration>
+          <argLine>-Djava.library.path=libraries/native -Djna.library.path=libraries/native</argLine>
+          <includes>
+            <include>**/*Test.java</include>
+          </includes>
+          <excludes>
+            <exclude>**/integration/*</exclude>
+          </excludes>
+             <systemPropertyVariables>
+              </systemPropertyVariables>
+        </configuration>
+      </plugin>
+      <!-- This plugin deletes the .myrobotlab on a build also the target directory from previous builds -->
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-clean-plugin</artifactId>
+        <version>2.3</version>
+                <configuration>
+                  <filesets>
+                    <fileset>
+                      <directory>data/.myrobotlab</directory>
+                      <followSymlinks>false</followSymlinks>
+            </fileset>
+          <fileset>
+            <directory>libraries</directory>
+            <includes>
+              <include>**</include>
+            </includes>
+            <followSymlinks>false</followSymlinks>
+          </fileset>
+          <fileset>
+            <directory>data</directory>
+            <includes>
+            <include>**</include>
+            </includes>
+          </fileset>
+          <fileset>
+            <directory>resource</directory>
+            <includes>
+            <include>**</include>
+            </includes>
+          </fileset>
+          <fileset>
+            <directory>src/main/resources/resource/framework</directory>
+            <includes>
+              <include>**/serviceData.json</include>
+            </includes>
+            <followSymlinks>false</followSymlinks>
+          </fileset>
+                  </filesets>
+                </configuration>
+      </plugin>
+      <!-- attached to Maven test phase -->
+      <!--
+      <plugin>
+        <groupId>org.jacoco</groupId>
+        <artifactId>jacoco-maven-plugin</artifactId>
+        <version>0.8.8</version>
+        <executions>
+          <execution>
+            <goals>
+              <goal>prepare-agent</goal>
+            </goals>
+          </execution>          
+          <execution>
+            <id>report</id>
+            <phase>test</phase>
+            <goals>
+              <goal>report</goal>
+            </goals>
+          </execution>
+        </executions>
+      </plugin>
+      -->
+    </plugins>
+  </build>
+    <reporting>    
+    <plugins>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-surefire-report-plugin</artifactId>
+        <version>2.22.2</version>
+      </plugin>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-javadoc-plugin</artifactId>
+        <version>3.0.1</version>
+      </plugin>
+    </plugins>
+    </reporting>
+  <organization>
+    <name>myrobotlab</name>
+    <url>http://myrobotlab.org</url>
+  </organization>
+  <issueManagement>
+      <system>github</system>
+      <url>https://github.com/MyRobotLab/myrobotlab/issues</url>
+  </issueManagement>
+</project>
diff --git a/src/main/java/org/myrobotlab/boofcv/BoofCVFilter.java b/src/main/java/org/myrobotlab/boofcv/BoofCVFilter.java
new file mode 100644
index 0000000000..3e4f09b5a5
--- /dev/null
+++ b/src/main/java/org/myrobotlab/boofcv/BoofCVFilter.java
@@ -0,0 +1,52 @@
+package org.myrobotlab.boofcv;
+
+import org.myrobotlab.cv.CvFilter;
+import org.myrobotlab.service.BoofCV;
+
+import boofcv.struct.image.ImageBase;
+
+public abstract class BoofCVFilter implements CvFilter {
+
+  protected String name;
+  public String getName() {
+    return name;
+  }
+
+  public void setName(String name) {
+    this.name = name;
+  }
+
+  protected boolean enabled = true;
+  transient BoofCV boofcv = null;
+  
+  public BoofCVFilter(String name) {
+    this.name = name;
+  }
+  
+  @Override
+  public void disable() {
+    enabled = false;
+  }
+
+  @Override
+  public void enable() {
+    enabled = true;
+  }
+  
+  @Override
+  public boolean isEnabled() {
+    return enabled;
+  }
+  
+  
+  public void setBoofCV(BoofCV boofcv) {
+    this.boofcv = boofcv;
+  }
+  
+  public abstract ImageBase<?> process(ImageBase<?> image) throws InterruptedException;
+
+  // override if necessary
+  public void release() {
+  }
+  
+}
diff --git a/src/main/java/org/myrobotlab/boofcv/BoofCVFilterTrackerObjectQuad.java b/src/main/java/org/myrobotlab/boofcv/BoofCVFilterTrackerObjectQuad.java
new file mode 100644
index 0000000000..b75014235d
--- /dev/null
+++ b/src/main/java/org/myrobotlab/boofcv/BoofCVFilterTrackerObjectQuad.java
@@ -0,0 +1,68 @@
+package org.myrobotlab.boofcv;
+
+import java.awt.Dimension;
+import java.awt.image.BufferedImage;
+
+import boofcv.abst.tracker.TrackerObjectQuad;
+import boofcv.factory.tracker.FactoryTrackerObjectQuad;
+import boofcv.gui.image.ShowImages;
+import boofcv.gui.tracker.TrackerObjectQuadPanel;
+import boofcv.struct.image.GrayU8;
+import boofcv.struct.image.ImageBase;
+import georegression.struct.shapes.Quadrilateral_F64;
+
+public class BoofCVFilterTrackerObjectQuad extends BoofCVFilter {
+
+  protected transient TrackerObjectQuad tracker = null;
+
+  protected Quadrilateral_F64 location = null;
+
+  protected boolean visible = true;
+
+  protected boolean trackerInitialized = false;
+
+  protected transient TrackerObjectQuadPanel gui = null;
+
+  public BoofCVFilterTrackerObjectQuad(String name) {
+    super(name);
+  }
+
+  @Override
+  public ImageBase<?> process(ImageBase<?> frame) throws InterruptedException {
+
+    if (!trackerInitialized && location != null) {
+      tracker = FactoryTrackerObjectQuad.circulant(null, GrayU8.class);
+      tracker.initialize(frame, location);
+      trackerInitialized = true;
+    }
+
+    // FIXME - probably replace BoofCV servie native gui with gui supplied by
+    // filter
+    //
+    if (gui == null) {
+      gui = new TrackerObjectQuadPanel(null);
+      gui.setPreferredSize(new Dimension(frame.getWidth(), frame.getHeight()));
+      gui.setImageUI((BufferedImage) boofcv.getGuiImage());
+      gui.setTarget(location, true);
+      ShowImages.showWindow(gui, "Tracking Results", true);
+    }
+
+    if (location != null) {
+      visible = tracker.process(frame, location);
+
+      if (gui != null) {
+        gui.setImageUI((BufferedImage)boofcv.getGuiImage());
+        gui.setTarget(location, visible);
+        gui.repaint();
+      }
+    }
+
+    return frame;
+  }
+
+  public void setLocation(double x0, double y0, double x1, double y1, double x2, double y2, double x3, double y3) {
+    location = new Quadrilateral_F64(x0, y0, x1, y1, x2, y2, x3, y3);
+    trackerInitialized = false;
+  }
+
+}
diff --git a/src/main/java/org/myrobotlab/boofcv/BoofCvData.java b/src/main/java/org/myrobotlab/boofcv/BoofCvData.java
deleted file mode 100644
index f29dc4e419..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/BoofCvData.java
+++ /dev/null
@@ -1,31 +0,0 @@
-package org.myrobotlab.boofcv;
-
-import java.util.List;
-import java.util.Set;
-
-import org.myrobotlab.cv.CvData;
-import org.myrobotlab.math.geometry.PointCloud;
-
-public class BoofCvData extends CvData {
-
-  private static final long serialVersionUID = 1L;
-
-  @Override
-  public Set<String> getKeySet() {
-    // TODO Auto-generated method stub
-    return null;
-  }
-
-  @Override
-  public List<PointCloud> getPointCloudList() {
-    // TODO Auto-generated method stub
-    return null;
-  }
-
-  @Override
-  public PointCloud getPointCloud() {
-    // TODO Auto-generated method stub
-    return null;
-  }
-
-}
diff --git a/src/main/java/org/myrobotlab/boofcv/CaptureCalibrationImagesApp.java b/src/main/java/org/myrobotlab/boofcv/CaptureCalibrationImagesApp.java
deleted file mode 100644
index 6bdc9d5682..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/CaptureCalibrationImagesApp.java
+++ /dev/null
@@ -1,187 +0,0 @@
-/*
- * Copyright (c) 2011-2014, Peter Abeles. All Rights Reserved.
- *
- * This file is part of BoofCV (http://boofcv.org).
- *
- * 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 org.myrobotlab.boofcv;
-
-import java.awt.Color;
-import java.awt.Font;
-import java.awt.Graphics2D;
-import java.awt.event.KeyEvent;
-import java.awt.event.KeyListener;
-import java.awt.image.BufferedImage;
-import java.io.File;
-import java.io.IOException;
-
-import org.ddogleg.struct.GrowQueue_I8;
-import org.openkinect.freenect.Context;
-import org.openkinect.freenect.Device;
-import org.openkinect.freenect.Freenect;
-import org.openkinect.freenect.Resolution;
-
-import com.sun.jna.NativeLibrary;
-
-import boofcv.gui.image.ImagePanel;
-import boofcv.gui.image.ShowImages;
-import boofcv.io.image.ConvertBufferedImage;
-import boofcv.io.image.UtilImageIO;
-import boofcv.misc.BoofMiscOps;
-import boofcv.openkinect.StreamOpenKinectRgbDepth;
-import boofcv.openkinect.UtilOpenKinect;
-import boofcv.struct.image.GrayU16;
-import boofcv.struct.image.GrayU8;
-import boofcv.struct.image.Planar;
-
-/**
- * Displays RGB image from the kinect and then pauses after a set period of
- * time. At which point the user can press 'y' or 'n' to indicate yes or no for
- * saving the RGB and depth images. Useful when collecting calibration images
- *
- * @author Peter Abeles
- */
-public class CaptureCalibrationImagesApp implements KeyListener, StreamOpenKinectRgbDepth.Listener {
-  {
-    // be sure to set OpenKinectExampleParam.PATH_TO_SHARED_LIBRARY to the
-    // location of your shared library!
-    NativeLibrary.addSearchPath("freenect", OpenKinectExampleParam.PATH_TO_SHARED_LIBRARY);
-  }
-
-  String directory;
-  int period;
-  Resolution resolution = Resolution.MEDIUM;
-
-  BufferedImage buffRgb;
-  int frameNumber;
-
-  GrowQueue_I8 buffer = new GrowQueue_I8(1);
-
-  ImagePanel gui;
-
-  Planar<GrayU8> savedRgb;
-  GrayU16 savedDepth;
-
-  volatile boolean updateDisplay;
-  volatile boolean savedImages;
-  volatile int userChoice;
-
-  String text;
-  long timeText;
-
-  public CaptureCalibrationImagesApp(int period, String directory) {
-    this.period = period;
-    this.directory = directory;
-  }
-
-  public void process() throws IOException {
-
-    // make sure there is a "log" directory
-    new File("log").mkdir();
-
-    int w = UtilOpenKinect.getWidth(resolution);
-    int h = UtilOpenKinect.getHeight(resolution);
-
-    buffRgb = new BufferedImage(w, h, BufferedImage.TYPE_INT_RGB);
-
-    savedRgb = new Planar<>(GrayU8.class, w, h, 3);
-    savedDepth = new GrayU16(w, h);
-
-    gui = ShowImages.showWindow(buffRgb, "Kinect RGB");
-    gui.addKeyListener(this);
-    gui.requestFocus();
-
-    StreamOpenKinectRgbDepth stream = new StreamOpenKinectRgbDepth();
-    Context kinect = Freenect.createContext();
-
-    if (kinect.numDevices() < 0)
-      throw new RuntimeException("No kinect found!");
-
-    Device device = kinect.openDevice(0);
-
-    stream.start(device, resolution, this);
-
-    long targetTime = System.currentTimeMillis() + period;
-    updateDisplay = true;
-    while (true) {
-      BoofMiscOps.pause(100);
-
-      if (targetTime < System.currentTimeMillis()) {
-        userChoice = -1;
-        savedImages = false;
-        updateDisplay = false;
-        while (true) {
-          if (savedImages && userChoice != -1) {
-            if (userChoice == 1) {
-              UtilImageIO.savePPM(savedRgb, String.format(directory + "rgb%07d.ppm", frameNumber), buffer);
-              UtilOpenKinect.saveDepth(savedDepth, String.format(directory + "depth%07d.depth", frameNumber), buffer);
-              frameNumber++;
-              text = "Image Saved!";
-            } else {
-              text = "Image Discarded!";
-            }
-            timeText = System.currentTimeMillis() + 500;
-            updateDisplay = true;
-            targetTime = System.currentTimeMillis() + period;
-            break;
-          }
-          BoofMiscOps.pause(50);
-        }
-      }
-    }
-  }
-
-  @Override
-  public void processKinect(Planar<GrayU8> rgb, GrayU16 depth, long timeRgb, long timeDepth) {
-
-    if (updateDisplay) {
-      ConvertBufferedImage.convertTo_U8(rgb, buffRgb, true);
-
-      if (timeText >= System.currentTimeMillis()) {
-        Graphics2D g2 = buffRgb.createGraphics();
-        g2.setFont(new Font(Font.MONOSPACED, Font.BOLD, 30));
-        g2.setColor(Color.RED);
-        g2.drawString(text, rgb.width / 2 - 100, rgb.height / 2);
-      }
-
-      gui.repaint();
-    } else if (!savedImages) {
-      savedRgb.setTo(rgb);
-      savedDepth.setTo(depth);
-      savedImages = true;
-    }
-  }
-
-  public static void main(String args[]) throws IOException {
-    CaptureCalibrationImagesApp app = new CaptureCalibrationImagesApp(3000, "log/");
-    app.process();
-  }
-
-  @Override
-  public void keyTyped(KeyEvent e) {
-    if (e.getKeyChar() == 'y')
-      userChoice = 1;
-    else
-      userChoice = 0;
-  }
-
-  @Override
-  public void keyPressed(KeyEvent e) {
-  }
-
-  @Override
-  public void keyReleased(KeyEvent e) {
-  }
-}
diff --git a/src/main/java/org/myrobotlab/boofcv/CreateRgbPointCloudFileApp.java b/src/main/java/org/myrobotlab/boofcv/CreateRgbPointCloudFileApp.java
deleted file mode 100644
index 9cdde9d86b..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/CreateRgbPointCloudFileApp.java
+++ /dev/null
@@ -1,80 +0,0 @@
-/*
- * Copyright (c) 2011-2016, Peter Abeles. All Rights Reserved.
- *
- * This file is part of BoofCV (http://boofcv.org).
- *
- * 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 org.myrobotlab.boofcv;
-
-import java.io.DataOutputStream;
-import java.io.FileOutputStream;
-import java.io.IOException;
-
-import org.ddogleg.struct.FastQueue;
-
-import boofcv.alg.depth.VisualDepthOps;
-import boofcv.io.calibration.CalibrationIO;
-import boofcv.io.image.UtilImageIO;
-import boofcv.openkinect.UtilOpenKinect;
-import boofcv.struct.FastQueueArray_I32;
-import boofcv.struct.calib.CameraPinholeRadial;
-import boofcv.struct.image.GrayU16;
-import boofcv.struct.image.GrayU8;
-import boofcv.struct.image.Planar;
-import georegression.struct.point.Point3D_F64;
-
-/**
- * Loads kinect observations and saves a point cloud with rgb information to a
- * file in a simple CSV format
- *
- * @author Peter Abeles
- */
-public class CreateRgbPointCloudFileApp {
-  public static void main(String args[]) throws IOException {
-    String baseDir = "log/";
-
-    String nameRgb = baseDir + "rgb0000000.ppm";
-    String nameDepth = baseDir + "depth0000000.depth";
-    String nameCalib = baseDir + "intrinsic.yaml";
-
-    CameraPinholeRadial param = CalibrationIO.load(nameCalib);
-
-    GrayU16 depth = new GrayU16(1, 1);
-    Planar<GrayU8> rgb = new Planar<>(GrayU8.class, 1, 1, 3);
-
-    UtilImageIO.loadPPM_U8(nameRgb, rgb, null);
-    UtilOpenKinect.parseDepth(nameDepth, depth, null);
-
-    FastQueue<Point3D_F64> cloud = new FastQueue<Point3D_F64>(Point3D_F64.class, true);
-    FastQueueArray_I32 cloudColor = new FastQueueArray_I32(3);
-
-    VisualDepthOps.depthTo3D(param, rgb, depth, cloud, cloudColor);
-
-    DataOutputStream file = new DataOutputStream(new FileOutputStream("kinect_pointcloud.txt"));
-
-    file.write("# Kinect RGB Point cloud. Units: millimeters. Format: X Y Z R G B\n".getBytes());
-
-    for (int i = 0; i < cloud.size; i++) {
-      Point3D_F64 p = cloud.get(i);
-      int[] color = cloudColor.get(i);
-
-      String line = String.format("%.10f %.10f %.10f %d %d %d\n", p.x, p.y, p.z, color[0], color[1], color[2]);
-      file.write(line.getBytes());
-    }
-    file.close();
-
-    System.out.println("Total points = " + cloud.size);
-  }
-}
diff --git a/src/main/java/org/myrobotlab/boofcv/DisplayKinectPointCloudApp.java b/src/main/java/org/myrobotlab/boofcv/DisplayKinectPointCloudApp.java
deleted file mode 100644
index 8f394ac13d..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/DisplayKinectPointCloudApp.java
+++ /dev/null
@@ -1,88 +0,0 @@
-/*
- * Copyright (c) 2011-2018, Peter Abeles. All Rights Reserved.
- *
- * This file is part of BoofCV (http://boofcv.org).
- *
- * 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 org.myrobotlab.boofcv;
-
-import java.awt.Dimension;
-import java.io.File;
-import java.io.IOException;
-
-import org.ddogleg.struct.FastQueue;
-import org.myrobotlab.framework.Service;
-import org.myrobotlab.service.BoofCv;
-
-import boofcv.alg.depth.VisualDepthOps;
-import boofcv.alg.geo.PerspectiveOps;
-import boofcv.gui.image.ShowImages;
-import boofcv.io.calibration.CalibrationIO;
-import boofcv.io.image.UtilImageIO;
-import boofcv.struct.FastQueueArray_I32;
-import boofcv.struct.calib.CameraPinholeRadial;
-import boofcv.struct.image.GrayU16;
-import boofcv.struct.image.GrayU8;
-import boofcv.struct.image.ImageType;
-import boofcv.struct.image.Planar;
-import boofcv.visualize.PointCloudViewer;
-import boofcv.visualize.VisualizeData;
-import georegression.struct.point.Point3D_F64;
-
-/**
- * Loads kinect data from two files and displays the cloud in a 3D simple
- * viewer.
- *
- * @author Peter Abeles
- */
-public class DisplayKinectPointCloudApp {
-
-  public static void main(String args[]) throws IOException {
-    // String baseDir = UtilIO.pathExample("kinect/basket");
-    String baseDir = Service.getResourceDir(BoofCv.class);
-    String nameRgb = "basket_rgb.png";
-    String nameDepth = "basket_depth.png";
-    String nameCalib = "intrinsic.yaml";
-
-    CameraPinholeRadial param = CalibrationIO.load(new File(baseDir, nameCalib));
-
-    GrayU16 depth = UtilImageIO.loadImage(new File(baseDir, nameDepth), false, ImageType.single(GrayU16.class));
-    Planar<GrayU8> rgb = UtilImageIO.loadImage(new File(baseDir, nameRgb), true, ImageType.pl(3, GrayU8.class));
-
-    FastQueue<Point3D_F64> cloud = new FastQueue<Point3D_F64>(Point3D_F64.class, true);
-    FastQueueArray_I32 cloudColor = new FastQueueArray_I32(3);
-
-    VisualDepthOps.depthTo3D(param, rgb, depth, cloud, cloudColor);
-
-    PointCloudViewer viewer = VisualizeData.createPointCloudViewer();
-    viewer.setCameraHFov(PerspectiveOps.computeHFov(param));
-    viewer.setTranslationStep(10.0);
-    viewer.getComponent().setPreferredSize(new Dimension(rgb.width, rgb.height));
-
-    for (int i = 0; i < cloud.size; i++) {
-      Point3D_F64 p = cloud.get(i);
-      int[] color = cloudColor.get(i);
-      int c = (color[0] << 16) | (color[1] << 8) | color[2];
-      viewer.addPoint(p.x, p.y, p.z, c);
-    }
-
-    ShowImages.showWindow(viewer.getComponent(), "Point Cloud", true);
-    System.out.println("Total points = " + cloud.size);
-
-    // BufferedImage depthOut = VisualizeImageData.disparity(depth, null, 0,
-    // UtilOpenKinect.FREENECT_DEPTH_MM_MAX_VALUE, 0);
-    // ShowImages.showWindow(depthOut,"Depth Image", true);
-  }
-}
diff --git a/src/main/java/org/myrobotlab/boofcv/ExampleDepthPointCloud.java b/src/main/java/org/myrobotlab/boofcv/ExampleDepthPointCloud.java
deleted file mode 100644
index a96e8d317a..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/ExampleDepthPointCloud.java
+++ /dev/null
@@ -1,100 +0,0 @@
-/*
- * Copyright (c) 2011-2014, Peter Abeles. All Rights Reserved.
- *
- * This file is part of BoofCV (http://boofcv.org).
- *
- * 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 org.myrobotlab.boofcv;
-
-import java.awt.Dimension;
-import java.awt.image.BufferedImage;
-import java.io.IOException;
-
-import org.ddogleg.struct.FastQueue;
-import org.myrobotlab.framework.Service;
-import org.myrobotlab.service.BoofCv;
-
-import boofcv.alg.depth.VisualDepthOps;
-import boofcv.alg.geo.PerspectiveOps;
-import boofcv.alg.misc.ImageStatistics;
-import boofcv.gui.image.ShowImages;
-import boofcv.gui.image.VisualizeImageData;
-import boofcv.io.calibration.CalibrationIO;
-import boofcv.io.image.ConvertBufferedImage;
-import boofcv.io.image.UtilImageIO;
-import boofcv.struct.FastQueueArray_I32;
-import boofcv.struct.calib.VisualDepthParameters;
-import boofcv.struct.image.GrayU16;
-import boofcv.struct.image.GrayU8;
-import boofcv.struct.image.Planar;
-import boofcv.visualize.PointCloudViewer;
-import boofcv.visualize.VisualizeData;
-import georegression.struct.point.Point3D_F64;
-
-/**
- * Displays RGB image from the kinect and then pauses after a set period of time.  At which point the user can press
- * 'y' or 'n' to indicate yes or no for saving the RGB and depth images.  Useful when collecting calibration images
- *
- * @author Peter Abeles
- */
-/**
- * Example of how to create a point cloud from a RGB-D (Kinect) sensor. Data is
- * loaded from two files, one for the visual image and one for the depth image.
- *
- * @author Peter Abeles
- */
-public class ExampleDepthPointCloud {
-
-  public static void main(String args[]) throws IOException {
-
-    // String baseDir = "src/main/resources/resource/BoofCv";
-    String nameRgb = Service.getResourceDir(BoofCv.class, "basket_rgb.png");
-    String nameDepth = Service.getResourceDir(BoofCv.class, "basket_depth.png");
-    String nameCalib = Service.getResourceDir(BoofCv.class, "visualdepth.yaml");
-
-    VisualDepthParameters param = CalibrationIO.load(nameCalib);
-
-    BufferedImage buffered = UtilImageIO.loadImage(nameRgb);
-    Planar<GrayU8> rgb = ConvertBufferedImage.convertFromPlanar(buffered, null, true, GrayU8.class);
-    GrayU16 depth = ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth), null, GrayU16.class);
-
-    FastQueue<Point3D_F64> cloud = new FastQueue<>(Point3D_F64.class, true);
-    FastQueueArray_I32 cloudColor = new FastQueueArray_I32(3);
-
-    VisualDepthOps.depthTo3D(param.visualParam, rgb, depth, cloud, cloudColor);
-
-    PointCloudViewer viewer = VisualizeData.createPointCloudViewer();
-    viewer.setCameraHFov(PerspectiveOps.computeHFov(param.visualParam));
-    viewer.setTranslationStep(15);
-
-    for (int i = 0; i < cloud.size; i++) {
-      Point3D_F64 p = cloud.get(i);
-      int[] color = cloudColor.get(i);
-      int c = (color[0] << 16) | (color[1] << 8) | color[2];
-      viewer.addPoint(p.x, p.y, p.z, c);
-    }
-    viewer.getComponent().setPreferredSize(new Dimension(rgb.width, rgb.height));
-
-    // ---------- Display depth image
-    // use the actual max value in the image to maximize its appearance
-    int maxValue = ImageStatistics.max(depth);
-    BufferedImage depthOut = VisualizeImageData.disparity(depth, null, 0, maxValue, 0);
-    ShowImages.showWindow(depthOut, "Depth Image", true);
-
-    // ---------- Display colorized point cloud
-    ShowImages.showWindow(viewer.getComponent(), "Point Cloud", true);
-    System.out.println("Total points = " + cloud.size);
-  }
-}
\ No newline at end of file
diff --git a/src/main/java/org/myrobotlab/boofcv/ExampleVisualOdometryDepth.java b/src/main/java/org/myrobotlab/boofcv/ExampleVisualOdometryDepth.java
deleted file mode 100644
index 45dee26c27..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/ExampleVisualOdometryDepth.java
+++ /dev/null
@@ -1,216 +0,0 @@
-/*
- * Copyright (c) 2011-2017, Peter Abeles. All Rights Reserved.
- *
- * This file is part of BoofCV (http://boofcv.org).
- *
- * 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.
- */
-
-/*
- * Extended by Mats Önnerby to use then Kinect 360 as input instead of the .mpg files
- * used in the bare bones example it's based on 
- *
- */
-
-package org.myrobotlab.boofcv;
-
-import java.awt.image.BufferedImage;
-import java.nio.file.Path;
-import java.nio.file.Paths;
-
-import org.ejml.data.DMatrixRMaj;
-import org.myrobotlab.framework.Service;
-import org.myrobotlab.logging.LoggerFactory;
-import org.myrobotlab.service.BoofCv;
-import org.openkinect.freenect.Resolution;
-import org.slf4j.Logger;
-
-import boofcv.abst.feature.detect.interest.ConfigGeneralDetector;
-import boofcv.abst.feature.tracker.PointTrackerTwoPass;
-import boofcv.abst.sfm.AccessPointTracks3D;
-import boofcv.abst.sfm.d3.DepthVisualOdometry;
-import boofcv.abst.sfm.d3.VisualOdometry;
-import boofcv.alg.sfm.DepthSparse3D;
-import boofcv.alg.tracker.klt.PkltConfig;
-import boofcv.factory.feature.tracker.FactoryPointTrackerTwoPass;
-import boofcv.factory.sfm.FactoryVisualOdometry;
-import boofcv.gui.image.ImagePanel;
-import boofcv.gui.image.ShowImages;
-import boofcv.gui.image.VisualizeImageData;
-import boofcv.io.MediaManager;
-import boofcv.io.calibration.CalibrationIO;
-import boofcv.io.image.ConvertBufferedImage;
-import boofcv.io.image.SimpleImageSequence;
-import boofcv.io.wrapper.DefaultMediaManager;
-import boofcv.openkinect.UtilOpenKinect;
-import boofcv.struct.calib.VisualDepthParameters;
-import boofcv.struct.distort.DoNothing2Transform2_F32;
-import boofcv.struct.image.GrayS16;
-import boofcv.struct.image.GrayU16;
-import boofcv.struct.image.GrayU8;
-import boofcv.struct.image.ImageType;
-import georegression.struct.point.Vector3D_F64;
-import georegression.struct.se.Se3_F64;
-
-/**
- * Bare bones example showing how to estimate the camera's ego-motion using a
- * depth camera system, e.g. Kinect. Additional information on the scene can be
- * optionally extracted from the algorithm if it implements AccessPointTracks3D.
- *
- * @author Peter Abeles
- */
-public class ExampleVisualOdometryDepth {
-
-  transient public final static Logger log = LoggerFactory.getLogger(ExampleVisualOdometryDepth.class);
-
-  Resolution resolution = Resolution.MEDIUM;
-
-  BufferedImage buffRgb;
-  BufferedImage buffDepth;
-
-  BufferedImage outRgb;
-  ImagePanel guiRgb;
-
-  BufferedImage outDepth;
-  ImagePanel guiDepth;
-
-  Double xTot = 0.0;
-  Double yTot = 0.0;
-  Double zTot = 0.0;
-
-  public void process() {
-
-    MediaManager media = DefaultMediaManager.INSTANCE;
-
-    // String directory = UtilIO.pathExample("kinect/straight");
-    String directory = Service.getResourceDir(BoofCv.class);
-    log.info("Using directory {}", directory);
-
-    // load camera description and the video sequence
-    VisualDepthParameters param = CalibrationIO.load(media.openFile(Service.getResourceDir(BoofCv.class, "visualdepth.yaml")));
-
-    // specify how the image features are going to be tracked
-    PkltConfig configKlt = new PkltConfig();
-    configKlt.pyramidScaling = new int[] { 1, 2, 4, 8 };
-    configKlt.templateRadius = 3;
-
-    PointTrackerTwoPass<GrayU8> tracker = FactoryPointTrackerTwoPass.klt(configKlt, new ConfigGeneralDetector(600, 3, 1), GrayU8.class, GrayS16.class);
-
-    DepthSparse3D<GrayU16> sparseDepth = new DepthSparse3D.I<>(1e-3);
-
-    // declares the algorithm
-    DepthVisualOdometry<GrayU8, GrayU16> visualOdometry = FactoryVisualOdometry.depthDepthPnP(1.5, 120, 2, 200, 50, true, sparseDepth, tracker, GrayU8.class, GrayU16.class);
-
-    // Pass in intrinsic/extrinsic calibration. This can be changed in the
-    // future.
-    visualOdometry.setCalibration(param.visualParam, new DoNothing2Transform2_F32());
-
-    // Process the video sequence and output the location plus number of inliers
-    SimpleImageSequence<GrayU8> videoVisual = media.openVideo(directory + "/" + "rgb.mjpeg", ImageType.single(GrayU8.class));
-    SimpleImageSequence<GrayU16> videoDepth = media.openVideo(directory + "/" + "depth.mpng", ImageType.single(GrayU16.class));
-
-    while (videoVisual.hasNext()) {
-
-      GrayU8 visual = videoVisual.next();
-      GrayU16 depth = videoDepth.next();
-
-      // Handle the Depth stream
-      if (outDepth == null) {
-        BufferedImage mode = videoDepth.getGuiImage();
-        depth.reshape(mode.getWidth(), mode.getHeight());
-        outDepth = new BufferedImage(depth.width, depth.height, BufferedImage.TYPE_INT_RGB);
-        guiDepth = ShowImages.showWindow(outDepth, "Depth Image");
-      }
-
-      if (!visualOdometry.process(visual, depth)) {
-        throw new RuntimeException("VO Failed!");
-      }
-
-      VisualizeImageData.disparity(depth, outDepth, 0, UtilOpenKinect.FREENECT_DEPTH_MM_MAX_VALUE, 0);
-      guiDepth.repaint();
-
-      // Handle the video stream
-      if (outRgb == null) {
-        BufferedImage mode = videoDepth.getGuiImage();
-        visual.reshape(mode.getWidth(), mode.getHeight());
-        outRgb = new BufferedImage(visual.width, visual.height, BufferedImage.TYPE_INT_RGB);
-        guiRgb = ShowImages.showWindow(outRgb, "RGB Image");
-      }
-
-      ConvertBufferedImage.convertTo(visual, outRgb, true);
-      guiRgb.repaint();
-
-      Se3_F64 leftToWorld = visualOdometry.getCameraToWorld();
-      Vector3D_F64 T = leftToWorld.getT();
-      DMatrixRMaj R = leftToWorld.getR();
-
-      System.out.printf("Location %8.2f %8.2f %8.2f      inliers %s\n", T.x, T.y, T.z, inlierPercent(visualOdometry));
-      int cols = R.getNumCols();
-      int rows = R.getNumRows();
-      System.out.printf("Rotation matrix \n");
-      for (int x = 0; x < cols; x++) {
-        for (int y = 0; y < rows; y++) {
-          Double rotation = R.get(x, y);
-          System.out.printf("%S", rotation);
-        }
-        System.out.printf("\n");
-      }
-      System.out.printf("\n");
-      xTot = xTot + T.x;
-      yTot = yTot + T.y;
-      zTot = zTot + T.z;
-      // System.out.printf("xT, yT, Zt, %8.2f %8.2f %8.2f \n ", xTot, yTot,
-      // zTot);
-
-    }
-  }
-
-  public static String toAbsolutePath(String maybeRelative) {
-    Path path = Paths.get(maybeRelative);
-    Path effectivePath = path;
-    if (!path.isAbsolute()) {
-      Path base = Paths.get("");
-      effectivePath = base.resolve(path).toAbsolutePath();
-    }
-    return effectivePath.normalize().toString();
-  }
-
-  /**
-   * If the algorithm implements AccessPointTracks3D, then count the number of
-   * inlier features and return a string.
-   * 
-   * @param alg
-   *          algorithm
-   * @return a string
-   */
-  public static String inlierPercent(VisualOdometry alg) {
-    if (!(alg instanceof AccessPointTracks3D))
-      return "";
-
-    AccessPointTracks3D access = (AccessPointTracks3D) alg;
-
-    int count = 0;
-    int N = access.getAllTracks().size();
-    for (int i = 0; i < N; i++) {
-      if (access.isInlier(i))
-        count++;
-    }
-
-    return String.format("%%%5.3f", 100.0 * count / N);
-  }
-
-  public static void main(String args[]) {
-    ExampleVisualOdometryDepth app = new ExampleVisualOdometryDepth();
-    app.process();
-  }
-}
\ No newline at end of file
diff --git a/src/main/java/org/myrobotlab/boofcv/IntrinsicToDepthParameters.java b/src/main/java/org/myrobotlab/boofcv/IntrinsicToDepthParameters.java
deleted file mode 100644
index 7fbbb0a0d8..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/IntrinsicToDepthParameters.java
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
- * Copyright (c) 2011-2016, Peter Abeles. All Rights Reserved.
- *
- * This file is part of BoofCV (http://boofcv.org).
- *
- * 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 org.myrobotlab.boofcv;
-
-import java.io.File;
-
-import org.myrobotlab.framework.Service;
-import org.myrobotlab.service.BoofCv;
-
-import boofcv.io.calibration.CalibrationIO;
-import boofcv.openkinect.UtilOpenKinect;
-import boofcv.struct.calib.CameraPinholeRadial;
-import boofcv.struct.calib.VisualDepthParameters;
-
-/**
- * Loads an intrinsic parameters file for the RGB camera and creates a
- * VisualDepthParameters for the Kinect.
- *
- * @author Peter Abeles
- */
-public class IntrinsicToDepthParameters {
-
-  public static void main(String args[]) {
-    // String baseDir = UtilIO.pathExample("kinect/basket");
-    String baseDir = Service.getResourceDir(BoofCv.class);
-
-    CameraPinholeRadial intrinsic = CalibrationIO.load(new File(baseDir, "intrinsic.yaml"));
-
-    VisualDepthParameters depth = new VisualDepthParameters();
-
-    depth.setVisualParam(intrinsic);
-    depth.setMaxDepth(UtilOpenKinect.FREENECT_DEPTH_MM_MAX_VALUE);
-    depth.setPixelNoDepth(UtilOpenKinect.FREENECT_DEPTH_MM_NO_VALUE);
-
-    CalibrationIO.save(depth, baseDir + "visualdepth.yaml");
-  }
-}
diff --git a/src/main/java/org/myrobotlab/boofcv/LogKinectDataApp.java b/src/main/java/org/myrobotlab/boofcv/LogKinectDataApp.java
deleted file mode 100644
index efe6a51e35..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/LogKinectDataApp.java
+++ /dev/null
@@ -1,131 +0,0 @@
-/*
- * Copyright (c) 2011-2014, Peter Abeles. All Rights Reserved.
- *
- * This file is part of BoofCV (http://boofcv.org).
- *
- * 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 org.myrobotlab.boofcv;
-
-import java.awt.image.BufferedImage;
-import java.io.DataOutputStream;
-import java.io.FileOutputStream;
-import java.io.IOException;
-
-import org.ddogleg.struct.GrowQueue_I8;
-import org.openkinect.freenect.Context;
-import org.openkinect.freenect.Device;
-import org.openkinect.freenect.Freenect;
-import org.openkinect.freenect.Resolution;
-
-import com.sun.jna.NativeLibrary;
-
-import boofcv.gui.image.ImagePanel;
-import boofcv.gui.image.ShowImages;
-import boofcv.io.image.ConvertBufferedImage;
-import boofcv.io.image.UtilImageIO;
-import boofcv.misc.BoofMiscOps;
-import boofcv.openkinect.StreamOpenKinectRgbDepth;
-import boofcv.openkinect.UtilOpenKinect;
-import boofcv.struct.image.GrayU16;
-import boofcv.struct.image.GrayU8;
-import boofcv.struct.image.Planar;
-
-/**
- * @author Peter Abeles
- */
-public class LogKinectDataApp implements StreamOpenKinectRgbDepth.Listener {
-  {
-    // be sure to set OpenKinectExampleParam.PATH_TO_SHARED_LIBRARY to the
-    // location of your shared library!
-    NativeLibrary.addSearchPath("freenect", OpenKinectExampleParam.PATH_TO_SHARED_LIBRARY);
-  }
-
-  int maxImages;
-  boolean showImage;
-  Resolution resolution = Resolution.MEDIUM;
-
-  BufferedImage buffRgb;
-  int frameNumber;
-
-  DataOutputStream logFile;
-
-  GrowQueue_I8 buffer = new GrowQueue_I8(1);
-
-  ImagePanel gui;
-
-  public LogKinectDataApp(int maxImages, boolean showImage) {
-    this.maxImages = maxImages;
-    this.showImage = showImage;
-  }
-
-  public void process() throws IOException {
-
-    logFile = new DataOutputStream(new FileOutputStream("log/timestamps.txt"));
-    logFile.write("# Time stamps for rgb and depth cameras.\n".getBytes());
-
-    int w = UtilOpenKinect.getWidth(resolution);
-    int h = UtilOpenKinect.getHeight(resolution);
-
-    buffRgb = new BufferedImage(w, h, BufferedImage.TYPE_INT_RGB);
-
-    if (showImage) {
-      gui = ShowImages.showWindow(buffRgb, "Kinect RGB");
-    }
-
-    StreamOpenKinectRgbDepth stream = new StreamOpenKinectRgbDepth();
-    Context kinect = Freenect.createContext();
-
-    if (kinect.numDevices() < 0)
-      throw new RuntimeException("No kinect found!");
-
-    Device device = kinect.openDevice(0);
-
-    stream.start(device, resolution, this);
-
-    if (maxImages > 0) {
-      while (frameNumber < maxImages) {
-        System.out.printf("Total saved %d\n", frameNumber);
-        BoofMiscOps.pause(100);
-      }
-      stream.stop();
-      System.out.println("Exceeded max images");
-      System.exit(0);
-    }
-  }
-
-  @Override
-  public void processKinect(Planar<GrayU8> rgb, GrayU16 depth, long timeRgb, long timeDepth) {
-    System.out.println(frameNumber + "  " + timeRgb);
-    try {
-      logFile.write(String.format("%10d %d %d\n", frameNumber, timeRgb, timeDepth).getBytes());
-      logFile.flush();
-      UtilImageIO.savePPM(rgb, String.format("log/rgb%07d.ppm", frameNumber), buffer);
-      UtilOpenKinect.saveDepth(depth, String.format("log/depth%07d.depth", frameNumber), buffer);
-      frameNumber++;
-
-      if (showImage) {
-        ConvertBufferedImage.convertTo_U8(rgb, buffRgb, true);
-        gui.repaint();
-      }
-    } catch (IOException e) {
-      e.printStackTrace();
-    }
-  }
-
-  public static void main(String args[]) throws IOException {
-    LogKinectDataApp app = new LogKinectDataApp(1000000, false);
-    app.process();
-  }
-}
diff --git a/src/main/java/org/myrobotlab/boofcv/OpenKinectExampleParam.java b/src/main/java/org/myrobotlab/boofcv/OpenKinectExampleParam.java
deleted file mode 100644
index 448c4d63cc..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/OpenKinectExampleParam.java
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * Copyright (c) 2011-2014, Peter Abeles. All Rights Reserved.
- *
- * This file is part of BoofCV (http://boofcv.org).
- *
- * 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 org.myrobotlab.boofcv;
-
-/**
- * Common parameter used in example code
- *
- * @author Peter Abeles
- */
-public class OpenKinectExampleParam {
-
-  // Modify this link to be where you store your shared library
-  public static String PATH_TO_SHARED_LIBRARY = "/home/pja/projects/thirdparty/libfreenect/build/lib";
-}
diff --git a/src/main/java/org/myrobotlab/boofcv/OpenKinectOdometry.java b/src/main/java/org/myrobotlab/boofcv/OpenKinectOdometry.java
deleted file mode 100644
index 5eff21f266..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/OpenKinectOdometry.java
+++ /dev/null
@@ -1,451 +0,0 @@
-/*
- * Copyright (c) 2011-2014, Peter Abeles. All Rights Reserved.
- *
- * This file is part of BoofCV (http://boofcv.org).
- *
- * 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 org.myrobotlab.boofcv;
-
-import java.awt.Dimension;
-import java.io.File;
-import java.nio.ByteBuffer;
-import java.nio.file.Path;
-import java.nio.file.Paths;
-import java.util.ArrayList;
-import java.util.List;
-
-import org.ddogleg.struct.FastQueue;
-import org.ejml.data.DMatrixRMaj;
-import org.ejml.equation.Equation;
-import org.ejml.equation.Sequence;
-import org.myrobotlab.framework.Service;
-import org.myrobotlab.logging.LoggerFactory;
-import org.myrobotlab.service.BoofCv;
-import org.openkinect.freenect.Context;
-import org.openkinect.freenect.DepthFormat;
-import org.openkinect.freenect.DepthHandler;
-import org.openkinect.freenect.Device;
-import org.openkinect.freenect.FrameMode;
-import org.openkinect.freenect.Freenect;
-import org.openkinect.freenect.VideoFormat;
-import org.openkinect.freenect.VideoHandler;
-import org.slf4j.Logger;
-
-import boofcv.abst.feature.detect.interest.ConfigGeneralDetector;
-import boofcv.abst.feature.tracker.PointTrackerTwoPass;
-import boofcv.abst.sfm.AccessPointTracks3D;
-import boofcv.abst.sfm.d3.DepthVisualOdometry;
-import boofcv.abst.sfm.d3.VisualOdometry;
-import boofcv.alg.color.ColorRgb;
-import boofcv.alg.depth.VisualDepthOps;
-import boofcv.alg.geo.PerspectiveOps;
-import boofcv.alg.sfm.DepthSparse3D;
-import boofcv.alg.tracker.klt.PkltConfig;
-import boofcv.factory.feature.tracker.FactoryPointTrackerTwoPass;
-import boofcv.factory.sfm.FactoryVisualOdometry;
-import boofcv.gui.image.ShowImages;
-import boofcv.io.MediaManager;
-import boofcv.io.calibration.CalibrationIO;
-import boofcv.io.wrapper.DefaultMediaManager;
-import boofcv.openkinect.UtilOpenKinect;
-import boofcv.struct.FastQueueArray_I32;
-import boofcv.struct.calib.CameraPinholeRadial;
-import boofcv.struct.calib.VisualDepthParameters;
-import boofcv.struct.distort.DoNothing2Transform2_F32;
-import boofcv.struct.image.GrayS16;
-import boofcv.struct.image.GrayU16;
-import boofcv.struct.image.GrayU8;
-import boofcv.struct.image.Planar;
-import boofcv.visualize.PointCloudViewer;
-import boofcv.visualize.VisualizeData;
-import georegression.struct.point.Point3D_F64;
-import georegression.struct.point.Vector3D_F64;
-import georegression.struct.se.Se3_F64;
-
-/**
- * Example demonstrating how to process and display data from the Kinect.
- *
- * @author Peter Abeles and Mats Önnerby
- * 
- *         This program currently calculates the Odometry ( how much the camera
- *         has moved as translations and rotations ). Second stage is to
- *         recalculate the second pointcloud to have the same origin as the
- *         first. Third stage is to update the original pointcloud with
- *         information from the new pointcloud to make the world pointcloud
- *         larger Do we need to keep track of the probability for each point in
- *         the pointcloud ? Can we transform the pointcloud to larger objects ?
- *         Like meshes ?
- *         https://www.mathworks.com/help/vision/examples/3-d-point-cloud-registration-and-stitching.html
- * 
- */
-public class OpenKinectOdometry {
-
-  static final Logger log = LoggerFactory.getLogger(OpenKinectOdometry.class);
-
-  private PointCloudViewer viewer;
-  private PointCloudViewer viewerFixed;
-
-  private volatile boolean videoAvailable = false;
-  private volatile boolean depthAvailable = false;
-
-  boolean firstDepth = true;
-  boolean firstVideo = true;
-  boolean firstImage = true;
-
-  String baseDir = Service.getResourceDir(BoofCv.class);
-  String nameCalib = "intrinsic.yaml";
-
-  Planar<GrayU8> rgb = new Planar<>(GrayU8.class, 1, 1, 3);
-  GrayU16 depth = new GrayU16(1, 1);
-
-  List<Point3D_F64> points = new ArrayList<Point3D_F64>();
-  List<Point3D_F64> pointsFixed = new ArrayList<Point3D_F64>();
-  int colors[] = new int[1];
-
-  boolean odometry = true;
-
-  DepthVisualOdometry<GrayU8, GrayU16> visualOdometry;
-
-  Double xTot = 0.0;
-  Double yTot = 0.0;
-  Double zTot = 0.0;
-
-  // Matrix multiplication initiation
-  Sequence transform, invert;
-  DMatrixRMaj pointMatIn = new DMatrixRMaj(4, 1);
-  DMatrixRMaj pointMatOut = new DMatrixRMaj(4, 1);
-  DMatrixRMaj transMat = new DMatrixRMaj(4, 4);
-  Equation eq = new Equation();
-
-  public void process() {
-
-    Context kinect = Freenect.createContext();
-
-    if (kinect.numDevices() < 0)
-      throw new RuntimeException("No kinect found!");
-
-    Device device = kinect.openDevice(0);
-
-    device.setDepthFormat(DepthFormat.REGISTERED);
-    device.setVideoFormat(VideoFormat.RGB);
-
-    CameraPinholeRadial param = CalibrationIO.load(new File(baseDir, nameCalib));
-
-    FastQueue<Point3D_F64> cloud = new FastQueue<>(Point3D_F64.class, true);
-    FastQueueArray_I32 cloudColor = new FastQueueArray_I32(3);
-
-    if (odometry) {
-      initOdometry(param);
-    }
-
-    viewer = VisualizeData.createPointCloudViewer();
-    viewer.setCameraHFov(PerspectiveOps.computeHFov(param));
-    viewer.setTranslationStep(15);
-
-    device.startDepth(new DepthHandler() {
-      @Override
-      public void onFrameReceived(FrameMode mode, ByteBuffer frame, int timestamp) {
-        processDepth(mode, frame, timestamp);
-      }
-    });
-    device.startVideo(new VideoHandler() {
-      @Override
-      public void onFrameReceived(FrameMode mode, ByteBuffer frame, int timestamp) {
-        processRgb(mode, frame, timestamp);
-      }
-    });
-
-    long starTime = System.currentTimeMillis();
-    while (starTime + 200000 > System.currentTimeMillis()) {
-
-      if (videoAvailable && depthAvailable) {
-        if (firstImage) {
-          viewer.getComponent().setPreferredSize(new Dimension(rgb.width, rgb.height));
-          if (odometry) {
-            viewerFixed.getComponent().setPreferredSize(new Dimension(rgb.width, rgb.height));
-          }
-        }
-
-        VisualDepthOps.depthTo3D(param, rgb, depth, cloud, cloudColor);
-
-        if (colors.length != cloud.size()) {
-          colors = new int[cloud.size()];
-          points = new ArrayList<Point3D_F64>(cloud.size());
-        }
-
-        points.clear();
-        for (int i = 0; i < cloud.size; i++) {
-          Point3D_F64 p = cloud.get(i);
-          int[] color = cloudColor.get(i);
-          int c = (color[0] << 16) | (color[1] << 8) | color[2];
-          points.add(p);
-          colors[i] = c;
-        }
-
-        log.info("Points size() 1 ", points.size(), "\n");
-        viewer.clearPoints();
-        viewer.addCloud(points, colors);
-
-        if (firstImage) {
-          ShowImages.showWindow(viewer.getComponent(), "Point Cloud", true);
-          if (odometry) {
-            ShowImages.showWindow(viewerFixed.getComponent(), "Point Cloud Fixed", true);
-          }
-          firstImage = false;
-        }
-
-        // Odometry
-        if (odometry) {
-          processOdometry();
-        }
-
-        viewer.getComponent().repaint();
-        videoAvailable = false;
-        depthAvailable = false;
-      }
-      sleep(10);
-    }
-    System.out.println("100 Seconds elapsed");
-
-    device.stopDepth();
-    device.stopVideo();
-    device.close();
-  }
-
-  private void initOdometry(CameraPinholeRadial param) {
-    // Initiate and precompile Matrix operations
-    eq.alias(pointMatIn, "in", transMat, "R", pointMatOut, "out");
-    eq.alias(new DMatrixRMaj(1, 1), "in");
-    eq.alias(new DMatrixRMaj(1, 1), "R");
-    eq.alias(new DMatrixRMaj(1, 1), "out");
-    transform = eq.compile("out = R*in");
-    invert = eq.compile("R = inv(R)");
-    eq.alias(pointMatIn, "in", transMat, "R", pointMatOut, "out");
-
-    MediaManager media = DefaultMediaManager.INSTANCE;
-    // String directory = UtilIO.pathExample("kinect/straight");
-    String directory = Service.getResourceDir(BoofCv.class) + File.separator;
-    log.info("Using directory ", directory);
-
-    // load camera description and the video sequence
-    VisualDepthParameters depthParam = CalibrationIO.load(media.openFile(directory + "visualdepth.yaml"));
-
-    // specify how the image features are going to be tracked
-    PkltConfig configKlt = new PkltConfig();
-    configKlt.pyramidScaling = new int[] { 1, 2, 4, 8 };
-    configKlt.templateRadius = 3;
-
-    PointTrackerTwoPass<GrayU8> tracker = FactoryPointTrackerTwoPass.klt(configKlt, new ConfigGeneralDetector(600, 3, 1), GrayU8.class, GrayS16.class);
-
-    DepthSparse3D<GrayU16> sparseDepth = new DepthSparse3D.I<>(1e-3);
-
-    // declares the algorithm
-    visualOdometry = FactoryVisualOdometry.depthDepthPnP(1.5, 120, 2, 200, 50, true, sparseDepth, tracker, GrayU8.class, GrayU16.class);
-
-    // Pass in intrinsic/extrinsic calibration. This can be changed in the
-    // future.
-    visualOdometry.setCalibration(depthParam.visualParam, new DoNothing2Transform2_F32());
-
-    viewerFixed = VisualizeData.createPointCloudViewer();
-    viewerFixed.setCameraHFov(PerspectiveOps.computeHFov(param));
-    viewerFixed.setTranslationStep(15);
-  }
-
-  private void processOdometry() {
-
-    GrayU8 gray = new GrayU8(rgb.width, rgb.height);
-    ColorRgb.rgbToGray_Weighted(rgb, gray);
-    if (!visualOdometry.process(gray, depth)) {
-      throw new RuntimeException("VO Failed!");
-    }
-
-    Se3_F64 leftToWorld = visualOdometry.getCameraToWorld();
-    Vector3D_F64 T = leftToWorld.getT();
-    DMatrixRMaj R = leftToWorld.getR();
-    System.out.printf("Location %8.2f %8.2f %8.2f      inliers %s\n", T.x, T.y, T.z, inlierPercent(visualOdometry));
-
-    int cols = R.getNumCols();
-    int rows = R.getNumRows();
-    System.out.printf("Rotation matrix \n");
-    for (int x = 0; x < cols; x++) {
-      for (int y = 0; y < rows; y++) {
-        Double rotation = R.get(x, y);
-        System.out.printf("%8.2f", rotation);
-      }
-      System.out.printf("\n");
-    }
-    System.out.printf("\n");
-    pointsFixed.clear();
-    // Rotate and transform
-
-    // Load the (4*4) Transformation matrix from Rotations (3*3) and
-    // Translations (3*1)
-    // From the Odometry
-    transMat.set(0, 0, R.get(0, 0));
-    transMat.set(1, 0, R.get(1, 0));
-    transMat.set(2, 0, R.get(2, 0));
-    transMat.set(3, 0, T.getX());
-    transMat.set(0, 1, R.get(0, 0));
-    transMat.set(1, 1, R.get(1, 1));
-    transMat.set(2, 1, R.get(2, 1));
-    transMat.set(3, 1, T.getY());
-    transMat.set(0, 2, R.get(0, 2));
-    transMat.set(1, 2, R.get(1, 2));
-    transMat.set(2, 2, R.get(2, 2));
-    transMat.set(3, 2, T.getZ());
-    transMat.set(0, 3, 0.0);
-    transMat.set(1, 3, 0.0);
-    transMat.set(2, 3, 0.0);
-    transMat.set(3, 3, 1.0);
-
-    // Load the (4*4) Transformation matrix from Rotations (3*3) and
-    // Translations (3*1)
-    // No rotation or transformation (unit matrix)
-    // 1 0 0 0
-    // 0 1 0 0
-    // 0 0 1 0
-    // 0 0 0 1
-    transMat.set(0, 0, 1.0);
-    transMat.set(1, 0, 0.0);
-    transMat.set(2, 0, 0.0);
-    transMat.set(3, 0, 0.0); // Translate X
-    transMat.set(0, 1, 0.0);
-    transMat.set(1, 1, 1.0);
-    transMat.set(2, 1, 0.0);
-    transMat.set(3, 1, 0.0); // Translate Y
-    transMat.set(0, 2, 0.0);
-    transMat.set(1, 2, 0.0);
-    transMat.set(2, 2, 1.0);
-    transMat.set(3, 2, 0.0); // Translate Z
-    transMat.set(0, 3, 0.0);
-    transMat.set(1, 3, 0.0);
-    transMat.set(2, 3, 0.0);
-    transMat.set(3, 3, 1.0);
-
-    log.info("Points size() 2", points.size(), "\n");
-    for (int i = 0; i < points.size(); i++) {
-      // Transform from cartesian to homogenous coordinates ( 4 dimensions )
-      Point3D_F64 p = points.get(i);
-      pointMatIn.set(0, 0, p.getX());
-      pointMatIn.set(1, 0, p.getY());
-      pointMatIn.set(2, 0, p.getZ());
-      pointMatIn.set(3, 0, 1.0);
-      // This statement executes the Matrix multiplication defined in transform
-      // Log.info("Points in ", pointMatIn.get(0, 0), " ", pointMatIn.get(1, 0),
-      // " ", pointMatIn.get(2, 0), " ", pointMatIn.get(3,
-      // 0));
-      transform.perform();
-      // Log.info("Points out ", pointMatOut.get(0, 0), " ", pointMatOut.get(1,
-      // 0), " ", pointMatOut.get(2, 0), " ",
-      // pointMatOut.get(3, 0));
-      Point3D_F64 pFixed = new Point3D_F64(pointMatOut.get(0, 0) / pointMatOut.get(3, 0), pointMatOut.get(1, 0) / pointMatOut.get(3, 0),
-          pointMatOut.get(2, 0) / pointMatOut.get(3, 0));
-      pointsFixed.add(pFixed);
-    }
-
-    viewerFixed.clearPoints();
-    viewerFixed.addCloud(pointsFixed, colors);
-    viewerFixed.getComponent().repaint();
-
-  }
-
-  private void sleep(int millis) {
-    try {
-      Thread.sleep(millis);
-    } catch (InterruptedException e) {
-    }
-
-  }
-
-  protected void processDepth(FrameMode mode, ByteBuffer frame, int timestamp) {
-
-    // System.out.println("Got depth! "+timestamp);
-    if (firstDepth) {
-      depth.reshape(mode.getWidth(), mode.getHeight());
-      firstDepth = false;
-    }
-
-    // Skip frames until the previous depth map has been shown
-    if (!depthAvailable) {
-      // Convert the frame to a depth map))
-      UtilOpenKinect.bufferDepthToU16(frame, depth);
-      // Log.info("frame.capacity", frame.capacity());
-      // Log.info("depthAvailable", depth.width, depth.height);
-      depthAvailable = true;
-    }
-  }
-
-  protected void processRgb(FrameMode mode, ByteBuffer frame, int timestamp) {
-
-    if (mode.getVideoFormat() != VideoFormat.RGB) {
-      System.out.println("Bad rgb format!");
-    }
-
-    // System.out.println("Got rgb! "+timestamp);
-    if (firstVideo) {
-      rgb.reshape(mode.getWidth(), mode.getHeight());
-      viewer.getComponent().setPreferredSize(new Dimension(rgb.width, rgb.height));
-      firstVideo = false;
-    }
-
-    // Skip frames until the previous video has been shown
-    if (!videoAvailable) {
-      UtilOpenKinect.bufferRgbToMsU8(frame, rgb);
-      // Log.info("videoAvailable");
-      videoAvailable = true;
-    }
-
-  }
-
-  /**
-   * If the algorithm implements AccessPointTracks3D, then count the number of
-   * inlier features and return a string.
-   * 
-   * @param alg
-   *          algorithm
-   * @return a string
-   */
-  public static String inlierPercent(VisualOdometry alg) {
-    if (!(alg instanceof AccessPointTracks3D))
-      return "";
-
-    AccessPointTracks3D access = (AccessPointTracks3D) alg;
-
-    int count = 0;
-    int N = access.getAllTracks().size();
-    for (int i = 0; i < N; i++) {
-      if (access.isInlier(i))
-        count++;
-    }
-
-    return String.format("%%%5.3f", 100.0 * count / N);
-  }
-
-  public static String toAbsolutePath(String maybeRelative) {
-    Path path = Paths.get(maybeRelative);
-    Path effectivePath = path;
-    if (!path.isAbsolute()) {
-      Path base = Paths.get("");
-      effectivePath = base.resolve(path).toAbsolutePath();
-    }
-    return effectivePath.normalize().toString();
-  }
-
-  public static void main(String args[]) {
-    OpenKinectOdometry app = new OpenKinectOdometry();
-
-    app.process();
-  }
-}
diff --git a/src/main/java/org/myrobotlab/boofcv/OpenKinectPointCloud.java b/src/main/java/org/myrobotlab/boofcv/OpenKinectPointCloud.java
deleted file mode 100644
index 924b57935a..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/OpenKinectPointCloud.java
+++ /dev/null
@@ -1,225 +0,0 @@
-/*
- * Copyright (c) 2011-2014, Peter Abeles. All Rights Reserved.
- *
- * This file is part of BoofCV (http://boofcv.org).
- *
- * 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 org.myrobotlab.boofcv;
-
-import java.awt.Dimension;
-import java.io.File;
-import java.nio.ByteBuffer;
-import java.util.ArrayList;
-import java.util.List;
-
-import org.ddogleg.struct.FastQueue;
-import org.myrobotlab.framework.Service;
-import org.myrobotlab.logging.LoggerFactory;
-import org.myrobotlab.service.BoofCv;
-import org.openkinect.freenect.Context;
-import org.openkinect.freenect.DepthFormat;
-import org.openkinect.freenect.DepthHandler;
-import org.openkinect.freenect.Device;
-import org.openkinect.freenect.FrameMode;
-import org.openkinect.freenect.Freenect;
-import org.openkinect.freenect.VideoFormat;
-import org.openkinect.freenect.VideoHandler;
-import org.slf4j.Logger;
-
-import com.sun.jna.NativeLibrary;
-
-import boofcv.alg.depth.VisualDepthOps;
-import boofcv.alg.geo.PerspectiveOps;
-import boofcv.gui.image.ShowImages;
-import boofcv.io.calibration.CalibrationIO;
-import boofcv.openkinect.UtilOpenKinect;
-import boofcv.struct.FastQueueArray_I32;
-import boofcv.struct.calib.CameraPinholeRadial;
-import boofcv.struct.image.GrayU16;
-import boofcv.struct.image.GrayU8;
-import boofcv.struct.image.Planar;
-import boofcv.visualize.PointCloudViewer;
-import boofcv.visualize.VisualizeData;
-import georegression.struct.point.Point3D_F64;
-
-/**
- * Example demonstrating how to process and display data from the Kinect.
- *
- * @author Peter Abeles and Mats Önnerby
- */
-public class OpenKinectPointCloud {
-
-  {
-    // be sure to set OpenKinectExampleParam.PATH_TO_SHARED_LIBRARY to the
-    // location of your shared library!
-    NativeLibrary.addSearchPath("freenect", OpenKinectExampleParam.PATH_TO_SHARED_LIBRARY);
-  }
-
-  static final Logger log = LoggerFactory.getLogger(OpenKinectPointCloud.class);
-
-  private PointCloudViewer viewer;
-
-  private volatile boolean videoAvailable = false;
-  private volatile boolean depthAvailable = false;
-
-  boolean firstDepth = true;
-  boolean firstVideo = true;
-  boolean firstImage = true;
-
-  String baseDir = Service.getResourceDir(BoofCv.class);
-  String nameCalib = "intrinsic.yaml";
-
-  Planar<GrayU8> rgb = new Planar<>(GrayU8.class, 1, 1, 3);
-  GrayU16 depth = new GrayU16(1, 1);
-
-  List<Point3D_F64> points = new ArrayList<Point3D_F64>();
-  int colors[] = new int[1];
-
-  public void process() {
-
-    Context kinect = Freenect.createContext();
-
-    if (kinect.numDevices() < 0)
-      throw new RuntimeException("No kinect found!");
-
-    Device device = kinect.openDevice(0);
-
-    device.setDepthFormat(DepthFormat.REGISTERED);
-    device.setVideoFormat(VideoFormat.RGB);
-
-    CameraPinholeRadial param = CalibrationIO.load(new File(baseDir, nameCalib));
-
-    FastQueue<Point3D_F64> cloud = new FastQueue<>(Point3D_F64.class, true);
-    FastQueueArray_I32 cloudColor = new FastQueueArray_I32(3);
-
-    viewer = VisualizeData.createPointCloudViewer();
-    viewer.setCameraHFov(PerspectiveOps.computeHFov(param));
-    viewer.setTranslationStep(15);
-
-    device.startDepth(new DepthHandler() {
-      @Override
-      public void onFrameReceived(FrameMode mode, ByteBuffer frame, int timestamp) {
-        processDepth(mode, frame, timestamp);
-      }
-    });
-    device.startVideo(new VideoHandler() {
-      @Override
-      public void onFrameReceived(FrameMode mode, ByteBuffer frame, int timestamp) {
-        processRgb(mode, frame, timestamp);
-      }
-    });
-
-    long starTime = System.currentTimeMillis();
-    while (starTime + 100000 > System.currentTimeMillis()) {
-
-      if (videoAvailable && depthAvailable) {
-        if (firstImage) {
-          viewer.getComponent().setPreferredSize(new Dimension(rgb.width, rgb.height));
-        }
-
-        VisualDepthOps.depthTo3D(param, rgb, depth, cloud, cloudColor);
-
-        if (colors.length != cloud.size()) {
-          colors = new int[cloud.size()];
-          points = new ArrayList<Point3D_F64>(cloud.size());
-        }
-
-        points.clear();
-        for (int i = 0; i < cloud.size; i++) {
-          Point3D_F64 p = cloud.get(i);
-          int[] color = cloudColor.get(i);
-          int c = (color[0] << 16) | (color[1] << 8) | color[2];
-          points.add(p);
-          colors[i] = c;
-        }
-
-        viewer.clearPoints();
-        if (colors.length != points.size()) {
-          log.info("WTF", colors.length, points.size(), cloud.size);
-        }
-        viewer.addCloud(points, colors);
-
-        if (firstImage) {
-          ShowImages.showWindow(viewer.getComponent(), "Point Cloud", true);
-          firstImage = false;
-        } else {
-          viewer.getComponent().repaint();
-        }
-        videoAvailable = false;
-        depthAvailable = false;
-      }
-      sleep(10);
-    }
-    System.out.println("100 Seconds elapsed");
-
-    device.stopDepth();
-    device.stopVideo();
-    device.close();
-  }
-
-  private void sleep(int millis) {
-    try {
-      Thread.sleep(millis);
-    } catch (InterruptedException e) {
-    }
-
-  }
-
-  protected void processDepth(FrameMode mode, ByteBuffer frame, int timestamp) {
-
-    // System.out.println("Got depth! "+timestamp);
-    if (firstDepth) {
-      depth.reshape(mode.getWidth(), mode.getHeight());
-      firstDepth = false;
-    }
-
-    // Skip frames until the previous depth map has been shown
-    if (!depthAvailable) {
-      // Convert the frame to a depth map))
-      UtilOpenKinect.bufferDepthToU16(frame, depth);
-      // Log.info("frame.capacity", frame.capacity());
-      // Log.info("depthAvailable", depth.width, depth.height);
-      depthAvailable = true;
-    }
-  }
-
-  protected void processRgb(FrameMode mode, ByteBuffer frame, int timestamp) {
-
-    if (mode.getVideoFormat() != VideoFormat.RGB) {
-      System.out.println("Bad rgb format!");
-    }
-
-    // System.out.println("Got rgb! "+timestamp);
-    if (firstVideo) {
-      rgb.reshape(mode.getWidth(), mode.getHeight());
-      viewer.getComponent().setPreferredSize(new Dimension(rgb.width, rgb.height));
-      firstVideo = false;
-    }
-
-    // Skip frames until the previous video has been shown
-    if (!videoAvailable) {
-      UtilOpenKinect.bufferRgbToMsU8(frame, rgb);
-      // Log.info("videoAvailable");
-      videoAvailable = true;
-    }
-
-  }
-
-  public static void main(String args[]) {
-    OpenKinectPointCloud app = new OpenKinectPointCloud();
-
-    app.process();
-  }
-}
diff --git a/src/main/java/org/myrobotlab/boofcv/OpenKinectStreamingTest.java b/src/main/java/org/myrobotlab/boofcv/OpenKinectStreamingTest.java
deleted file mode 100644
index 4cb9e28641..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/OpenKinectStreamingTest.java
+++ /dev/null
@@ -1,141 +0,0 @@
-/*
- * Copyright (c) 2011-2014, Peter Abeles. All Rights Reserved.
- *
- * This file is part of BoofCV (http://boofcv.org).
- *
- * 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 org.myrobotlab.boofcv;
-
-import java.awt.image.BufferedImage;
-import java.nio.ByteBuffer;
-
-import org.openkinect.freenect.Context;
-import org.openkinect.freenect.DepthFormat;
-import org.openkinect.freenect.DepthHandler;
-import org.openkinect.freenect.Device;
-import org.openkinect.freenect.FrameMode;
-import org.openkinect.freenect.Freenect;
-import org.openkinect.freenect.VideoFormat;
-import org.openkinect.freenect.VideoHandler;
-
-import com.sun.jna.NativeLibrary;
-
-import boofcv.gui.image.ImagePanel;
-import boofcv.gui.image.ShowImages;
-import boofcv.gui.image.VisualizeImageData;
-import boofcv.io.image.ConvertBufferedImage;
-import boofcv.openkinect.UtilOpenKinect;
-import boofcv.struct.image.GrayU16;
-import boofcv.struct.image.GrayU8;
-import boofcv.struct.image.Planar;
-
-/**
- * Example demonstrating how to process and display data from the Kinect.
- *
- * @author Peter Abeles
- */
-public class OpenKinectStreamingTest {
-
-  {
-    // be sure to set OpenKinectExampleParam.PATH_TO_SHARED_LIBRARY to the
-    // location of your shared library!
-    NativeLibrary.addSearchPath("freenect", OpenKinectExampleParam.PATH_TO_SHARED_LIBRARY);
-  }
-
-  Planar<GrayU8> rgb = new Planar<>(GrayU8.class, 1, 1, 3);
-  GrayU16 depth = new GrayU16(1, 1);
-
-  BufferedImage outRgb;
-  ImagePanel guiRgb;
-
-  BufferedImage outDepth;
-  ImagePanel guiDepth;
-
-  public void process() {
-    Context kinect = Freenect.createContext();
-
-    if (kinect.numDevices() < 0)
-      throw new RuntimeException("No kinect found!");
-
-    Device device = kinect.openDevice(0);
-
-    device.setDepthFormat(DepthFormat.REGISTERED);
-    device.setVideoFormat(VideoFormat.RGB);
-
-    device.startDepth(new DepthHandler() {
-      @Override
-      public void onFrameReceived(FrameMode mode, ByteBuffer frame, int timestamp) {
-        processDepth(mode, frame, timestamp);
-      }
-    });
-    device.startVideo(new VideoHandler() {
-      @Override
-      public void onFrameReceived(FrameMode mode, ByteBuffer frame, int timestamp) {
-        processRgb(mode, frame, timestamp);
-      }
-    });
-
-    long starTime = System.currentTimeMillis();
-    while (starTime + 100000 > System.currentTimeMillis()) {
-    }
-    System.out.println("100 Seconds elapsed");
-
-    device.stopDepth();
-    device.stopVideo();
-    device.close();
-
-  }
-
-  protected void processDepth(FrameMode mode, ByteBuffer frame, int timestamp) {
-    System.out.println("Got depth! " + timestamp);
-
-    if (outDepth == null) {
-      depth.reshape(mode.getWidth(), mode.getHeight());
-      outDepth = new BufferedImage(depth.width, depth.height, BufferedImage.TYPE_INT_RGB);
-      guiDepth = ShowImages.showWindow(outDepth, "Depth Image");
-    }
-
-    UtilOpenKinect.bufferDepthToU16(frame, depth);
-
-    // VisualizeImageData.grayUnsigned(depth,outDepth,UtilOpenKinect.FREENECT_DEPTH_MM_MAX_VALUE);
-    VisualizeImageData.disparity(depth, outDepth, 0, UtilOpenKinect.FREENECT_DEPTH_MM_MAX_VALUE, 0);
-    guiDepth.repaint();
-  }
-
-  protected void processRgb(FrameMode mode, ByteBuffer frame, int timestamp) {
-    if (mode.getVideoFormat() != VideoFormat.RGB) {
-      System.out.println("Bad rgb format!");
-    }
-
-    System.out.println("Got rgb!   " + timestamp);
-
-    if (outRgb == null) {
-      rgb.reshape(mode.getWidth(), mode.getHeight());
-      outRgb = new BufferedImage(rgb.width, rgb.height, BufferedImage.TYPE_INT_RGB);
-      guiRgb = ShowImages.showWindow(outRgb, "RGB Image");
-    }
-
-    UtilOpenKinect.bufferRgbToMsU8(frame, rgb);
-    ConvertBufferedImage.convertTo_U8(rgb, outRgb, true);
-
-    guiRgb.repaint();
-  }
-
-  public static void main(String args[]) {
-    OpenKinectStreamingTest app = new OpenKinectStreamingTest();
-
-    app.process();
-  }
-}
diff --git a/src/main/java/org/myrobotlab/boofcv/OverlayRgbDepthStreamsApp.java b/src/main/java/org/myrobotlab/boofcv/OverlayRgbDepthStreamsApp.java
deleted file mode 100644
index b35c089f78..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/OverlayRgbDepthStreamsApp.java
+++ /dev/null
@@ -1,98 +0,0 @@
-/*
- * Copyright (c) 2011-2014, Peter Abeles. All Rights Reserved.
- *
- * This file is part of BoofCV (http://boofcv.org).
- *
- * 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 org.myrobotlab.boofcv;
-
-import java.awt.AlphaComposite;
-import java.awt.Graphics2D;
-import java.awt.image.BufferedImage;
-
-import org.openkinect.freenect.Context;
-import org.openkinect.freenect.Device;
-import org.openkinect.freenect.Freenect;
-import org.openkinect.freenect.Resolution;
-
-import com.sun.jna.NativeLibrary;
-
-import boofcv.gui.image.ImagePanel;
-import boofcv.gui.image.ShowImages;
-import boofcv.gui.image.VisualizeImageData;
-import boofcv.io.image.ConvertBufferedImage;
-import boofcv.openkinect.StreamOpenKinectRgbDepth;
-import boofcv.openkinect.UtilOpenKinect;
-import boofcv.struct.image.GrayU16;
-import boofcv.struct.image.GrayU8;
-import boofcv.struct.image.Planar;
-
-/**
- * @author Peter Abeles
- */
-public class OverlayRgbDepthStreamsApp implements StreamOpenKinectRgbDepth.Listener {
-  {
-    // be sure to set OpenKinectExampleParam.PATH_TO_SHARED_LIBRARY to the
-    // location of your shared library!
-    NativeLibrary.addSearchPath("freenect", OpenKinectExampleParam.PATH_TO_SHARED_LIBRARY);
-  }
-
-  Resolution resolution = Resolution.MEDIUM;
-
-  BufferedImage buffRgb;
-  BufferedImage buffDepth;
-
-  ImagePanel gui;
-
-  public void process() {
-
-    int w = UtilOpenKinect.getWidth(resolution);
-    int h = UtilOpenKinect.getHeight(resolution);
-
-    buffRgb = new BufferedImage(w, h, BufferedImage.TYPE_INT_RGB);
-    buffDepth = new BufferedImage(w, h, BufferedImage.TYPE_INT_RGB);
-
-    gui = ShowImages.showWindow(buffRgb, "Kinect Overlay");
-
-    StreamOpenKinectRgbDepth stream = new StreamOpenKinectRgbDepth();
-    Context kinect = Freenect.createContext();
-
-    if (kinect.numDevices() < 0)
-      throw new RuntimeException("No kinect found!");
-
-    Device device = kinect.openDevice(0);
-    stream.start(device, resolution, this);
-  }
-
-  @Override
-  public void processKinect(Planar<GrayU8> rgb, GrayU16 depth, long timeRgb, long timeDepth) {
-    VisualizeImageData.disparity(depth, buffDepth, 0, UtilOpenKinect.FREENECT_DEPTH_MM_MAX_VALUE, 0);
-    ConvertBufferedImage.convertTo_U8(rgb, buffRgb, true);
-
-    Graphics2D g2 = buffRgb.createGraphics();
-    float alpha = 0.5f;
-    int type = AlphaComposite.SRC_OVER;
-    AlphaComposite composite = AlphaComposite.getInstance(type, alpha);
-    g2.setComposite(composite);
-    g2.drawImage(buffDepth, 0, 0, null);
-
-    gui.repaint();
-  }
-
-  public static void main(String args[]) {
-    OverlayRgbDepthStreamsApp app = new OverlayRgbDepthStreamsApp();
-    app.process();
-  }
-}
diff --git a/src/main/java/org/myrobotlab/boofcv/PlaybackKinectLogApp.java b/src/main/java/org/myrobotlab/boofcv/PlaybackKinectLogApp.java
deleted file mode 100644
index c4a3603a21..0000000000
--- a/src/main/java/org/myrobotlab/boofcv/PlaybackKinectLogApp.java
+++ /dev/null
@@ -1,95 +0,0 @@
-/*
- * Copyright (c) 2011-2014, Peter Abeles. All Rights Reserved.
- *
- * This file is part of BoofCV (http://boofcv.org).
- *
- * 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 org.myrobotlab.boofcv;
-
-import java.awt.image.BufferedImage;
-import java.io.IOException;
-
-import org.ddogleg.struct.GrowQueue_I8;
-
-import boofcv.gui.image.ImageGridPanel;
-import boofcv.gui.image.ShowImages;
-import boofcv.gui.image.VisualizeImageData;
-import boofcv.io.image.ConvertBufferedImage;
-import boofcv.io.image.UtilImageIO;
-import boofcv.misc.BoofMiscOps;
-import boofcv.openkinect.UtilOpenKinect;
-import boofcv.struct.image.GrayU16;
-import boofcv.struct.image.GrayU8;
-import boofcv.struct.image.Planar;
-
-/**
- * @author Peter Abeles
- */
-public class PlaybackKinectLogApp {
-  ImageGridPanel gui;
-
-  String directory;
-
-  GrowQueue_I8 data = new GrowQueue_I8();
-  boolean depthIsPng = false;
-
-  // image with depth information
-  private GrayU16 depth = new GrayU16(1, 1);
-  // image with color information
-  private Planar<GrayU8> rgb = new Planar<>(GrayU8.class, 1, 1, 3);
-
-  BufferedImage outRgb;
-  BufferedImage outDepth;
-
-  public PlaybackKinectLogApp(String directory) {
-    this.directory = directory;
-  }
-
-  public void process() throws IOException {
-    parseFrame(0);
-
-    outRgb = new BufferedImage(rgb.getWidth(), rgb.getHeight(), BufferedImage.TYPE_INT_RGB);
-    outDepth = new BufferedImage(depth.getWidth(), depth.getHeight(), BufferedImage.TYPE_INT_RGB);
-
-    gui = new ImageGridPanel(1, 2, outRgb, outDepth);
-    ShowImages.showWindow(gui, "Kinect Data");
-
-    int frame = 1;
-    while (true) {
-      parseFrame(frame++);
-      ConvertBufferedImage.convertTo_U8(rgb, outRgb, true);
-      VisualizeImageData.disparity(depth, outDepth, 0, UtilOpenKinect.FREENECT_DEPTH_MM_MAX_VALUE, 0);
-      gui.repaint();
-      BoofMiscOps.pause(30);
-    }
-  }
-
-  private void parseFrame(int frameNumber) throws IOException {
-    UtilImageIO.loadPPM_U8(String.format("%s/rgb%07d.ppm", directory, frameNumber), rgb, data);
-    if (depthIsPng) {
-      BufferedImage image = UtilImageIO.loadImage(String.format("%s/depth%07d.png", directory, frameNumber));
-      ConvertBufferedImage.convertFrom(image, depth, true);
-    } else {
-      UtilOpenKinect.parseDepth(String.format("%s/depth%07d.depth", directory, frameNumber), depth, data);
-    }
-
-  }
-
-  public static void main(String args[]) throws IOException {
-    PlaybackKinectLogApp app = new PlaybackKinectLogApp("log");
-
-    app.process();
-  }
-}
diff --git a/src/main/java/org/myrobotlab/service/interfaces/ComputerVision.java b/src/main/java/org/myrobotlab/cv/ComputerVision.java
similarity index 81%
rename from src/main/java/org/myrobotlab/service/interfaces/ComputerVision.java
rename to src/main/java/org/myrobotlab/cv/ComputerVision.java
index cee01671db..56ba55e2b5 100644
--- a/src/main/java/org/myrobotlab/service/interfaces/ComputerVision.java
+++ b/src/main/java/org/myrobotlab/cv/ComputerVision.java
@@ -1,6 +1,5 @@
-package org.myrobotlab.service.interfaces;
+package org.myrobotlab.cv;
 
-import org.myrobotlab.cv.CvFilter;
 import org.myrobotlab.framework.interfaces.NameProvider;
 
 /**
diff --git a/src/main/java/org/myrobotlab/opencv/OpenCVFilterKinectPointCloud.java b/src/main/java/org/myrobotlab/opencv/OpenCVFilterKinectPointCloud.java
deleted file mode 100644
index c3906f34da..0000000000
--- a/src/main/java/org/myrobotlab/opencv/OpenCVFilterKinectPointCloud.java
+++ /dev/null
@@ -1,310 +0,0 @@
-/**
- *                    
- * @author grog (at) myrobotlab.org
- *  
- * This file is part of MyRobotLab (http://myrobotlab.org).
- *
- * MyRobotLab is free software: you can redistribute it and/or modify
- * it under the terms of the Apache License 2.0 as published by
- * the Free Software Foundation, either version 2 of the License, or
- * (at your option) any later version (subject to the "Classpath" exception
- * as provided in the LICENSE.txt file that accompanied this code).
- *
- * MyRobotLab is distributed in the hope that it will be useful or fun,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * Apache License 2.0 for more details.
- *
- * All libraries in thirdParty bundle are subject to their own license
- * requirements - please refer to http://myrobotlab.org/libraries for 
- * details.
- * 
- * Enjoy !
- * 
- * */
-
-package org.myrobotlab.opencv;
-
-import static org.bytedeco.opencv.global.opencv_core.IPL_DEPTH_8U;
-
-import java.awt.Graphics2D;
-import java.awt.image.BufferedImage;
-import java.io.File;
-import java.nio.ByteBuffer;
-import java.util.ArrayList;
-import java.util.List;
-
-import org.apache.commons.math3.geometry.euclidean.threed.SphericalCoordinates;
-import org.bytedeco.javacpp.indexer.UByteIndexer;
-import org.bytedeco.javacpp.indexer.UShortRawIndexer;
-import org.bytedeco.javacv.Parallel;
-import org.bytedeco.opencv.opencv_core.AbstractIplImage;
-import org.bytedeco.opencv.opencv_core.IplImage;
-import org.myrobotlab.framework.Service;
-import org.myrobotlab.logging.LoggerFactory;
-import org.myrobotlab.logging.LoggingFactory;
-import org.myrobotlab.math.geometry.Point;
-import org.myrobotlab.math.geometry.Point3df;
-import org.myrobotlab.math.geometry.PointCloud;
-import org.myrobotlab.service.BoofCv;
-import org.myrobotlab.service.JMonkeyEngine;
-import org.myrobotlab.service.OpenCV;
-import org.myrobotlab.service.Runtime;
-import org.slf4j.Logger;
-
-import boofcv.alg.distort.radtan.RemoveRadialPtoN_F64;
-import boofcv.io.calibration.CalibrationIO;
-import boofcv.struct.calib.CameraPinholeRadial;
-import georegression.struct.point.Point2D_F64;
-
-/**
- * <pre>
- * 
- * &#64;author GroG
- * 
- * references :
- *  http://blog.elonliu.com/2017/03/18/kinect-coordinate-mapping-summary-and-pitfalls/
- *  https://smeenk.com/kinect-field-of-view-comparison/
- *  https://stackoverflow.com/questions/17832238/kinect-intrinsic-parameters-from-field-of-view/18199938#18199938
- *  https://answers.ros.org/question/195034/coordinates-of-a-specific-pixel-in-depthimage-published-by-kinect/
- * 
- * </pre>
- */
-public class OpenCVFilterKinectPointCloud extends OpenCVFilter {
-
-  // useful data for the kinect is 632 X 480 - 8 pixels on the right edge are
-  // not good data
-  // http://groups.google.com/group/openkinect/browse_thread/thread/6539281cf451ae9e?pli=1
-
-  public final static Logger log = LoggerFactory.getLogger(OpenCVFilterKinectPointCloud.class);
-
-  private static final long serialVersionUID = 1L;
-
-  public boolean clearPoints = false;
-
-  transient IplImage lastDepth = null;
-
-  IplImage returnImage = null;
-
-  /**
-   * list of samplepoint to return depth
-   */
-  List<Point> samplePoints = new ArrayList<>();
-
-  PointCloud pointCloud = null;
-
-  int colors[] = null;
-
-  SphericalCoordinates transformer = null;
-
-  boolean clearSamplePoints = false;
-
-  Point3df cameraLocation = new Point3df();
-  // pitch yaw heading necessary ? - or heading suffice ?
-  float cameraHeading = 0;
-  float cameraTilt = 0;// degrees ?
-  double r, theta, phi;
-  Point3df[] depthBuffer;
-  float[] colorBuffer;
-  IplImage color;
-  // double focalLength = h / 2 * Math.tan((43 * 0.0174533)/2);
-  // BoofCv
-  RemoveRadialPtoN_F64 p2n = null;
-
-  int width, height = 0;
-
-  public OpenCVFilterKinectPointCloud(String name) {
-    super(name);
-
-    String baseDir = Service.getResourceDir(BoofCv.class);
-    String nameCalib = "intrinsic.yaml";
-
-    CameraPinholeRadial param = CalibrationIO.load(new File(baseDir, nameCalib));
-    p2n = new RemoveRadialPtoN_F64();
-    p2n.setK(param.fx, param.fy, param.skew, param.cx, param.cy).setDistortion(param.radial, param.t1, param.t2);
-
-    // http://myrobotlab.org/content/useful-kinect-info
-    // vertical focal length
-    theta = 43 * 0.017453;
-    phi = 57 * 0.017453;
-    r = 1;
-  }
-
-  @Override
-  public void imageChanged(IplImage image) {
-    width = image.width();
-    height = image.height();
-  }
-
-  @Override
-  public IplImage process(IplImage depth) throws InterruptedException {
-
-    if (depth.depth() != 16 && depth.nChannels() != 1) {
-      log.error("not valid kinect depth image expecting 1 channel 16 depth got {} channel {} depth", depth.depth(), depth.nChannels());
-      return depth;
-    }
-
-    if (transformer == null) {
-      transformer = new SphericalCoordinates(r, theta, phi);
-    }
-
-    lastDepth = depth;
-
-    if (clearSamplePoints) {
-      samplePoints.clear();
-      clearSamplePoints = false;
-    }
-
-    if (color == null) {
-      color = AbstractIplImage.create(depth.width(), depth.height(), IPL_DEPTH_8U, 3);
-    }
-
-    final UShortRawIndexer depthIdx = (UShortRawIndexer) depth.createIndexer();
-    final UByteIndexer colorIdx = color.createIndexer();
-
-    // f = camera focal length
-    // xv = x viewport
-    // yv = y viewport
-
-    // w = screen width
-    // h = screen height
-
-    // xw = x world coordinate
-    // xy = y world coordinate
-    // zy = z world coordinate
-
-    // buffer = FloatBuffer.allocate(depth.width() * depth.height());
-    depthBuffer = new Point3df[width * height];
-    if (colorBuffer == null) {
-      colorBuffer = new float[width * height * 4]; // RGBA
-    }
-
-    /**
-     * <pre>
-     * for (int i = 0; i < color.width() * color.height(); ++i) {
-     *   colorBuffer[i] = 0.5f;
-     *   colorBuffer[i + 1] = 0.5f;
-     *   colorBuffer[i + 2] = i % 100 * .999f;
-     *   colorBuffer[i + 3] = 1f;
-     * }
-     * </pre>
-     */
-
-    Point2D_F64 n = new Point2D_F64();
-
-    Parallel.loop(0, height, new Parallel.Looper() {
-      @Override
-      public void loop(int from, int to, int looperID) {
-        for (int xv = from; xv < to; xv++) {
-          for (int yv = 0; yv < width; yv++) {
-
-            // FIXME - find correct scale for x & y in mm
-
-            double xw, yw, zw = 0;
-            float depth = depthIdx.get(xv, yv);
-
-            // zw = D * f / sqrt(xv² + yv² + f²)
-            // https://hub.jmonkeyengine.org/t/point-cloud-visualization/25838
-
-            int index = yv * height + xv;
-            // colorIdx.put(index, 33);
-            // colorIdx.put(index+1, 33);
-
-            /**
-             * <pre>
-             * BoofCv way p2n.compute(xv,yv,n); Point3D_F64 p = new
-             * Point3D_F64(); p.z = depth; p.x = n.x*p.z; p.y = n.y*p.z;
-             * 
-             * float scaled = depth/1000;
-             * 
-             * yw = n.y*scaled; xw = n.x*scaled; zw = scaled; // really ?
-             */
-
-            zw = -1 * depth / 1000; // we want in 1 meter world unit
-            xw = 2 * (xv - 639 / 2) * Math.tan(57 / 2 * 0.0174533) * (zw / 640);
-            yw = 2 * (479 - yv - 479 / 2) * Math.tan(43 / 2 * 0.0174533) * (zw / 480);
-
-            // points[index] = new Point3df((float)xw,(float)yw,(float)zw);
-            // jmonkey has a flipped y/x
-            depthBuffer[index] = new Point3df((float) yw, (float) xw, (float) zw);
-            if (color != null) {
-
-            }
-          }
-        }
-      }
-    });
-
-    pointCloud = new PointCloud(depthBuffer);
-    pointCloud.setColors(colorBuffer);
-
-    // NO MORE PUBLISHING - just put into OpenCVData !!!
-    // publishPointCloud(pointCloud);
-
-    put(pointCloud);
-
-    depthIdx.release();
-    colorIdx.release();
-
-    return depth;
-  }
-
-  public void publishPlane() {
-    // spin through sample points
-    for (int i = 0; i < samplePoints.size(); ++i) {
-
-    }
-  }
-
-  @Override
-  public BufferedImage processDisplay(Graphics2D graphics, BufferedImage image) {
-    if (lastDepth == null) {
-      return image;
-    }
-    ByteBuffer buffer = lastDepth.getByteBuffer();
-    for (Point point : samplePoints) {
-
-      int depthBytesPerChannel = lastDepth.depth() / 8;
-      int depthIndex = point.y * lastDepth.widthStep() + point.x * lastDepth.nChannels() * depthBytesPerChannel;
-
-      String str = String.format("(%d,%d) %d", point.x, point.y, (buffer.get(depthIndex + 1) & 0xFF) << 8 | (buffer.get(depthIndex) & 0xFF));
-      graphics.drawString(str, point.x + 3, point.y);
-      graphics.drawOval(point.x, point.y, 2, 2);
-    }
-    return image;
-  }
-
-  @Override
-  public void samplePoint(Integer x, Integer y) {
-    samplePoints.add(new Point(x, y));
-  }
-
-  public void clearSamplePoints() {
-    clearSamplePoints = true;
-  }
-
-  public static void main(String[] args) {
-    try {
-      LoggingFactory.init("info");
-      Runtime.start("gui", "SwingGui");
-      JMonkeyEngine jme = (JMonkeyEngine) Runtime.start("jme", "JMonkeyEngine");
-      OpenCV cv = (OpenCV) Runtime.start("cv", "OpenCV");
-
-      jme.attach(cv);
-      // jme.subscribe(cv.getName(), "publishPointCloud");
-      Service.sleep(3000); // FIXME - fix race condition...
-
-      // kinect data
-      // cv.capture("../1543648225287");
-      cv.capture("../00000004.png");
-      // OpenCVFilterKinectPointCloud floor =
-      // (OpenCVFilterKinectPointCloud)cv.addFilter("floor","KinectFloorFinder");
-      OpenCVFilterKinectPointCloud cloud = (OpenCVFilterKinectPointCloud) cv.addFilter("cloud", "KinectPointCloud");
-
-    } catch (Exception e) {
-      log.error("main threw", e);
-    }
-
-  }
-
-}
diff --git a/src/main/java/org/myrobotlab/service/BoofCV.java b/src/main/java/org/myrobotlab/service/BoofCV.java
new file mode 100644
index 0000000000..b108b129e0
--- /dev/null
+++ b/src/main/java/org/myrobotlab/service/BoofCV.java
@@ -0,0 +1,431 @@
+package org.myrobotlab.service;
+
+import java.awt.Dimension;
+import java.awt.image.BufferedImage;
+import java.util.ArrayList;
+import java.util.LinkedHashMap;
+import java.util.List;
+import java.util.Map;
+
+import org.myrobotlab.boofcv.BoofCVFilter;
+import org.myrobotlab.boofcv.BoofCVFilterTrackerObjectQuad;
+import org.myrobotlab.cv.ComputerVision;
+import org.myrobotlab.cv.CvFilter;
+import org.myrobotlab.framework.Instantiator;
+import org.myrobotlab.framework.Service;
+import org.myrobotlab.image.WebImage;
+import org.myrobotlab.logging.Level;
+import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.logging.Logging;
+import org.myrobotlab.logging.LoggingFactory;
+import org.myrobotlab.service.config.BoofCVConfig;
+import org.slf4j.Logger;
+
+import com.github.sarxos.webcam.Webcam;
+
+//import boofcv.abst.video.VideoDisplay;
+//import boofcv.abst.video.VideoDisplayProcessing;
+import boofcv.gui.image.ImagePanel;
+import boofcv.gui.image.ShowImages;
+import boofcv.io.MediaManager;
+import boofcv.io.image.ConvertBufferedImage;
+import boofcv.io.image.SimpleImageSequence;
+import boofcv.io.webcamcapture.UtilWebcamCapture;
+import boofcv.io.wrapper.DefaultMediaManager;
+import boofcv.struct.image.GrayF32;
+import boofcv.struct.image.GrayU8;
+import boofcv.struct.image.ImageBase;
+import boofcv.struct.image.ImageType;
+
+public class BoofCV extends Service<BoofCVConfig>
+    implements ComputerVision /* Point2DfPublisher, Point2DfListener */ {
+
+  // FIXME - reconcile and make a real serializable enum with OpenCV definitions
+  public final String INPUT_SOURCE_CAMERA = "camera";
+  public final String INPUT_SOURCE_FILE = "imagefile";
+  
+  public class VideoProcessor implements Runnable {
+
+    volatile boolean running = false;
+
+    transient Thread worker = null;
+
+    @Override
+    public void run() {
+      capturing = true;
+      running = true;
+      try {
+        while (running) {
+          process();
+          frameIndex++;
+        }
+      } catch (Exception e) {
+        error(e);
+      }
+      capturing = false;
+      broadcastState();
+      worker = null;
+    }
+
+    synchronized void start() {
+      if (worker == null) {
+        worker = new Thread(this, String.format("%s-VideoProcessor", getName()));
+        worker.start();
+      } else {
+        log.info("{} video processor already running", getName());
+      }
+    }
+
+    synchronized void stop() {
+      running = false;
+    }
+
+  }
+
+  public final static Logger log = LoggerFactory.getLogger(BoofCV.class);
+
+  private static final long serialVersionUID = 1L;
+
+  /**
+   * capturing state
+   */
+  protected boolean capturing = false;
+
+  /**
+   * last buffered image to be processed
+   */
+  transient BufferedImage bimage = null;
+
+  /**
+   * list of cameras
+   */
+  List<String> cameras = new ArrayList<>();
+
+  // FIXME - put in config
+  String cameraDevice = null;
+
+  /**
+   * list of named filters to process the video stream
+   */
+  transient Map<String, BoofCVFilter> filters = new LinkedHashMap<>();
+
+  /**
+   * video stream frame index
+   */
+  protected int frameIndex = 0;
+
+  /**
+   * native swing display
+   */
+  transient private ImagePanel gui = null;
+
+  protected String inputSource = "camera";
+
+  protected boolean loop = true;
+
+  transient MediaManager media = DefaultMediaManager.INSTANCE;
+
+  boolean nativeViewer = true;
+
+  protected long ts = 0;
+
+  transient SimpleImageSequence<?> video = null;
+
+  transient protected com.github.sarxos.webcam.Webcam webcam = null;
+
+  boolean webViewer = true;
+
+  final VideoProcessor worker = new VideoProcessor();
+  private ImageBase<?> lastFrame;
+  private BufferedImage lastImage;
+
+  public BoofCV(String n, String id) {
+    super(n, id);
+  }
+
+  @Override
+  public CvFilter addFilter(String name, String filterType) {
+    String type = String.format("org.myrobotlab.boofcv.BoofCVFilter%s", filterType);
+    BoofCVFilter filter = (BoofCVFilter) Instantiator.getNewInstance(type, name);
+    if (filter == null) {
+      error("cannot create filter %s of type %s", name, type);
+      return null;
+    }
+    addFilter(filter);
+    return filter;
+  }
+
+  public BoofCVFilter addFilter(BoofCVFilter filter) {
+    filter.setBoofCV(this);
+
+    // guard against putting same name filter in
+    if (filters.containsKey(filter.getName())) {
+      warn("trying to add same named filter - %s - choose a different name", filter);
+      return filters.get(filter.getName());
+    }
+
+    // heh - protecting against concurrency the way Scala does it ;
+    Map<String, BoofCVFilter> newFilters = new LinkedHashMap<>();
+    newFilters.putAll(filters);
+    // add new filter
+    newFilters.put(filter.getName(), filter);
+    // switch to new references
+    filters = newFilters;
+    setDisplayFilter(filter.getName());
+    broadcastState();
+    return filter;
+
+  }
+
+  @Override
+  public void capture() {
+    worker.start();
+    capturing = true;
+    broadcastState();
+  }
+
+  @Override
+  public void disableAll() {
+    for (BoofCVFilter filter : filters.values()) {
+      filter.disable();
+    }
+    broadcastState();
+  }
+
+  @Override
+  public void disableFilter(String name) {
+    BoofCVFilter f = filters.get(name);
+    if (f != null && f.isEnabled()) {
+      f.disable();
+      broadcastState();
+    }
+  }
+
+  @Override
+  public void enableFilter(String name) {
+    BoofCVFilter f = filters.get(name);
+    if (f != null && !f.isEnabled()) {
+      f.enable();
+      broadcastState();
+    }
+  }
+
+  public List<String> getCameras() {
+    // Get a list of available camera names
+    List<Webcam> webcams = Webcam.getWebcams();
+    cameras = new ArrayList<>();
+    for (Webcam cam : webcams) {
+      cameras.add(cam.getName());
+    }
+    return cameras;
+  }
+
+  private ImageBase<?> getFrame() {
+
+    ImageBase<?> frame = null;
+
+    // shutdown video source if loop and has no next
+    // FIXME - second param image type info
+    if (video != null && !video.hasNext() && loop) {
+      video.close();
+      video = null;
+    }
+
+    // create a video source if one is specified and null reference
+    
+      if (config.inputSource == INPUT_SOURCE_FILE) {
+        if (video == null) {
+          // file sequence needs a video
+        ImageType<?> imageType = ImageType.pl(3, GrayU8.class);
+        imageType = ImageType.single(GrayF32.class);
+        // video = media.openVideo(config.inputFile, imageType);
+        video = media.openVideo(config.inputFile, ImageType.single(GrayU8.class));
+        }
+      } else if (config.inputSource == INPUT_SOURCE_CAMERA) {
+        // camera needs a webcam
+        // Configure webcam capture
+//        UtilWebcamCapture.CaptureInfo info = UtilWebcamCapture.selectSize(null,640,480);
+//        UtilWebcamCapture capture = UtilWebcamCapture.create(info);
+        if (webcam == null) {
+        // webcam = UtilWebcamCapture.openDevice(cameraDevice, 640,480);
+          webcam = UtilWebcamCapture.openDefault(640,480);
+        }
+      }
+    
+      // return a frame based on video source
+      if (config.inputSource == INPUT_SOURCE_FILE) {
+        frame = video.next();
+        if (frame != null) {
+          lastImage = video.getGuiImage();
+        }
+      } else if (config.inputSource == INPUT_SOURCE_CAMERA) {
+        BufferedImage image = webcam.getImage();
+        if (image != null) {
+          lastImage = image;
+        }
+        frame = ConvertBufferedImage.convertFrom(image, (GrayU8) null);
+      }
+      
+      if (frame != null) {
+        lastFrame = frame;
+      }
+
+    return frame;
+  }
+
+  private void process() {
+    // process the video stream
+
+    // get timestamp
+    ts = System.currentTimeMillis();
+
+    // get an image boofcv? frame
+    ImageBase<?> frame = getFrame();
+
+    try {
+      // iterate through filters
+      for (BoofCVFilter filter : filters.values()) {
+        frame = filter.process(frame);
+      }
+    } catch (Exception e) {
+      error(e);
+    }
+
+    // convert to Buffered Image ?
+    bimage = ConvertBufferedImage.convertTo(frame, bimage, true);
+
+    // display the image natively
+    if (nativeViewer) {
+      if (gui == null) {
+        gui = new ImagePanel();
+        // gui.setPreferredSize(webcam.getViewSize());
+        gui.setPreferredSize(new Dimension(frame.getWidth(), frame.getHeight()));
+        // gui.setPreferredSize(bimage.getViewSize());
+        ShowImages.showWindow(gui, getName(), true);
+      }
+
+      gui.setImageRepaint(bimage);
+      sleep(100);
+
+    } else {
+      if (gui != null) {
+        gui.setVisible(false);
+        gui = null;
+      }
+    }
+
+    // display the image via web
+    if (webViewer) {
+      WebImage webImage = new WebImage(bimage, getName(), frameIndex);
+      webImage.ts = ts;
+      // broadcast does not queue the image and operates on the same thread
+      broadcast("publishWebDisplay", webImage);
+    }
+
+    // publish results
+    // publishCvData
+
+  }
+
+  // FIXME put in an interface
+  public WebImage publishWebDisplay(WebImage data) {
+    return data;
+  }
+
+  @Override
+  public void removeFilter(String name) {
+    if (filters.containsKey(name)) {
+      Map<String, BoofCVFilter> newFilters = new LinkedHashMap<>();
+      newFilters.putAll(filters);
+      BoofCVFilter removed = newFilters.remove(name);
+      removed.release();
+      filters = newFilters;
+      broadcastState();
+    }
+  }
+
+  @Override
+  public void removeFilters() {
+    for (BoofCVFilter filter : filters.values()) {
+      filter.release();
+    }
+    filters = new LinkedHashMap<>();
+    broadcastState();
+  }
+
+  @Override
+  public Integer setCameraIndex(Integer index) {
+    getCameras();
+    if (cameras.size() > index) {
+      // Webcam.
+      // cameraDevice = UtilWebcamCapture.openDevice(cameraDevice, frameIndex,
+      // frameIndex)
+
+    }
+    return null;
+  }
+
+  @Override
+  public void setDisplayFilter(String name) {
+    // TODO Auto-generated method stub
+
+  }
+
+  @Override
+  public void stopCapture() {
+    worker.stop();
+    capturing = false;
+    broadcastState();
+  }
+  
+  public void capture(String filename) {
+    config.inputFile = filename;
+    // FIXME make a communal enum shared with opencv (and serializable)
+    config.inputSource = INPUT_SOURCE_FILE;        
+    capture();
+  }
+  
+  public void capture(int cameraIndex) {
+    config.cameraIndex = cameraIndex;
+    // FIXME make a communal enum shared with opencv (and serializable)
+    config.inputSource = INPUT_SOURCE_CAMERA;
+    capture();
+  }
+
+  public static void main(String[] args) {
+    try {
+
+      LoggingFactory.init(Level.INFO);
+
+      Runtime.start("webgui", "WebGui");
+
+      BoofCV boofcv = (BoofCV) Runtime.start("boofcv", "BoofCV");
+
+      List<String> cameras = boofcv.getCameras();
+
+      BoofCVFilterTrackerObjectQuad tracker = new BoofCVFilterTrackerObjectQuad("tracker");
+      tracker.setLocation(211.0, 162.0, 326.0, 153.0, 335.0, 258.0, 215.0, 249.0);
+      boofcv.addFilter(tracker);
+      // boofcv.addFilter("tracker", "TrackerObjectQuad");
+
+      boofcv.capture(0);
+      
+      // boofcv.capture("wildcat_robot.mjpeg");
+      // boofcv.capture("zoom.mjpeg");
+
+      // boofcv.capture();
+      log.info("here");
+      // Runtime.start("gui", "SwingGui");
+    } catch (Exception e) {
+      Logging.logError(e);
+    }
+  }
+
+  public BufferedImage getGuiImage() {  
+    if (lastImage != null) {
+      return lastImage;  
+    }
+    return null;
+  }
+
+}
diff --git a/src/main/java/org/myrobotlab/service/BoofCv.java b/src/main/java/org/myrobotlab/service/BoofCv.java
deleted file mode 100644
index 36b6d58239..0000000000
--- a/src/main/java/org/myrobotlab/service/BoofCv.java
+++ /dev/null
@@ -1,50 +0,0 @@
-package org.myrobotlab.service;
-
-import org.myrobotlab.framework.Service;
-import org.myrobotlab.logging.Level;
-import org.myrobotlab.logging.LoggerFactory;
-import org.myrobotlab.logging.Logging;
-import org.myrobotlab.logging.LoggingFactory;
-import org.myrobotlab.math.geometry.Point2df;
-import org.myrobotlab.service.config.ServiceConfig;
-import org.myrobotlab.service.interfaces.Point2DfListener;
-import org.myrobotlab.service.interfaces.Point2DfPublisher;
-import org.slf4j.Logger;
-
-public class BoofCv extends Service<ServiceConfig> implements Point2DfPublisher, Point2DfListener {
-
-  private static final long serialVersionUID = 1L;
-
-  public final static Logger log = LoggerFactory.getLogger(BoofCv.class);
-
-  public BoofCv(String n, String id) {
-    super(n, id);
-  }
-
-  @Override
-  public Point2df publishPoint2Df(Point2df point) {
-    return point;
-  }
-
-  @Override
-  public Point2df onPoint2Df(Point2df point) {
-    // System.out.println("Receinvig");
-    return point;
-  }
-
-  public static void main(String[] args) {
-    try {
-
-      LoggingFactory.init(Level.INFO);
-
-      // ImageType<Planar<GrayU8>> colorType = ImageType.pl(3,GrayU8.class);
-      BoofCv boofcv = (BoofCv) Runtime.start("boofcv", "BoofCv");
-
-      // BoofCV template = (BoofCV) Runtime.start("template", "BoofCV");
-      // Runtime.start("gui", "SwingGui");
-    } catch (Exception e) {
-      Logging.logError(e);
-    }
-  }
-
-}
diff --git a/src/main/java/org/myrobotlab/service/Tracking.java b/src/main/java/org/myrobotlab/service/Tracking.java
index d4d2c93128..205d0df3db 100644
--- a/src/main/java/org/myrobotlab/service/Tracking.java
+++ b/src/main/java/org/myrobotlab/service/Tracking.java
@@ -4,6 +4,7 @@
 import java.util.List;
 import java.util.Map;
 
+import org.myrobotlab.cv.ComputerVision;
 import org.myrobotlab.document.Classification;
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.framework.interfaces.ServiceInterface;
@@ -11,9 +12,7 @@
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.Pid.PidOutput;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.config.TrackingConfig;
-import org.myrobotlab.service.interfaces.ComputerVision;
 import org.myrobotlab.service.interfaces.PidControl;
 import org.myrobotlab.service.interfaces.ServoControl;
 import org.slf4j.Logger;
diff --git a/src/main/java/org/myrobotlab/service/abstracts/AbstractComputerVision.java b/src/main/java/org/myrobotlab/service/abstracts/AbstractComputerVision.java
index 0329c6c707..b229a8ccdc 100644
--- a/src/main/java/org/myrobotlab/service/abstracts/AbstractComputerVision.java
+++ b/src/main/java/org/myrobotlab/service/abstracts/AbstractComputerVision.java
@@ -1,7 +1,7 @@
 package org.myrobotlab.service.abstracts;
 
+import org.myrobotlab.cv.ComputerVision;
 import org.myrobotlab.service.config.ServiceConfig;
-import org.myrobotlab.service.interfaces.ComputerVision;
 
 public abstract class AbstractComputerVision<C extends ServiceConfig> extends AbstractVideoSource<C> implements ComputerVision {
 
diff --git a/src/main/java/org/myrobotlab/service/config/BoofCVConfig.java b/src/main/java/org/myrobotlab/service/config/BoofCVConfig.java
new file mode 100644
index 0000000000..f90c9ba81b
--- /dev/null
+++ b/src/main/java/org/myrobotlab/service/config/BoofCVConfig.java
@@ -0,0 +1,12 @@
+package org.myrobotlab.service.config;
+
+public class BoofCVConfig extends ServiceConfig {
+
+  public Integer cameraIndex = 0;
+  public String inputSource = "camera";
+  public String inputFile = null;
+  public boolean nativeViewer = true;
+  public boolean webViewer = false;
+  public boolean capturing = false;
+
+}
diff --git a/src/main/java/org/myrobotlab/service/meta/BoofCVMeta.java b/src/main/java/org/myrobotlab/service/meta/BoofCVMeta.java
new file mode 100644
index 0000000000..4312731854
--- /dev/null
+++ b/src/main/java/org/myrobotlab/service/meta/BoofCVMeta.java
@@ -0,0 +1,23 @@
+package org.myrobotlab.service.meta;
+
+import org.myrobotlab.logging.LoggerFactory;
+import org.myrobotlab.service.meta.abstracts.MetaData;
+import org.slf4j.Logger;
+
+public class BoofCVMeta extends MetaData {
+  private static final long serialVersionUID = 1L;
+  public final static Logger log = LoggerFactory.getLogger(BoofCVMeta.class);
+
+  /**
+   * This static method returns all the details of the class without it having
+   * to be constructed. It has description, categories, dependencies, and peer
+   * definitions.
+   */
+  public BoofCVMeta() {
+
+    addDependency("org.boofcv", "boofcv-all", "0.40.1");
+    addDescription("BoofCV computer vision service");
+    addCategory("vision");
+  }
+
+}
diff --git a/src/main/java/org/myrobotlab/service/meta/BoofCvMeta.java b/src/main/java/org/myrobotlab/service/meta/BoofCvMeta.java
deleted file mode 100644
index 476516ad43..0000000000
--- a/src/main/java/org/myrobotlab/service/meta/BoofCvMeta.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package org.myrobotlab.service.meta;
-
-import org.myrobotlab.logging.LoggerFactory;
-import org.myrobotlab.service.meta.abstracts.MetaData;
-import org.slf4j.Logger;
-
-public class BoofCvMeta extends MetaData {
-  private static final long serialVersionUID = 1L;
-  public final static Logger log = LoggerFactory.getLogger(BoofCvMeta.class);
-
-  /**
-   * This class is contains all the meta data details of a service. It's peers,
-   * dependencies, and all other meta data related to the service.
-   */
-  public BoofCvMeta() {
-
-    addDescription("a very portable vision library using pure Java");
-    setAvailable(true);
-    // add dependency if necessary
-    addDependency("org.boofcv", "boofcv-core", "0.31");
-    addDependency("org.boofcv", "boofcv-swing", "0.31");
-    addDependency("org.boofcv", "boofcv-openkinect", "0.31");
-    addCategory("vision", "video");
-  }
-
-}
diff --git a/src/main/resources/resource/BoofCv.png b/src/main/resources/resource/BoofCV.png
similarity index 100%
rename from src/main/resources/resource/BoofCv.png
rename to src/main/resources/resource/BoofCV.png
diff --git a/src/main/resources/resource/BoofCv/BoofCv.py b/src/main/resources/resource/BoofCV/BoofCV.py
similarity index 100%
rename from src/main/resources/resource/BoofCv/BoofCv.py
rename to src/main/resources/resource/BoofCV/BoofCV.py
diff --git a/src/main/resources/resource/BoofCv/basket_depth.png b/src/main/resources/resource/BoofCv/basket_depth.png
deleted file mode 100644
index 14773053550348e3d3c492b36a03f064ef183d53..0000000000000000000000000000000000000000
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diff --git a/src/main/resources/resource/BoofCv/boofcv.yml b/src/main/resources/resource/BoofCv/boofcv.yml
deleted file mode 100644
index c3a1f232ff..0000000000
--- a/src/main/resources/resource/BoofCv/boofcv.yml
+++ /dev/null
@@ -1,4 +0,0 @@
-!!org.myrobotlab.service.config.ServiceConfig
-listeners: null
-peers: null
-type: BoofCv
diff --git a/src/main/resources/resource/BoofCv/intrinsic.yaml b/src/main/resources/resource/BoofCv/intrinsic.yaml
deleted file mode 100644
index db7c7f9ca9..0000000000
--- a/src/main/resources/resource/BoofCv/intrinsic.yaml
+++ /dev/null
@@ -1,19 +0,0 @@
-# Pinhole camera model with radial and tangential distortion
-# (fx,fy) = focal length, (cx,cy) = principle point, (width,height) = image shape
-# radial = radial distortion, (t1,t2) = tangential distortion
-
-pinhole:
-  fx: 529.74137370586
-  fy: 529.5715453060717
-  cx: 312.57382117058427
-  cy: 257.05061008728114
-  width: 640
-  height: 480
-  skew: 0.0
-model: pinhole_radial_tangential
-radial_tangential:
-  radial:
-  - 0.17889353480851655
-  - -0.32301207366192053
-  t1: 0.0
-  t2: 0.0
diff --git a/src/main/resources/resource/BoofCv/visualdepth.yaml b/src/main/resources/resource/BoofCv/visualdepth.yaml
deleted file mode 100644
index b911c9a497..0000000000
--- a/src/main/resources/resource/BoofCv/visualdepth.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-# RGB Depth Camera Calibration
-model: visual_depth
-max_depth: 10000
-no_depth: 0
-intrinsic:
-  pinhole:
-    fx: 529.74137370586
-    fy: 529.5715453060717
-    cx: 312.57382117058427
-    cy: 257.05061008728114
-    width: 640
-    height: 480
-    skew: 0.0
-  model: pinhole_radial_tangential
-  radial_tangential:
-    radial:
-    - 0.17889353480851655
-    - -0.32301207366192053
-    t1: 0.0
-    t2: 0.0
\ No newline at end of file
diff --git a/src/main/resources/resource/WebGui/app/service/js/BoofCVGui.js b/src/main/resources/resource/WebGui/app/service/js/BoofCVGui.js
new file mode 100644
index 0000000000..9746f5d564
--- /dev/null
+++ b/src/main/resources/resource/WebGui/app/service/js/BoofCVGui.js
@@ -0,0 +1,243 @@
+angular.module('mrlapp.service.BoofCVGui', []).controller('BoofCVGuiCtrl', ['$scope', 'mrl', '$uibModal', function($scope, mrl, $uibModal) {
+    console.info('BoofCVGuiCtrl')
+    // grab a reference
+    var _self = this
+    // grab the message
+    var msg = this.msg
+
+    var addFilterDialog = null
+
+    $scope.fps = 0
+
+    $scope.myFile = null
+
+    $scope.lastFrameTs = null
+
+    $scope.stats = {
+        latency: 0,
+        fps: 0
+    }
+
+    $scope.samplePoint = {
+        x: 0,
+        y: 0
+    }
+
+    var avgSampleCnt = 30
+
+    var latencyDeltaAccumulator = 0
+
+    var lastFrameIndex = 0
+
+    var lastFrameTs = 0
+
+    /**
+     * Filter "Types" - this is the meta data type information necessary to build
+     * filter dialogs which get and set the filter attributes.
+     * in BoofCV.html - you can find were these are used when getFilterType() is called
+     */
+    $scope.filterMetaData = {
+        'AdaptiveThreshold': {
+            algorithm: 'mean'
+        },
+        'Affine': {
+        },
+
+        'Canny': {
+        },
+        'LKOpticalTrack': {
+        }// LKOpticalTrack
+
+    }
+
+    $scope.diplayImage = null
+
+    // first in list
+    $scope.selectedFilterType = 'AdaptiveThreshold'
+    // $scope.displayFilter = null
+
+    // local scope variables
+    // necessary because service.cameraIndex is an int but ng-option only handles strings
+    // $scope.cameraIndex = "0"
+    $scope.camera = {
+        index: "0"
+    }
+
+    $scope.possibleFilters = null
+
+    // initial state of service.
+
+    if ($scope.service.capturing) {
+        $scope.startCaptureLabel = "Stop Capture"
+        // $sce.trustAsResourceUrl ?
+        $scope.imgSource = "http://localhost:9090/input"
+    } else {
+        $scope.startCaptureLabel = "Start Capture"
+        $scope.imgSource = "service/img/BoofCV.png"
+    }
+
+    // Handle an update state call from BoofCV service.
+    this.updateState = function(service) {
+        $scope.service = service
+        console.info("Open CV State had been updated")
+        console.info(service)
+        // int to string conversion
+        $scope.camera.index = service.cameraIndex.toString()
+        if ($scope.service.capturing) {
+            console.info("Started capturing")
+            $scope.startCaptureLabel = "Stop Capture"
+            $scope.imgSource = "http://localhost:9090/input"
+        } else {
+            console.info("Stopped capturing.")
+            $scope.startCaptureLabel = "Start Capture"
+            $scope.imgSource = "service/img/BoofCV.png"
+        }
+
+    }
+
+    $scope.addFilter = function(size) {
+
+        addFilterDialog = $uibModal.open({
+            templateUrl: "addFilterDialog.html",
+            scope: $scope,
+            controller: function($scope) {
+                $scope.cancel = function() {
+                    addFilterDialog.dismiss()
+                }
+            }
+        })
+    }
+
+    $scope.addNamedFilter = function(name) {
+        console.info('addNamedFilter', name, $scope.selectedFilterType)
+        msg.send('addFilter', name, $scope.selectedFilterType)
+        if (addFilterDialog) {
+            addFilterDialog.dismiss()
+        }
+    }
+
+    $scope.setDisplayFilter = function(name) {
+        console.info('setDisplayFilter', name)
+        msg.send('setDisplayFilter', name)
+    }
+
+    this.onMsg = function(inMsg) {
+        let data = inMsg.data[0]
+        switch (inMsg.method) {
+        case 'onState':
+            _self.updateState(data)
+            $scope.$apply()
+            break
+        case 'onPossibleFilters':
+            $scope.possibleFilters = data
+            $scope.$apply()
+            break
+        case 'onWebDisplay':
+            // $scope.diplayImage = 'data:image/jpeg;base64,' + data
+            $scope.diplayImage = data.data
+            if (data.frameIndex % avgSampleCnt == 0) {
+                $scope.stats.latency = Math.round(latencyDeltaAccumulator / avgSampleCnt)
+                latencyDeltaAccumulator = 0
+                $scope.stats.fps = Math.round((data.frameIndex - lastFrameIndex) * 1000 / (data.ts - lastFrameTs))
+                lastFrameIndex = data.frameIndex
+                lastFrameTs = data.ts
+            }
+
+            latencyDeltaAccumulator += new Date().getTime() - data.ts
+
+            $scope.$apply()
+            break
+        default:
+            console.error("ERROR - unhandled method " + $scope.name + " " + inMsg.method)
+            break
+        }
+    }
+
+    // FIXME - rename isFitlerType('Canny')
+    $scope.isFilterType = function(type) {
+        if ($scope.service.filters[$scope.service.displayFilter]) {
+            return $scope.service.filters[$scope.service.displayFilter].type == type
+        }
+        return null
+    }
+
+    // get currently selected filter
+    $scope.getFilter = function() {
+        if ($scope.service.filters[$scope.service.displayFilter]) {
+            return $scope.service.filters[$scope.service.displayFilter]
+        }
+        return null
+    }
+
+    $scope.getDisplayImage = function() {
+        return $scope.diplayImage
+    }
+
+    $scope.setFilterState = function() {
+        let filter = $scope.service.filters[$scope.service.displayFilter]
+        // let meta = $scope.getFilterType().apertureSize.options
+        // let x = $scope.service.filters[$scope.service.displayFilter].apertureSize
+        msg.send('setFilterState', filter.name, JSON.stringify(filter))
+        console.info(filter)
+    }
+
+    $scope.getFilterType = function(typeName) {
+        if (!typeName) {
+            typeName = $scope.service.displayFilter
+        }
+        if ($scope.service.filters[typeName]) {
+            return $scope.filterMetaData[$scope.service.filters[$scope.service.displayFilter].type]
+        }
+        return null
+    }
+
+    $scope.meta = function() {
+        let type = $scope.isFilterType()
+    }
+
+    $scope.onSamplePoint = function($event) {
+        console.info('samplePoint ' + $event)
+        $scope.samplePoint.x = $event.offsetX
+        $scope.samplePoint.y = $event.offsetY
+        msg.send('samplePoint', $scope.samplePoint.x, $scope.samplePoint.y)
+    }
+
+    $scope.uploadFile = function() {
+
+        var f = $scope.myFile;
+        var r = new FileReader();
+
+        r.onloadend = function(e) {
+            var data = e.target.result;
+            console.info('onloadend')
+            msg.send('saveFile', f.name, btoa(data))
+            $scope.loadFile = false
+            // close dialog
+        }
+
+        r.readAsBinaryString(f);
+        console.info('readAsBinaryString')
+    }
+
+    msg.subscribe('getPossibleFilters')
+    msg.subscribe('publishWebDisplay')
+    msg.subscribe('publishState')
+    msg.send('getPossibleFilters')
+    msg.subscribe(this)
+
+}]).directive('fileModel', ['$parse', function($parse) {
+    return {
+        restrict: 'A',
+        link: function(scope, element, attrs) {
+            var model = $parse(attrs.fileModel);
+            var modelSetter = model.assign;
+
+            element.bind('change', function() {
+                scope.$apply(function() {
+                    modelSetter(scope, element[0].files[0]);
+                });
+            });
+        }
+    };
+}
+]);
diff --git a/src/main/resources/resource/WebGui/app/service/views/BoofCVGui.html b/src/main/resources/resource/WebGui/app/service/views/BoofCVGui.html
new file mode 100644
index 0000000000..6431c8fd48
--- /dev/null
+++ b/src/main/resources/resource/WebGui/app/service/views/BoofCVGui.html
@@ -0,0 +1,246 @@
+<!-- div class="OpenCVStyle prevent-drag-select" prevents dropdown-->
+<div class="row">
+    <div class="form-inline">
+        <div class="form-group">
+            <button class="btn btn-default" ng-hide="service.capturing" class="btn btn-default" ng-click="msg.capture()">
+                <span class="glyphicon glyphicon-play text-primary"></span>
+                &nbsp;Start Capture
+            
+            
+            
+            </button>
+            <button class="btn btn-default" ng-hide="!service.capturing" class="btn btn-default" ng-click="msg.stopCapture()">
+                <span class="glyphicon glyphicon-stop"></span>
+                &nbsp;Stop Capture
+            
+            
+            
+            </button>
+            <label>Web Viewer</label>
+            <toggle class="miniBTN" title="invert the motor" ng-model="service.webViewer" ng-change="msg.setWebViewer(service.webViewer)" on="" off="" size="btn-lg"/>
+            <label>Native Viewer</label>
+            <toggle class="miniBTN" title="invert the motor" ng-model="service.nativeViewer" ng-change="msg.setNativeViewer(service.nativeViewer)" on="" off="" size="btn-lg"/>
+        </div>
+        <div class="form-group">
+            <label>Grabber</label>
+            <select ng-disabled="service.capturing" class="form-control selectpicker" ng-model="service.grabberType" ng-change="msg.setGrabberType(service.grabberType)">
+                <option ng-repeat="type in service.grabberTypes">{{type}}</option>
+            </select>
+        </div>
+        <div class="form-group">
+            <label>Source</label>
+            <select ng-disabled="service.capturing" class="form-control" name="source" ng-model="service.inputSource" ng-dropdown required ng-change="msg.setInputSource(service.inputSource)">
+                <option>camera</option>
+                <option>imagefile</option>
+                <option>pipeline</option>
+            </select>
+        </div>
+        <div class="form-group" ng-show="service.inputSource == 'camera'">
+            <label>Index </label>
+            <select ng-disabled="service.capturing" class="form-control" name="cIndex" ng-model="camera.index" ng-dropdown required ng-change="msg.setCameraIndex(camera.index)">
+                <option>0</option>
+                <option>1</option>
+                <option>2</option>
+                <option>3</option>
+                <option>4</option>
+                <option>5</option>
+                <option>6</option>
+                <option>7</option>
+                <option>8</option>
+                <option>9</option>
+                <option>10</option>
+                <option>11</option>
+                <option>12</option>
+            </select>
+        </div>
+        <div id="File" ng-show="service.inputSource == 'imagefile'">
+            <label>File </label>
+            <input type="file" file-model="myFile"/>
+            <button ng-click="uploadFile()" class="btn btn-default">upload me</button>
+        </div>
+        <div id="URL" ng-show="service.inputSource == 'imagefile'">
+            <label>Path </label>
+            <input type="text" ng-model="service.inputFile" ng-change="msg.setInputFileName(service.inputFile)" style="width:146px" placeholder="http://example.com/video" class="form-control"/>
+        </div>
+    </div>
+</div>
+<hr>
+<div class="row">
+    <!-- div ng-show="service.webViewer" class="col-md-6" -->
+    <div class="col-md-6">
+        <div>
+            <label>Video Feed</label>
+            <!-- not ready for this
+            <div class="miniBTN pull-right">
+                <span>
+                    Undock                       
+                        <toggle ng-model="toggleUndock" ng-change="changed()" size="btn-lg"/>
+                </span>
+            </div> -->
+        </div>
+        <div ng-click="onSamplePoint($event)">
+            <img data-ng-src="{{getDisplayImage()}}"/>
+        </div>
+        <!-- /videoContainer -->
+        <div class="videoInfo">
+            <span class="glyphicon glyphicon-info-sign gray1"></span>
+            {{service.displayFilter}} mouse x y {{samplePoint.x}}x{{samplePoint.y}} {{stats.fps}} fps  latency {{stats.latency}} ms
+        
+        
+        </div>
+        <br/>
+        <label>Output</label>
+        <table class="col-md-12 buttonsTable">
+            <!--
+            <tr>
+                <td colspan="2">
+                    <input type="text" name="outputFolder" placeholder="data/OpenCV/output" value="data/OpenCV/output" class="form-control"/>
+                </td>
+                <td style="width:132px">
+                    <button class="btn btn-default" style="width:126px">Set</button>
+                </td>
+            </tr>
+            <tr>
+                <td>
+                    <select name="output" class="form-control" ng-model="service.recordingFrames" ng-dropdown required>
+                        <option ng-option value="video" selected>Video</option>
+                        <option ng-option value="frames">Frames sequence</option>
+                    </select>
+                </td>
+                -->
+            <td style="width:104px">
+                <button ng-click="msg.record()" class="btn btn-default" style="width:100px" ng-show="!service.recording">
+                    <span class="glyphicon glyphicon-record"></span>
+                    REC
+                    
+                </button>
+                <button ng-click="msg.stopRecording()" class="btn btn-default" style="width:100px" ng-show="service.recording">
+                    <span class="glyphicon glyphicon-stop"></span>
+                    STOP
+                    
+                </button>
+            </td>
+            <td style="width:132px">
+                <button class="btn btn-default" style="width:126px" ng-click="msg.recordFrame()">
+                    <span class="glyphicon glyphicon-camera"></span>
+                    Snapshot
+                        
+                </button>
+            </td>
+</tr>
+<td colspan="3" ng-show="service.recording">
+    <!-- RECORDING -->
+    <div class="progress-bar progress-bar-danger  progress-bar-striped active" role="progressbar" aria-valuenow="100" aria-valuemin="0" aria-valuemax="100" style="width: 100%">
+        <span></span>
+        RECORDING
+                
+                
+    </div>
+</td>
+</table></div>
+<div class="col-md-6">
+    <table class="col-md-12">
+        <tr>
+            <td>
+                <label>Current filters</label>
+            </td>
+            <td></td>
+            <td>
+                <label>Available filters</label>
+            </td>
+        </tr>
+        <tr>
+            <td>
+                <select class="custom-select col-md-12" size="7" ng-model="service.displayFilter" ng-change="setDisplayFilter(service.displayFilter)">
+                    <option ng-repeat="(key, value) in service.filters">{{ key }}</option>
+                </select>
+            </td>
+            <td class="text-center align-middle cellPadding">
+                <button class="btn btn-default" ng-click="addFilter()">
+                    <span class="glyphicon glyphicon-arrow-left"></span>
+                </button>
+                <br/>
+                <br/>
+                <button class="btn btn-default" ng-click="msg.removeFilter(service.displayFilter)">
+                    <span class="glyphicon glyphicon-arrow-right"></span>
+                </button>
+            </td>
+            <td>
+                <select class="custom-select col-md-12" ng-model="selectedFilterType" size="7">
+                    <option ng-repeat="filter in possibleFilters">{{ filter }}</option>
+                </select>
+            </td>
+        </tr>
+    </table>
+    <!-- =================================== FILTER DIALOGS START =================================== -->
+    &nbsp;<hr>
+    <div ng-show="isFilterType('AdaptiveThreshold')" class="col-md-12">
+        Adaptive threshold applies a threshold value based on a small region around a pixel.und it. 
+        So we get different thresholds for different regions of the same image which gives better results for images with varying illumination.
+            <hr>
+        Block Size {{getFilter().blockSize}}  <input type="range" ng-model="getFilter().blockSize" min="3" step="2" max="13" ng-change="setFilterState()"/>
+        Subtracted {{getFilter().param1}}  <input type="range" ng-model="getFilter().param1" min="-10" max="10" step="1" ng-change="setFilterState()"/>
+        <select class="form-control" ng-change="setFilterState()" ng-model="getFilter().algorithm">
+            <option>mean</option>
+            <option>gaussian</option>
+        </select>
+    </div>
+    <div ng-show="isFilterType('AddMask')" class="col-md-12">
+        AddMask allows you to add a png with transparency as an overlay. This could be useful to mask off information for training.  For example, removing a face portrait from its background.
+            <hr>
+        <button>browse</button>
+    </div>
+    <div ng-show="isFilterType('Affine')" class="col-md-12">
+        In Euclidean geometry, an affine transformation is a geometric transformation that preserves lines and parallelism (but not necessarily distances and angles). 
+            Rotational transformation would be an example.
+            <hr>
+        angle {{getFilter().angle}}  <input type="range" ng-model="getFilter().angle" min="0" step="1" max="360" ng-change="setFilterState()"/>
+        <br/>
+    </div>
+    <div ng-show="isFilterType('Canny')" class="col-md-12">
+        Canny edge detection is a technique to extract useful structural information from different vision objects and dramatically reduce the amount of data to be processed. 
+            It has been widely applied in various computer vision systems.             
+            <br/>
+        <hr>
+        Aperture Size {{getFilter().apertureSize}}  <input type="range" ng-model="getFilter().apertureSize" min="3" max="7" step="2" ng-change="setFilterState()"/>
+        <br/>
+        Low Threshold {{getFilter().lowThreshold}} <input type="range" ng-model="getFilter().lowThreshold" min="0" max="500" step="1" ng-change="setFilterState()"/>
+        <br/>
+        High Threshold {{getFilter().highThreshold}} <input type="range" ng-model="getFilter().highThreshold" min="0" max="500" step="1" ng-change="setFilterState()"/>
+    </div>
+    <div ng-show="isFilterType('LKOpticalTrack')" class="col-md-12">
+        <a href="https://docs.opencv.org/3.4.1/d7/d8b/tutorial_py_lucas_kanade.html">Optical flow</a>
+        is the pattern of apparent motion of image objects between two consecutive frames caused by the movemement of object or camera. 
+            It is 2D vector field where each vector is a displacement vector showing the movement of points from first frame to second..             
+            <br/>
+        <hr>
+        Max Points {{getFilter().maxPointCnt}} <input type="range" ng-model="getFilter().maxPointCnt" min="0" max="256" step="1" ng-change="setFilterState()"/>
+        <hr>
+        Min Distance {{getFilter().minDistance}} <input type="range" ng-model="getFilter().minDistance" min="0" max="256" step="1" ng-change="setFilterState()"/>
+        <br/>
+        Block Size {{getFilter().blockSize}}<input type="range" ng-model="getFilter().blockSize" min="0" max="500" step="1" ng-change="setFilterState()"/>
+        <br/>
+        Quality {{getFilter().quality/100}} <input type="range" ng-model="getFilter().quality" min="0" max="100" step="1" ng-change="setFilterState()"/>
+        <button class="btn btn-default" ng-click="getFilter().needTrackingPoints=true;getFilter().clearPoints=false;setFilterState()">Get Features</button>
+        <button class="btn btn-default" ng-click="getFilter().clearPoints=true;setFilterState()">Clear Point</button>
+    </div>
+    <!-- =================================== FILTER DIALOGS STOP =================================== -->
+</div>
+</div>
+<script type="text/ng-template" id="addFilterDialog.html">        
+    <div class="modal-header">
+        <button type="button" class="close" ng-click="cancel()" aria-hidden="true">&times;</button>
+        Add new filter:
+    </div>
+        <div class="modal-body">
+        <form class="form-inline" ng-submit="addNamedFilter(newUserName)">
+        <div class="input-group">     
+            name <input  ng-enter="addNamedFilter(newUserName)" class="form-control" type="text" ng-model="newUserName" autofocus /><br>           
+        </div>
+        </form>
+        </div>
+        <div class="modal-footer">            
+            <span class="input-group-btn"><button class="btn btn-default" ng-click="addNamedFilter(newUserName)">add</button></span>        
+            <!-- <button ng-click="cancel()" class="btn btn-primary">Close</button> -->
+        </div>
+</script>

From 545740d7e4a6f2aa093448af71dfd6df5c68922c Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Sun, 13 Aug 2023 16:43:03 -0700
Subject: [PATCH 41/54] some removal of unused variables and debug stuff

---
 src/main/java/org/myrobotlab/io/Zip.java           |  6 ++----
 src/main/java/org/myrobotlab/service/Runtime.java  |  4 ----
 src/main/java/org/myrobotlab/service/WebGui.java   | 14 +++++++++-----
 .../myrobotlab/service/config/ServiceConfig.java   |  6 ------
 .../service/interfaces/MockDocumentListener.java   |  3 ++-
 5 files changed, 13 insertions(+), 20 deletions(-)

diff --git a/src/main/java/org/myrobotlab/io/Zip.java b/src/main/java/org/myrobotlab/io/Zip.java
index 56968ccc83..d41924ebda 100644
--- a/src/main/java/org/myrobotlab/io/Zip.java
+++ b/src/main/java/org/myrobotlab/io/Zip.java
@@ -299,28 +299,26 @@ static public void zipDirectory(File folder, String parentFolder, ZipOutputStrea
       }
       zos.putNextEntry(new ZipEntry(parentFolder + "/" + file.getName()));
       BufferedInputStream bis = new BufferedInputStream(new FileInputStream(file));
-      long bytesRead = 0;
       byte[] bytesIn = new byte[BUFFER_SIZE];
       int read = 0;
       while ((read = bis.read(bytesIn)) != -1) {
         zos.write(bytesIn, 0, read);
-        bytesRead += read;
       }
       zos.closeEntry();
+      bis.close();
     }
   }
 
   static public void zipFile(File file, ZipOutputStream zos) throws FileNotFoundException, IOException {
     zos.putNextEntry(new ZipEntry(file.getName()));
     BufferedInputStream bis = new BufferedInputStream(new FileInputStream(file));
-    long bytesRead = 0;
     byte[] bytesIn = new byte[BUFFER_SIZE];
     int read = 0;
     while ((read = bis.read(bytesIn)) != -1) {
       zos.write(bytesIn, 0, read);
-      bytesRead += read;
     }
     zos.closeEntry();
+    bis.close();
   }
 
 }
\ No newline at end of file
diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java
index 24682c4dfb..9c57690e44 100644
--- a/src/main/java/org/myrobotlab/service/Runtime.java
+++ b/src/main/java/org/myrobotlab/service/Runtime.java
@@ -441,10 +441,6 @@ synchronized private static Map<String, ServiceInterface> createServicesFromPlan
       sc.state = "CREATED";
       // process  the base listeners/subscription of ServiceConfig
       si.addConfigListeners(sc);
-      if (si.getName().equals("mouth"))
-      {
-        log.info("here");
-      }
       if (si instanceof ConfigurableService) {
         ((ConfigurableService)si).apply(sc);
       }
diff --git a/src/main/java/org/myrobotlab/service/WebGui.java b/src/main/java/org/myrobotlab/service/WebGui.java
index d5e0de4efd..dd2178bf8c 100644
--- a/src/main/java/org/myrobotlab/service/WebGui.java
+++ b/src/main/java/org/myrobotlab/service/WebGui.java
@@ -1178,6 +1178,14 @@ public static void main(String[] args) {
     try {
 
       // Platform.setVirtual(true);
+      
+      Runtime.startConfig("default");
+      
+      boolean done = true;
+      if (done) {
+        return;
+      }
+
 
       // Runtime.start("python", "Python");
       // Arduino arduino = (Arduino)Runtime.start("arduino", "Arduino");
@@ -1192,11 +1200,7 @@ public static void main(String[] args) {
       // Runtime.start("intro", "Intro");
       // Runtime.start("i01", "InMoov2");
 
-      boolean done = true;
-      if (done) {
-        return;
-      }
-
+    
       // Runtime.start("i01", "InMoov2");
       // Runtime.start("python", "Python");
       // Runtime.start("i01", "InMoov2");
diff --git a/src/main/java/org/myrobotlab/service/config/ServiceConfig.java b/src/main/java/org/myrobotlab/service/config/ServiceConfig.java
index c85d43d947..59e8f9ff9a 100755
--- a/src/main/java/org/myrobotlab/service/config/ServiceConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/ServiceConfig.java
@@ -79,12 +79,6 @@ public String toString() {
   // heh non transient makes it easy to debug !
   transient public String state = "INIT"; // INIT | LOADED | CREATED | STARTED |
                                           // STOPPED | RELEASED
-  // FIXME - SO IMPORTANT !
-
-  public String getx(String key) {
-    // FIXME - return reflected value
-    return null;
-  }
 
   public String getPath(String name, String peerKey) {
     if (name == null) {
diff --git a/src/test/java/org/myrobotlab/service/interfaces/MockDocumentListener.java b/src/test/java/org/myrobotlab/service/interfaces/MockDocumentListener.java
index d28b90bdd8..b00aa62fc0 100644
--- a/src/test/java/org/myrobotlab/service/interfaces/MockDocumentListener.java
+++ b/src/test/java/org/myrobotlab/service/interfaces/MockDocumentListener.java
@@ -5,8 +5,9 @@
 import org.myrobotlab.document.Document;
 import org.myrobotlab.document.ProcessingStatus;
 import org.myrobotlab.framework.Service;
+import org.myrobotlab.service.config.ServiceConfig;
 
-public class MockDocumentListener extends Service implements DocumentListener {
+public class MockDocumentListener extends Service<ServiceConfig> implements DocumentListener {
 
   private static final long serialVersionUID = 1L;
   private int count = 0;

From 4a01e1b794736e141969e783bdd4aa23ae4d1635 Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Sun, 13 Aug 2023 16:53:24 -0700
Subject: [PATCH 42/54] trying to be consistent with names

---
 .../java/org/myrobotlab/boofcv/BoofCVFilter.java   |  4 ++--
 .../org/myrobotlab/cv/{CvData.java => CVData.java} |  2 +-
 .../myrobotlab/cv/{CvFilter.java => CVFilter.java} |  2 +-
 .../java/org/myrobotlab/cv/ComputerVision.java     |  2 +-
 .../java/org/myrobotlab/opencv/OpenCVData.java     | 10 +++++-----
 .../java/org/myrobotlab/opencv/OpenCVFilter.java   |  4 ++--
 src/main/java/org/myrobotlab/service/BoofCV.java   |  4 ++--
 .../java/org/myrobotlab/service/JMonkeyEngine.java |  4 ++--
 src/main/java/org/myrobotlab/service/OpenCV.java   | 14 +++++++++-----
 9 files changed, 25 insertions(+), 21 deletions(-)
 rename src/main/java/org/myrobotlab/cv/{CvData.java => CVData.java} (88%)
 rename src/main/java/org/myrobotlab/cv/{CvFilter.java => CVFilter.java} (80%)

diff --git a/src/main/java/org/myrobotlab/boofcv/BoofCVFilter.java b/src/main/java/org/myrobotlab/boofcv/BoofCVFilter.java
index 3e4f09b5a5..c8d5ff5736 100644
--- a/src/main/java/org/myrobotlab/boofcv/BoofCVFilter.java
+++ b/src/main/java/org/myrobotlab/boofcv/BoofCVFilter.java
@@ -1,11 +1,11 @@
 package org.myrobotlab.boofcv;
 
-import org.myrobotlab.cv.CvFilter;
+import org.myrobotlab.cv.CVFilter;
 import org.myrobotlab.service.BoofCV;
 
 import boofcv.struct.image.ImageBase;
 
-public abstract class BoofCVFilter implements CvFilter {
+public abstract class BoofCVFilter implements CVFilter {
 
   protected String name;
   public String getName() {
diff --git a/src/main/java/org/myrobotlab/cv/CvData.java b/src/main/java/org/myrobotlab/cv/CVData.java
similarity index 88%
rename from src/main/java/org/myrobotlab/cv/CvData.java
rename to src/main/java/org/myrobotlab/cv/CVData.java
index 67e75ae479..3db4d9ad96 100644
--- a/src/main/java/org/myrobotlab/cv/CvData.java
+++ b/src/main/java/org/myrobotlab/cv/CVData.java
@@ -13,7 +13,7 @@
  * @author GroG
  *
  */
-public abstract class CvData implements Serializable {
+public abstract class CVData implements Serializable {
 
   private static final long serialVersionUID = 1L;
   public static final String POINT_CLOUDS = "point.cloud";
diff --git a/src/main/java/org/myrobotlab/cv/CvFilter.java b/src/main/java/org/myrobotlab/cv/CVFilter.java
similarity index 80%
rename from src/main/java/org/myrobotlab/cv/CvFilter.java
rename to src/main/java/org/myrobotlab/cv/CVFilter.java
index cb144d4091..5d68375789 100644
--- a/src/main/java/org/myrobotlab/cv/CvFilter.java
+++ b/src/main/java/org/myrobotlab/cv/CVFilter.java
@@ -1,6 +1,6 @@
 package org.myrobotlab.cv;
 
-public interface CvFilter {
+public interface CVFilter {
 
   public void enable();
 
diff --git a/src/main/java/org/myrobotlab/cv/ComputerVision.java b/src/main/java/org/myrobotlab/cv/ComputerVision.java
index 56ba55e2b5..b6bf9bbc2e 100644
--- a/src/main/java/org/myrobotlab/cv/ComputerVision.java
+++ b/src/main/java/org/myrobotlab/cv/ComputerVision.java
@@ -13,7 +13,7 @@ public interface ComputerVision extends NameProvider {
 
   void capture();
 
-  CvFilter addFilter(String name, String filterType);
+  CVFilter addFilter(String name, String filterType);
 
   void removeFilter(String name);
 
diff --git a/src/main/java/org/myrobotlab/opencv/OpenCVData.java b/src/main/java/org/myrobotlab/opencv/OpenCVData.java
index a581a77a9b..3449ec6350 100644
--- a/src/main/java/org/myrobotlab/opencv/OpenCVData.java
+++ b/src/main/java/org/myrobotlab/opencv/OpenCVData.java
@@ -27,7 +27,7 @@
 import org.bytedeco.javacv.FrameGrabber;
 import org.bytedeco.opencv.opencv_core.IplImage;
 import org.bytedeco.opencv.opencv_core.Mat;
-import org.myrobotlab.cv.CvData;
+import org.myrobotlab.cv.CVData;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.math.geometry.Point2df;
@@ -81,7 +81,7 @@
  * @author GroG
  * 
  */
-public class OpenCVData extends CvData {
+public class OpenCVData extends CVData {
 
   public final static Logger log = LoggerFactory.getLogger(OpenCVData.class);
   private static final long serialVersionUID = 1L;
@@ -542,7 +542,7 @@ public void writeAll() {
 
   @Override
   public List<PointCloud> getPointCloudList() {
-    return (List<PointCloud>) sources.get(CvData.POINT_CLOUDS);
+    return (List<PointCloud>) sources.get(CVData.POINT_CLOUDS);
   }
 
   @Override
@@ -560,12 +560,12 @@ public Set<String> getKeySet() {
   }
 
   public void put(PointCloud pc) {
-    List<PointCloud> pcs = (List<PointCloud>) sources.get(CvData.POINT_CLOUDS);
+    List<PointCloud> pcs = (List<PointCloud>) sources.get(CVData.POINT_CLOUDS);
     if (pcs == null) {
       pcs = new ArrayList<PointCloud>();
     }
     pcs.add(pc);
-    sources.put(CvData.POINT_CLOUDS, pcs);
+    sources.put(CVData.POINT_CLOUDS, pcs);
   }
 
   public ArrayList<DetectedText> getDetectedText() {
diff --git a/src/main/java/org/myrobotlab/opencv/OpenCVFilter.java b/src/main/java/org/myrobotlab/opencv/OpenCVFilter.java
index b43895d4eb..ac90bae143 100644
--- a/src/main/java/org/myrobotlab/opencv/OpenCVFilter.java
+++ b/src/main/java/org/myrobotlab/opencv/OpenCVFilter.java
@@ -46,7 +46,7 @@
 import org.bytedeco.javacv.CanvasFrame;
 import org.bytedeco.opencv.opencv_core.IplImage;
 import org.bytedeco.opencv.opencv_core.Mat;
-import org.myrobotlab.cv.CvFilter;
+import org.myrobotlab.cv.CVFilter;
 import org.myrobotlab.document.Classification;
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.logging.LoggerFactory;
@@ -54,7 +54,7 @@
 import org.myrobotlab.service.OpenCV;
 import org.slf4j.Logger;
 
-public abstract class OpenCVFilter implements Serializable, CvFilter {
+public abstract class OpenCVFilter implements Serializable, CVFilter {
   public final static Logger log = LoggerFactory.getLogger(OpenCVFilter.class.toString());
 
   private static final long serialVersionUID = 1L;
diff --git a/src/main/java/org/myrobotlab/service/BoofCV.java b/src/main/java/org/myrobotlab/service/BoofCV.java
index b108b129e0..3da1e0a523 100644
--- a/src/main/java/org/myrobotlab/service/BoofCV.java
+++ b/src/main/java/org/myrobotlab/service/BoofCV.java
@@ -10,7 +10,7 @@
 import org.myrobotlab.boofcv.BoofCVFilter;
 import org.myrobotlab.boofcv.BoofCVFilterTrackerObjectQuad;
 import org.myrobotlab.cv.ComputerVision;
-import org.myrobotlab.cv.CvFilter;
+import org.myrobotlab.cv.CVFilter;
 import org.myrobotlab.framework.Instantiator;
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.image.WebImage;
@@ -144,7 +144,7 @@ public BoofCV(String n, String id) {
   }
 
   @Override
-  public CvFilter addFilter(String name, String filterType) {
+  public CVFilter addFilter(String name, String filterType) {
     String type = String.format("org.myrobotlab.boofcv.BoofCVFilter%s", filterType);
     BoofCVFilter filter = (BoofCVFilter) Instantiator.getNewInstance(type, name);
     if (filter == null) {
diff --git a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java
index 5f932f8853..fbc5ef5e99 100644
--- a/src/main/java/org/myrobotlab/service/JMonkeyEngine.java
+++ b/src/main/java/org/myrobotlab/service/JMonkeyEngine.java
@@ -24,7 +24,7 @@
 import java.util.concurrent.Future;
 
 import org.myrobotlab.codec.CodecUtils;
-import org.myrobotlab.cv.CvData;
+import org.myrobotlab.cv.CVData;
 import org.myrobotlab.framework.Instantiator;
 import org.myrobotlab.framework.Message;
 import org.myrobotlab.framework.Platform;
@@ -1522,7 +1522,7 @@ public void onAnalog(String name, float keyPressed, float tpf) {
    * @param data
    *          cv data
    */
-  public void onCvData(CvData data) {
+  public void onCvData(CVData data) {
     // onPointCloud(data.getPointCloud()); FIXME - brittle and not correct
     // FIXME - do something interesting ... :)
   }
diff --git a/src/main/java/org/myrobotlab/service/OpenCV.java b/src/main/java/org/myrobotlab/service/OpenCV.java
index 7a26a17dca..7abc45de8b 100644
--- a/src/main/java/org/myrobotlab/service/OpenCV.java
+++ b/src/main/java/org/myrobotlab/service/OpenCV.java
@@ -95,8 +95,8 @@
 import org.bytedeco.opencv.opencv_core.Rect;
 import org.bytedeco.opencv.opencv_imgproc.CvFont;
 import org.myrobotlab.codec.CodecUtils;
-import org.myrobotlab.cv.CvData;
-import org.myrobotlab.cv.CvFilter;
+import org.myrobotlab.cv.CVData;
+import org.myrobotlab.cv.CVFilter;
 import org.myrobotlab.document.Classification;
 import org.myrobotlab.document.Classifications;
 import org.myrobotlab.framework.Instantiator;
@@ -651,15 +651,19 @@ synchronized public OpenCVFilter addFilter(OpenCVFilter filter) {
    *                   - name of filter
    * @return the filter
    */
-  public CvFilter addFilter(String filterName) {
+  public CVFilter addFilter(String filterName) {
     String filterType = filterName.substring(0, 1).toUpperCase() + filterName.substring(1);
     return addFilter(filterName, filterType);
   }
 
   @Override
-  public CvFilter addFilter(String name, String filterType) {
+  public CVFilter addFilter(String name, String filterType) {
     String type = String.format("org.myrobotlab.opencv.OpenCVFilter%s", filterType);
     OpenCVFilter filter = (OpenCVFilter) Instantiator.getNewInstance(type, name);
+    if (filter == null) {
+      error("cannot create filter %s of type %s", name, type);
+      return null;
+    }
     addFilter(filter);
     return filter;
   }
@@ -1439,7 +1443,7 @@ public final OpenCVData publishOpenCVData(OpenCVData data) {
     return data;
   }
 
-  public final CvData publishCvData(CvData data) {
+  public final CVData publishCvData(CVData data) {
     return data;
   }
 

From 3bd69b1949f72cf6bb4a33e34233146e7b2159b0 Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Sun, 13 Aug 2023 17:04:42 -0700
Subject: [PATCH 43/54] a little ui cleanup

---
 src/main/resources/resource/WebGui/app/mrl.js | 43 +++++++++----------
 .../WebGui/app/service/js/IntroGui.js         |  5 +++
 .../WebGui/app/service/views/ArduinoGui.html  |  6 +--
 .../WebGui/app/service/views/Mpu6050Gui.html  |  4 +-
 .../WebGui/app/service/views/OpenCVGui.html   |  7 +--
 .../resource/WebGui/app/widget/oscope.js      |  3 --
 6 files changed, 33 insertions(+), 35 deletions(-)

diff --git a/src/main/resources/resource/WebGui/app/mrl.js b/src/main/resources/resource/WebGui/app/mrl.js
index 78ed75225b..81cfef0b0e 100644
--- a/src/main/resources/resource/WebGui/app/mrl.js
+++ b/src/main/resources/resource/WebGui/app/mrl.js
@@ -1465,41 +1465,40 @@ angular.module('mrlapp.mrl', []).provider('mrl', [function() {
                 return arrayOfServices
             },
 
-            controllerscope: _self.controllerscope,
-            setSearchFunction: _self.setSearchFunction,
-            setNavCtrl: _self.setNavCtrl,
-            setTabsViewCtrl: _self.setTabsViewCtrl,
-            error: _self.error,
             changeTab: _self.changeTab,
-            goBack: _self.goBack,
-            search: _self.search,
+            controllerscope: _self.controllerscope,
             createMessage: _self.createMessage,
             display: _self.display,
+            error: _self.error,
+            getDisplayName: _self.getDisplayName,
             getDisplayImages: getDisplayImages,
-            setDisplayCallback: setDisplayCallback,
-            subscribeToUpdates: _self.subscribeToUpdates,
-            subscribeToRegistered: _self.subscribeToRegistered,
-            subscribeToReleased: _self.subscribeToReleased,
-            getPanelList: _self.getPanelList,
+            getFullName: _self.getFullName,
             getPanel: _self.getPanel,
-            sendTo: _self.sendTo,
+            getPanelList: _self.getPanelList,
+            getProperties: _self.getProperties,
             getShortName: _self.getShortName,
             getSimpleName: _self.getSimpleName,
             getStyle: _self.getStyle,
-            subscribe: _self.subscribe,
-            unsubscribe: _self.unsubscribe,
+            goBack: _self.goBack,
             isPeerStarted: _self.isPeerStarted,
-            subscribeToService: _self.subscribeToService,
-            getFullName: _self.getFullName,
+            search: _self.search,
+            sendMessage: _self.sendMessage,
             sendBlockingMessage: _self.sendBlockingMessage,
+            sendTo: _self.sendTo,
+            setNavCtrl: _self.setNavCtrl,
+            setDisplayCallback: setDisplayCallback,
+            setSearchFunction: _self.setSearchFunction,
+            setTabsViewCtrl: _self.setTabsViewCtrl,
+            subscribe: _self.subscribe,
             subscribeConnected: _self.subscribeConnected,
+            subscribeTo: _self.subscribeTo,
             subscribeToMethod: _self.subscribeToMethod,
+            subscribeToReleased: _self.subscribeToReleased,
+            subscribeToRegistered: _self.subscribeToRegistered,
+            subscribeToService: _self.subscribeToService,
             subscribeToServiceMethod: _self.subscribeToServiceMethod,
-            subscribeTo: _self.subscribeTo,
-            // better name
-            getProperties: _self.getProperties,
-            sendMessage: _self.sendMessage,
-            // setViewType: _self.setViewType,
+            subscribeToUpdates: _self.subscribeToUpdates,
+            unsubscribe: _self.unsubscribe,
             interfaceToPossibleServices: _self.interfaceToPossibleServices
 
         }
diff --git a/src/main/resources/resource/WebGui/app/service/js/IntroGui.js b/src/main/resources/resource/WebGui/app/service/js/IntroGui.js
index 81721cc219..ae72006958 100644
--- a/src/main/resources/resource/WebGui/app/service/js/IntroGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/IntroGui.js
@@ -64,6 +64,11 @@ angular.module('mrlapp.service.IntroGui', []).controller('IntroGuiCtrl', ['$scop
         return ret
     }
 
+    $scope.start = function(name, type) {
+        msg.sendTo('runtime', 'start', name, type)
+    }
+
+
     // this method initializes subPanels when a new service becomes available
     this.onRegistered = function(panel) {
         if (panelNames.has(panel.displayName)) {
diff --git a/src/main/resources/resource/WebGui/app/service/views/ArduinoGui.html b/src/main/resources/resource/WebGui/app/service/views/ArduinoGui.html
index 056eafa938..1bce530544 100644
--- a/src/main/resources/resource/WebGui/app/service/views/ArduinoGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/ArduinoGui.html
@@ -26,9 +26,6 @@
         </div>
     </div>
 </form>
-<div class="row">
-    <label ng-show="isConnected" title="line speed - the data rate which this serial port is actually recieving,&#10; which can vary significantly from the data rate depending on the amount of data sampled">{{stats.lineSpeed}} Kbps</label>
-</div>
 <div class="col-md-12">
     {{service.boardType}} {{connectedStatus}} {{versionStatus}} <br>
     <span ng-show="boardInfo != null">version {{boardInfo.version}}</span>
@@ -72,6 +69,9 @@
             <!-- img src="{{image}}" width="500"/ -->
             <oscope id="{{service.name}}-oscope" service-name="{{service.name + '@' + service.id}}"></oscope>
         </uib-tab>
+        <uib-tab heading="Board">
+            <img src="{{image}}" width="500"/>            
+        </uib-tab>
         <!-- end -->
     </uib-tabset>
 </div>
diff --git a/src/main/resources/resource/WebGui/app/service/views/Mpu6050Gui.html b/src/main/resources/resource/WebGui/app/service/views/Mpu6050Gui.html
index 9d4d5453b4..fab190b13f 100644
--- a/src/main/resources/resource/WebGui/app/service/views/Mpu6050Gui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/Mpu6050Gui.html
@@ -14,8 +14,8 @@
         </div>
 
         <button type="button" class="btn btn-default" ng-click='msg.detach(service.controllerName)' ng-show='service.controllerName != null'>detach</button>
-        <button type="button" class="btn btn-default" ng-click='msg.start()' ng-show='service.controllerName != null && service.publisher.isRunning == false'>start</button>
-        <button type="button" class="btn btn-default" ng-click='msg.stop()' ng-show='service.controllerName != null  && service.publisher.isRunning == true'>stop</button>
+        <button type="button" class="btn btn-default" ng-click='msg.start()' ng-show='service.controllerName != null && service.isPublishing == false'>start</button>
+        <button type="button" class="btn btn-default" ng-click='msg.stop()' ng-show='service.controllerName != null  && service.isPublishing == true'>stop</button>
         
         <div class="btn-group" uib-dropdown>
             <button type="button" class="btn btn-default">bus {{service.deviceBus}}</button>
diff --git a/src/main/resources/resource/WebGui/app/service/views/OpenCVGui.html b/src/main/resources/resource/WebGui/app/service/views/OpenCVGui.html
index 3cf2ec2821..6431c8fd48 100644
--- a/src/main/resources/resource/WebGui/app/service/views/OpenCVGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/OpenCVGui.html
@@ -226,9 +226,8 @@
     </div>
     <!-- =================================== FILTER DIALOGS STOP =================================== -->
 </div>
-</div><script type="text/ng-template" id="addFilterDialog.html">
-    
-    
+</div>
+<script type="text/ng-template" id="addFilterDialog.html">        
     <div class="modal-header">
         <button type="button" class="close" ng-click="cancel()" aria-hidden="true">&times;</button>
         Add new filter:
@@ -244,6 +243,4 @@
             <span class="input-group-btn"><button class="btn btn-default" ng-click="addNamedFilter(newUserName)">add</button></span>        
             <!-- <button ng-click="cancel()" class="btn btn-primary">Close</button> -->
         </div>
-
-
 </script>
diff --git a/src/main/resources/resource/WebGui/app/widget/oscope.js b/src/main/resources/resource/WebGui/app/widget/oscope.js
index 11cc94c2c0..d45a9f9a20 100644
--- a/src/main/resources/resource/WebGui/app/widget/oscope.js
+++ b/src/main/resources/resource/WebGui/app/widget/oscope.js
@@ -201,7 +201,6 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) {
                     _self.ctx.fillText(pinDef.name + (' AVG ' + (stats.totalValue / stats.totalSample)).substring(0, 11) + ' MIN ' + stats.min + ' MAX ' + stats.max, 10, 18)
                 }
             }
-
             // RENAME eanbleTrace - FIXME read values vs write values | ALL values from service not from ui !! - ui only sends commands
             scope.activateTrace = function(pinDef) {
                 var trace = scope.oscope.traces[pinDef.pin]
@@ -253,7 +252,6 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) {
                     }
                 }
             }
-
             scope.toggleWriteButton = function(pinDef) {
                 var highlight = trace.color.getOriginalInput()
                 if (trace.state) {
@@ -274,7 +272,6 @@ angular.module('mrlapp.service').directive('oscope', ['mrl', function(mrl) {
                     }
                 }
             }
-
             // FIXME FIXME FIXME ->> THIS SHOULD WORK subscribeToServiceMethod  <- but doesnt
             mrl.subscribeToService(_self.onMsg, name)
             // this siphons off a single subscribe to the webgui

From ac2216adf16baef2e5215c7f64eace4428df71bc Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Sun, 13 Aug 2023 17:05:36 -0700
Subject: [PATCH 44/54] yml updates

---
 src/main/resources/resource/Gpt3/gpt3.yml       | 17 +++++++++++++++++
 src/main/resources/resource/InMoov2/inmoov2.yml |  1 +
 2 files changed, 18 insertions(+)
 create mode 100644 src/main/resources/resource/Gpt3/gpt3.yml
 create mode 100644 src/main/resources/resource/InMoov2/inmoov2.yml

diff --git a/src/main/resources/resource/Gpt3/gpt3.yml b/src/main/resources/resource/Gpt3/gpt3.yml
new file mode 100644
index 0000000000..e716fbde16
--- /dev/null
+++ b/src/main/resources/resource/Gpt3/gpt3.yml
@@ -0,0 +1,17 @@
+!!org.myrobotlab.service.config.Gpt3Config
+currentUserName: null
+engine: gpt-3.5-turbo
+listeners: null
+maxTokens: 256
+peers:
+  http:
+    autoStart: true
+    name: gpt3.http
+    type: HttpClient
+sleepWord: sleep
+sleeping: false
+temperature: 0.7
+token: null
+type: Gpt3
+url: https://api.openai.com/v1/chat/completions
+wakeWord: wake
diff --git a/src/main/resources/resource/InMoov2/inmoov2.yml b/src/main/resources/resource/InMoov2/inmoov2.yml
new file mode 100644
index 0000000000..ce01362503
--- /dev/null
+++ b/src/main/resources/resource/InMoov2/inmoov2.yml
@@ -0,0 +1 @@
+hello

From 6c5988cadc7c82ca3de3777a90e764d4326db6aa Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Sun, 13 Aug 2023 17:07:17 -0700
Subject: [PATCH 45/54] ivywrapper logical and or not bitwise

---
 src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java b/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java
index 5e3d4d21d0..023411b3f8 100644
--- a/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java
+++ b/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java
@@ -137,7 +137,7 @@ public void createIvyForDependency(String location, ServiceDependency dependency
         dependency.getVersion() == null ? "latest.integration" : dependency.getVersion()));
 
     List<ServiceExclude> excludes = dependency.getExcludes();
-    boolean twoTags = dependency.getExt() != null || excludes != null & excludes.size() > 0;
+    boolean twoTags = dependency.getExt() != null || excludes != null && excludes.size() > 0;
     if (twoTags) {
       // more stuffs ! - we have 2 tags - end this one without />
       sb.append(">\n");
@@ -152,7 +152,7 @@ public void createIvyForDependency(String location, ServiceDependency dependency
     }
 
     // exclusions begin ---
-    if (excludes != null & excludes.size() > 0) {
+    if (excludes != null && excludes.size() > 0) {
       StringBuilder ex = new StringBuilder();
       for (ServiceExclude exclude : excludes) {
         ex.append("      <exclude ");

From 828583273483acebb92ea9776894470db9b12123 Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Sun, 13 Aug 2023 17:12:08 -0700
Subject: [PATCH 46/54] test updates

---
 .../java/org/myrobotlab/framework/MethodCacheTest.java   | 9 ---------
 .../java/org/myrobotlab/service/ArduinoChaosTest.java    | 5 ++---
 src/test/java/org/myrobotlab/service/ArduinoTest.java    | 6 +++++-
 src/test/java/org/myrobotlab/service/HarryTest.java      | 2 +-
 src/test/resources/InMoov/Harry.py                       | 4 +++-
 5 files changed, 11 insertions(+), 15 deletions(-)

diff --git a/src/test/java/org/myrobotlab/framework/MethodCacheTest.java b/src/test/java/org/myrobotlab/framework/MethodCacheTest.java
index 4bc69efd87..b92cc872c7 100644
--- a/src/test/java/org/myrobotlab/framework/MethodCacheTest.java
+++ b/src/test/java/org/myrobotlab/framework/MethodCacheTest.java
@@ -6,7 +6,6 @@
 
 import java.lang.reflect.InvocationTargetException;
 import java.lang.reflect.Method;
-import java.util.Arrays;
 
 import org.junit.BeforeClass;
 import org.junit.Test;
@@ -14,7 +13,6 @@
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
-import org.myrobotlab.service.Clock;
 import org.myrobotlab.service.Runtime;
 import org.myrobotlab.service.TestCatcher;
 import org.myrobotlab.service.TestCatcher.Ball;
@@ -32,15 +30,8 @@ public class MethodCacheTest extends AbstractTest {
   @BeforeClass
   public static void setUpBeforeClass() throws Exception {
     cache = MethodCache.getInstance();
-    sleep(100);
     cache.clear();
     assertEquals("all clear should be 0", 0, cache.getObjectSize());
-    // cache 3 services method entries
-    cache.cacheMethodEntries(Runtime.class);
-    cache.cacheMethodEntries(TestCatcher.class);
-    cache.cacheMethodEntries(Clock.class);
-    assertEquals(String.format("cached 3 object's methods %s", Arrays.toString(cache.getCachedObjectNames().toArray())), 3, cache.getObjectSize());
-
     tester = (TestCatcher) Runtime.start("tester", "TestCatcher");
   }
 
diff --git a/src/test/java/org/myrobotlab/service/ArduinoChaosTest.java b/src/test/java/org/myrobotlab/service/ArduinoChaosTest.java
index 32089148d8..2592ab4165 100644
--- a/src/test/java/org/myrobotlab/service/ArduinoChaosTest.java
+++ b/src/test/java/org/myrobotlab/service/ArduinoChaosTest.java
@@ -9,7 +9,6 @@
 import org.myrobotlab.arduino.ArduinoUtils;
 import org.myrobotlab.framework.MrlException;
 
-import com.pi4j.jni.Serial;
 
 @Ignore
 public class ArduinoChaosTest {
@@ -123,9 +122,9 @@ public void testArduino() throws IOException, MrlException, InterruptedException
     // arduino.setDigitalTriggerOnly(false);
 
     Thread.sleep(1000);
-    arduino.setSerialRate(Serial.BAUD_RATE_57600);
+    arduino.setSerialRate(Serial.BAUD_115200);
     Thread.sleep(1000);
-    arduino.setSerialRate(Serial.BAUD_RATE_115200);
+    arduino.setSerialRate(Serial.BAUD_115200);
 
     Thread.sleep(1000);
     arduino.getBoardInfo();
diff --git a/src/test/java/org/myrobotlab/service/ArduinoTest.java b/src/test/java/org/myrobotlab/service/ArduinoTest.java
index 9add9d8fc4..5dff17f399 100644
--- a/src/test/java/org/myrobotlab/service/ArduinoTest.java
+++ b/src/test/java/org/myrobotlab/service/ArduinoTest.java
@@ -213,8 +213,12 @@ public final void pinArrayTest() {
     arduino01.enablePin(10);
     arduino01.enablePin(12);
     arduino01.enablePin(13);
-    sleep(100);
+
+    // Wait for pin enablement to complete
+    sleep(200);
     arduino01.reset();
+    // Wait for reset to complete
+    sleep(100);
 
     assertTrue("did not get pin array data D10", catcher.containsPinArrayFromPin(arduino01.getPin(10).getPinName()));
     assertTrue("did not get pin array data D12", catcher.containsPinArrayFromPin(arduino01.getPin(12).getPinName()));
diff --git a/src/test/java/org/myrobotlab/service/HarryTest.java b/src/test/java/org/myrobotlab/service/HarryTest.java
index d08da9ccbd..29527a0845 100755
--- a/src/test/java/org/myrobotlab/service/HarryTest.java
+++ b/src/test/java/org/myrobotlab/service/HarryTest.java
@@ -224,7 +224,7 @@ public void testHarry() throws Exception {
 
     InMoov2 i01 = (InMoov2) Runtime.createAndStart("i01", "InMoov2");
     i01.setMute(true);
-    i01.startAll();
+    // i01.startAll();
     // if startInMoov:
     // i01.startAll(leftPort, rightPort)
     // else:
diff --git a/src/test/resources/InMoov/Harry.py b/src/test/resources/InMoov/Harry.py
index 000c76c864..091cca224f 100644
--- a/src/test/resources/InMoov/Harry.py
+++ b/src/test/resources/InMoov/Harry.py
@@ -73,7 +73,9 @@ def heard(data):
 i01 = runtime.start("i01", "InMoov2")
 i01.setMute(True)
 if startInMoov:
-  i01.startAll(leftPort, rightPort)
+  # use config to start
+  # i01.startAll(leftPort, rightPort)
+  pass
 else:
   i01.mouth = mouth
     

From aae0121c7a2fb80edb5601413de4cfd6f140a9ae Mon Sep 17 00:00:00 2001
From: Langevin Gael <hairygael@gmail.com>
Date: Fri, 18 Aug 2023 15:55:22 +0200
Subject: [PATCH 47/54] Update AudioFileGui.html (#1334)

* Update AudioFileGui.html

* Update AudioFileGui.js

* Update AudioFileGui.js
---
 .../resource/WebGui/app/service/js/AudioFileGui.js   | 10 ++++++++++
 .../WebGui/app/service/views/AudioFileGui.html       | 12 ++++++++----
 2 files changed, 18 insertions(+), 4 deletions(-)

diff --git a/src/main/resources/resource/WebGui/app/service/js/AudioFileGui.js b/src/main/resources/resource/WebGui/app/service/js/AudioFileGui.js
index ef97b14ff0..1edc44bbf8 100644
--- a/src/main/resources/resource/WebGui/app/service/js/AudioFileGui.js
+++ b/src/main/resources/resource/WebGui/app/service/js/AudioFileGui.js
@@ -34,6 +34,16 @@ angular.module('mrlapp.service.AudioFileGui', []).controller('AudioFileGuiCtrl',
         }
     }
 
+    $scope.stopPlaylist = function() {
+        if ($scope.selectedPlaylist) {
+            msg.send('stopPlaylist', $scope.selectedPlaylist[0])
+            msg.send('stop')
+        } else {
+            msg.send('stopPlaylist')
+            msg.send('stop')
+        }
+    }
+
     // GOOD TEMPLATE TO FOLLOW
     this.updateState = function(service) {
         $scope.service = service
diff --git a/src/main/resources/resource/WebGui/app/service/views/AudioFileGui.html b/src/main/resources/resource/WebGui/app/service/views/AudioFileGui.html
index ef99c2a8fa..93e1cac98b 100644
--- a/src/main/resources/resource/WebGui/app/service/views/AudioFileGui.html
+++ b/src/main/resources/resource/WebGui/app/service/views/AudioFileGui.html
@@ -11,17 +11,17 @@
                     <span class="glyphicon glyphicon-play" title="play track"/>
                 </button>
                 <button class="btn btn-default" ng-click="msg.pause()">
-                    <span class="glyphicon glyphicon-pause" title="pause"/>
+                    <span class="glyphicon glyphicon-pause" title="pause track"/>
                 </button>
                 <button class="btn btn-default" ng-click="msg.resume()">
-                    <span class="glyphicon glyphicon-step-forward" title="resume"/>
+                    <span class="glyphicon glyphicon-step-forward" title="resume track"/>
                 </button>
                 <!--button class="btn btn-default" ng-click="msg.random()"><span class="glyphicon glyphicon-random" title="random"/></button-->
                 <button class="btn btn-default" ng-click="msg.stop()">
-                    <span class="glyphicon glyphicon-stop" title="stop"/>
+                    <span class="glyphicon glyphicon-stop" title="stop track"/>
                 </button>
                 <button class="btn btn-default" ng-click="msg.setMute(!service.mute);msg.broadcastState()">
-                    <span class="glyphicon glyphicon-volume-off" title="mute"/>
+                    <span class="glyphicon glyphicon-volume-off" title="mute track"/>
                 </button>
                 <button class="btn btn-default" ng-click="msg.setVolume(service.volume - 0.01);msg.broadcastState()">
                     <span class="glyphicon glyphicon-volume-down" title="pump up the volume"/>
@@ -72,6 +72,9 @@
                 <button class="btn btn-default" ng-click="startPlaylist()">
                     <span class="glyphicon glyphicon-play" title="play list"/>
                 </button>
+                <button class="btn btn-default" ng-click="stopPlaylist()">
+                    <span class="glyphicon glyphicon-stop" title="stop play list"/>
+                </button>
                 <div ng-show="service.playlists" class="form-group">
                     <label>select file:</label>
                     <select multiple class="form-control vertical-menu" ng-model="selectedFiles" ng-change="setSelectedFileFromTrack(selectedFiles[0])" title="select your track">
@@ -88,3 +91,4 @@
         <div class="progress-bar" role="progressbar" style="width: {{peak}}%" aria-valuenow="75" aria-valuemin="0" aria-valuemax="100"></div>
     </div>
 </div>
+

From 3778a88fc4d683863ea4c25c89f3f4a226f832ef Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Sat, 19 Aug 2023 07:13:11 -0700
Subject: [PATCH 48/54] myrobotlab.sh fixed for mac

---
 myrobotlab.sh | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/myrobotlab.sh b/myrobotlab.sh
index ab69d5cbd3..19ce753df0 100755
--- a/myrobotlab.sh
+++ b/myrobotlab.sh
@@ -2,8 +2,7 @@
 
 REPO_FILE=libraries/repo.json
 
-# fancy way to get real cwd ?
-APPDIR="$(dirname -- "$(readlink -f -- "${0}")" )"
+APPDIR=$(pwd)
 
 echo APPDIR=${APPDIR}
 

From 23ae3b78a953ac0b8b2fe745cbbdeedce26aa704 Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Sat, 19 Aug 2023 09:20:25 -0700
Subject: [PATCH 49/54] fixed myrobotlab.sh

---
 myrobotlab.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/myrobotlab.sh b/myrobotlab.sh
index 19ce753df0..9aa528ea51 100755
--- a/myrobotlab.sh
+++ b/myrobotlab.sh
@@ -2,7 +2,7 @@
 
 REPO_FILE=libraries/repo.json
 
-APPDIR=$(pwd)
+APPDIR="$(dirname -- ${0})"
 
 echo APPDIR=${APPDIR}
 

From 517f71f3c40ca12608348b41824a876d92db1929 Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Sat, 19 Aug 2023 13:59:49 -0700
Subject: [PATCH 50/54] updated readme with network info

---
 README.md | 151 +++++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 149 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 02fc3ea8aa..37d18e96a6 100644
--- a/README.md
+++ b/README.md
@@ -86,7 +86,6 @@ If you want to compile and skip the tests, you can use the standard maven approa
 * [Title Caps for field names and elements](https://learn.microsoft.com/en-us/previous-versions/windows/desktop/bb246428(v=vs.85)?redirectedfrom=MSDN)
 * [No semi-colons for field names if labels exist](https://ux.stackexchange.com/questions/3611/should-label-and-field-be-separated-with-colon)
 
-
 ## Contributing
 
 All development is done on the `develop` branch.  To contribute code, the typical approach is to create an issue about the feature/bug you're working on.
@@ -138,4 +137,152 @@ registry:
 resource: src/main/resources/resource
 type: Runtime
 virtual: false
-```
\ No newline at end of file
+```
+
+# Network Distributed Architecture
+
+## Websockets - Default Response for New Connection
+
+```mermaid
+sequenceDiagram
+    autonumber
+    box Process Id p1
+    participant runtime@p1   
+    end
+
+    box Process Id p2
+    participant webgui@p2
+    participant runtime@p2
+    end
+
+    Note right of runtime@p1: Client runtime@p1 opens a <br/>websocket to remote webgui
+
+    runtime@p1->>webgui@p2: Connect<br/>ws://localhost:8888/api/messages?user=root&pwd=pwd&session_id=2309adf3dlkdk&id=p1
+
+    Note left of webgui@p2: Remote webgui@p2 and runtime@p2 attempt to subscribe <br/> to the describe method of the runtime@p1
+    webgui@p2->>runtime@p1: addListener describe
+    Note left of webgui@p2: runtime@p2 sends a describe request to runtime@p1
+    webgui@p2->>runtime@p1: describe 
+    Note right of runtime@p1: runtime@p1 responds with a describe response
+    runtime@p1->>webgui@p2: onDescribe 
+    Note left of webgui@p2: Based on the results of the describe,<br/> more querying and subscriptions can be processed
+
+
+    %% opt Server Add Listener, Describe and Reserve
+    %% end
+
+
+```
+
+
+### Minimal Message API Definition
+
+```json
+{
+  "name": "runtime",
+  "method": "connect",
+  "data": [
+    "\"http://main.myrobotlab.org:8888\""
+  ],
+}
+
+```
+
+### Path API Definition
+```
+/{service-name}/{method-name}/{json-param1}/{json-param2}/{json-param3}...
+```
+The Path API definition is a simple way to define a RESTful API.  The path is parsed and the service name, method name, and parameters are extracted.  The parameters are json encoded and converted to the correct type when the method is invoked.  The response is returned as a JSON object. The REST and CLI both use this API definition.
+
+#### Examples
+```
+http://localhost:8888/runtime/getUptime
+http://localhost:8888/runtime/connect/"http://main.myrobotlab.org:8888"
+http://localhost:8888/arduino/connect/"COM3"
+```
+The exact same paths can be used in the CLI
+```
+/runtime/getUptime
+/runtime/connect/"http://main.myrobotlab.org:8888"
+/arduino/connect/"COM3"
+```
+
+
+### 1 Connection
+A connection with a websocket starts with an HTTP GET 
+```
+ws://localhost:8888/api/messages?user=root&pwd=pwd&session_id=2309adf3dlkdk&id=p1
+```
+### 2 Subscribe to Runtime Describe
+When a connection is established between two different myrobotlab instances p1 and p2,
+the following messages are sent.  The first message is adding a subscription to the runtime of the
+other process.  The subscription is for the function "describe".  The second message will be a describe request.
+```json
+{
+  "msgId": 1690145377501,
+  "name": "runtime",
+  "sender": "webgui@p2",
+  "sendingMethod": "",
+  "historyList": [],
+  "properties": null,
+  "status": null,
+  "encoding": "json",
+  "method": "addListener",
+  "data": [
+    "{\"topicMethod\":\"describe\",\"callbackName\":\"runtime@caring-hector\",\"callbackMethod\":\"onDescribe\",\"class\":\"org.myrobotlab.framework.MRLListener\"}"
+  ],
+  "class": "org.myrobotlab.framework.Message"
+}
+```
+### 3 Send Describe
+
+```json
+{
+  "msgId": 1690145377501,
+  "name": "runtime",
+  "sender": "webgui@p2",
+  "sendingMethod": "",
+  "historyList": [],
+  "properties": null,
+  "status": null,
+  "encoding": "json",
+  "method": "describe",
+  "data": [
+    "\"fill-uuid\"",
+    "{\"id\":\"caring-hector\",\"uuid\":\"383b4070-2848-4c3d-85f4-e7f6e081d18e\",\"platform\":{\"os\":\"linux\",\"arch\":\"x86\",\"osBitness\":64,\"jvmBitness\":64,\"lang\":\"java\",\"vmName\":\"OpenJDK 64-Bit Server VM\",\"vmVersion\":\"11\",\"mrlVersion\":\"unknownVersion\",\"isVirtual\":false,\"id\":\"caring-hector\",\"branch\":\"develop\",\"pid\":\"1500044\",\"hostname\":\"t14-gperry\",\"commit\":\"55d0163663825dd0aaa10568bc01e035c7f21532\",\"build\":null,\"motd\":\"resistance is futile, we have cookies and robots ...\",\"startTime\":1690135873670,\"manifest\":{\"git.branch\":\"develop\",\"git.build.host\":\"t14-gperry\",\"git.build.time\":\"2023-07-23T10:38:46-0700\",\"git.build.user.email\":\"grog@myrobotlab.org\",\"git.build.user.name\":\"grog\",\"git.build.version\":\"0.0.1-SNAPSHOT\",\"git.closest.tag.commit.count\":\"13447\",\"git.closest.tag.name\":\"1.0.119\",\"git.commit.author.time\":\"2023-07-22T20:15:51-0700\",\"git.commit.committer.time\":\"2023-07-22T20:15:51-0700\",\"git.commit.id\":\"55d0163663825dd0aaa10568bc01e035c7f21532\",\"git.commit.id.abbrev\":\"55d0163\",\"git.commit.id.describe\":\"1.0.119-13447-g55d0163\",\"git.commit.id.describe-short\":\"1.0.119-13447\",\"git.commit.message.full\":\"Cron enhanced 2 (#1318)\\n\\n* Improved Cron and Cron history\\r\\n\\r\\n* forgot one\\r\\n\\r\\n* Teamwork fix of Hd44780\\r\\n\\r\\n* updated from review\",\"git.commit.message.short\":\"Cron enhanced 2 (#1318)\",\"git.commit.time\":\"2023-07-22T20:15:51-0700\",\"git.commit.user.email\":\"grog@myrobotlab.org\",\"git.commit.user.name\":\"GroG\",\"git.dirty\":\"false\",\"git.local.branch.ahead\":\"0\",\"git.local.branch.behind\":\"0\",\"git.remote.origin.url\":\"git@github.com-myrobotlab:MyRobotLab/myrobotlab.git\",\"git.tags\":\"1.1.1194\",\"git.total.commit.count\":\"14104\"},\"shortCommit\":\"55d0163\",\"class\":\"org.myrobotlab.framework.Platform\"},\"class\":\"org.myrobotlab.framework.DescribeQuery\"}"
+  ],
+  "class": "org.myrobotlab.framework.Message"
+}
+
+```
+
+The describe message sends instance and platform information in return, the return data from describe, will return with an onDescribe message that contains all the service information from the remote (p2) process
+
+### 4 Process onDescribe Response
+```json
+{
+   "msgId":1692478237121,
+   "name":"runtime@webgui-client",
+   "sender":"runtime@unhealthy-giddy",
+   "sendingMethod":"describe",
+   "historyList":[
+      "unhealthy-giddy"
+   ],
+   "properties":null,
+   "status":null,
+   "encoding":"json",
+   "method":"onDescribe",
+   "data":[
+      "{\"id\":\"unhealthy-giddy\",\"uuid\":null,\"request\":null,\"platform\":{\"os\":\"linux\",\"arch\":\"x86\",\"osBitness\":64,\"jvmBitness\":64,\"lang\":\"java\",\"vmName\":\"OpenJDK 64-Bit Server VM\",\"vmVersion\":\"11\",\"mrlVersion\":\"unknownVersion\",\"isVirtual\":false,\"id\":\"unhealthy-giddy\",\"branch\":\"grog\",\"pid\":\"2462761\",\"hostname\":\"t14-gperry\",\"commit\":\"5610a6602bef704a84160d7d067af3b417be1998\",\"build\":null,\"motd\":\"resistance is futile, we have cookies and robots ...\",\"startTime\":1692478154179,\"manifest\":{\"git.branch\":\"grog\",\"git.build.host\":\"t14-gperry\",\"git.build.time\":\"2023-08-19T09:36:36-0700\",\"git.build.user.email\":\"grog@myrobotlab.org\",\"git.build.user.name\":\"grog\",\"git.build.version\":\"0.0.1-SNAPSHOT\",\"git.closest.tag.commit.count\":\"13778\",\"git.closest.tag.name\":\"1.0.119\",\"git.commit.author.time\":\"2023-08-19T09:21:48-0700\",\"git.commit.committer.time\":\"2023-08-19T09:21:48-0700\",\"git.commit.\"class\":\"org.myrobotlab.framework.DescribeResults\"} ....   WAY WAY TOO MUCH DATA !!!!  ..."
+   ],
+   "class":"org.myrobotlab.framework.Message"
+}
+```
+
+The response back will include serialized services which should be refactor to be more minimal, and more describe parameters which can return interfaces or methods
+Services returned from the Describe request have been registered.  By default they are only the currently "local" registered services.  
+
+The response should be refactored so that the material returned is related to criterial requested. 
+For example, if only a list of services and their names are needed, that is all that is returned.  If a specific service's interfaces are requested, then that is only returned.
+Fill-UUID should be refactored out.
+

From d5a1569920d954f5d8efbb5ee878efe06488f56a Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Sat, 19 Aug 2023 14:10:37 -0700
Subject: [PATCH 51/54] removing useless comments

---
 .../java/org/myrobotlab/i2c/I2CFactory.java   | 28 +------------------
 1 file changed, 1 insertion(+), 27 deletions(-)

diff --git a/src/main/java/org/myrobotlab/i2c/I2CFactory.java b/src/main/java/org/myrobotlab/i2c/I2CFactory.java
index 7b69481d38..d5b72c8565 100644
--- a/src/main/java/org/myrobotlab/i2c/I2CFactory.java
+++ b/src/main/java/org/myrobotlab/i2c/I2CFactory.java
@@ -29,20 +29,6 @@ public class I2CFactory {
    */
   public static I2CBus getInstance(int busNumber) throws IOException {
 
-    /*
-     * String architecture = Platform.getArch(); try { String I2CBusType =
-     * "org.myrobotlab.i2c.I2CBusProxy"; if
-     * (architecture.equals(Platform.ARCH_ARM)) { // raspi I2CBusType =
-     * "com.pi4j.io.i2c.impl.I2CBusImpl"; }
-     * 
-     * Object[] param = new Object[0];
-     * 
-     * Class<?> c; c = Class.forName(I2CBusType); Class<?>[] paramTypes = new
-     * Class[param.length]; for (int i = 0; i < param.length; ++i) {
-     * paramTypes[i] = param[i].getClass(); } Constructor<?> mc =
-     * c.getConstructor(paramTypes); return (I2CBus) mc.newInstance(param); }
-     * catch (Exception e) { Logging.logException(e); return null; }
-     */
     // pi4j's factory calls the implementation directly
     // which would not be my first choice - but since it does
     // I will do the same here... otherwise I'll need to invoke
@@ -50,12 +36,7 @@ public static I2CBus getInstance(int busNumber) throws IOException {
     Platform platform = Platform.getLocalInstance();
 
     if (platform.isArm()) {
-      // raspi
-      // TODO: fix this!!!
-      // log.warn("This probable doesn't work for ARM / RasPI now.. update the
-      // code!");
-      // return I2CBusImpl.getBus(busNumber);
-      // return null;
+
       try {
         return provider.getBus(busNumber, DEFAULT_LOCKAQUIRE_TIMEOUT, DEFAULT_LOCKAQUIRE_TIMEOUT_UNITS);
       } catch (UnsupportedBusNumberException e) {
@@ -66,13 +47,6 @@ public static I2CBus getInstance(int busNumber) throws IOException {
     } else {
       return I2CProxyImpl.getBus(busNumber);
     }
-
-    // return I2CBusImpl.getBus(busNumber);
-  }
-
-  public static void main(String[] args) {
-    // TODO Auto-generated method stub
-
   }
 
 }

From 0ecdc681b4928ab65649404779c095d352dd96b1 Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Wed, 30 Aug 2023 07:04:44 -0700
Subject: [PATCH 52/54] fixed wrong username in programab

---
 src/main/java/org/myrobotlab/service/ProgramAB.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/java/org/myrobotlab/service/ProgramAB.java b/src/main/java/org/myrobotlab/service/ProgramAB.java
index 171f67feae..29b8653ad8 100644
--- a/src/main/java/org/myrobotlab/service/ProgramAB.java
+++ b/src/main/java/org/myrobotlab/service/ProgramAB.java
@@ -1114,7 +1114,7 @@ public ProgramABConfig apply(ProgramABConfig c) {
     }
     
     if (c.currentBotName != null) {
-      setCurrentUserName(c.currentBotName);
+      setCurrentBotName(c.currentBotName);
     }    
     
     if (c.startTopic != null) {

From 9ff1d962ac7cebd3b3ee03146689d23aa8d4311d Mon Sep 17 00:00:00 2001
From: Branden Butler <bwtbutler@hotmail.com>
Date: Thu, 7 Sep 2023 08:51:22 -0500
Subject: [PATCH 53/54] Fix misc bugs (#1338)

* Fix incorrect duplicate deps checking, regen pom

* Add StringUtil docstring and test

* Fix incorrect full type creation

* Add additional fallback lookup for service configs based on generic superclasses

* Fix broken installation

* Fix Sphinx, sort of
---
 pom.xml                                       | 948 +++++++++---------
 .../java/org/myrobotlab/codec/CodecUtils.java |   2 +-
 .../myrobotlab/framework/repo/IvyWrapper.java |   2 +-
 .../framework/repo/MavenWrapper.java          |   8 +-
 .../framework/repo/ServiceData.java           |  31 +-
 .../framework/repo/ServiceDependency.java     |  21 +
 .../java/org/myrobotlab/service/Runtime.java  |   9 +-
 .../java/org/myrobotlab/service/Sphinx.java   |  60 +-
 .../service/config/ServiceConfig.java         |  39 +-
 .../org/myrobotlab/string/StringUtil.java     |  32 +-
 .../org/myrobotlab/string/StringUtilTest.java |   6 +
 11 files changed, 600 insertions(+), 558 deletions(-)

diff --git a/pom.xml b/pom.xml
index f3502dffce..a1507381a2 100644
--- a/pom.xml
+++ b/pom.xml
@@ -1,102 +1,102 @@
-<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-  xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
-  <!-- 
-    # configure jvm and javac
-    sudo update-alternatives (minus minus) config java
-    sudo update-alternatives (minus minus) config javac 
-    export JAVA_HOME=/usr/lib/jvm/java-8-openjdk-amd64
-    export PATH=$JAVA_HOME/bin:$PATH
-
-    # shows system vars and env vars
-    mvn -DskipTests help:system
-    
-    # fast build
-    mvn -DskipTests package -o 
-
-    # specific test
-    mvn test -Dtest="org.myrobotlab.service.WebGuiTest#postTest"  
-
-    # compile only sync with raspi
-    rsync -zarvh target/classes pi@192.168.0.104:/opt/mrl/myrobotlab/target
-    rsync -zarvh src pi@192.168.0.104:/opt/mrl/myrobotlab
-    # for jar in root
-    rsync -zarvh target/myrobotlab.jar pi@192.168.0.104:/opt/mrl/myrobotlab
-    
-    # javadoc check
-    mvn -q javadoc:javadoc -o
-    
-    # specific test
-    mvn test -Dtest=OpenCVTest#testGetClassifications
-
-    # installing in a local repo
-    mvn install:install-file  -Dfile=target/myrobotlab.jar \
-                      -DgroupId=myrobotlab.org \
-                      -DartifactId=myrobotlab \
-                      -Dversion=1.1.401 \
-                      -Dpackaging=jar \
-                      -DlocalRepositoryPath=test-repo
-
-    # proxy
-    -Dhttp.proxyHost=webproxy -Dhttp.proxyPort=80 -Dhttps.proxyHost=webproxy -Dhttps.proxyPort=80
-
-    # single dep
-    mvn org.apache.maven.plugins:maven-dependency-plugin:2.8:get -Dartifact=org.myrobotlab:worke:0.0.2:jar:sources -Ddest=.
-    mvn org.apache.maven.plugins:maven-dependency-plugin:2.8:get -Dartifact=org.myrobotlab:worke:0.0.2:zip -Ddest=.
-
-    # doclets
-    javadoc -classpath target/myrobotlab.jar:libraries/jar/* -docletpath target/myrobotlab.jar -doclet org.myrobotlab.doclet.ScannerDoclet  src/main/java/org/myrobotlab/service/Clock.java minus-show-comments/show-elements
-    # specific test
-    mvn -Dtest=org.myrobotlab.opencv.OpenCVFilterFaceDetectTest test
-
-    # doclets
-    javadoc -classpath target/myrobotlab.jar:libraries/jar/* -docletpath target/myrobotlab.jar -doclet org.myrobotlab.doclet.ScannerDoclet  src/main/java/org/myrobotlab/service/Clock.java minus-show-comments/show-elements
-  
-    # how to mount sshfs from a raspi and maintain a single build
-    usermod -a -G i2c xxxxx
-    usermod -a -G gpio xxxxx
-    sshfs xxxxx@yyyyy.myrobotlab.org:/home/xxxxx /home/xxxxx/sshfs/blade2
-    java -classpath target/classes:libraries/jar/* org.myrobotlab.service.Runtime &#45;&#45;from-launcher -s webgui WebGui python Python
-
-    # jpackage
-    jpackage &#45;&#45;verbose &#45;&#45;name myrobotlab &#45;&#45;input target &#45;&#45;main-jar myrobotlab.jar &#45;&#45;main-class org.myrobotlab.service.Runtime &#45;&#45;java-options '-Xmx512m -Xms512m -Djava.library.path=libraries/native -Djna.library.path=libraries/native -Dfile.encoding=UTF-8' &#45;&#45;arguments "&#45;&#45;from-launcher &#45;&#45;id historical-gates &#45;&#45;log-level info -s webgui WebGui intro Intro python Python" &#45;&#45;type app-image
-  
-   -->  
-  <modelVersion>4.0.0</modelVersion>
-  <groupId>org.myrobotlab</groupId>
-  <artifactId>mrl</artifactId>
-  <version>0.0.1-SNAPSHOT</version>
-  <name>MyRobotLab</name>
-  <description>Open Source Creative Machine Control</description>
-  <properties>
-      <!-- TODO all manually set manifest properties here e.g. <build.number>${env.BUILD_NUMBER} - for clarity !!!! -->
-      <dependency.locations.enabled>false</dependency.locations.enabled>
-      <!-- begin env vars -->
-      <!-- 
-        global build number comes either from a local build.properties file,
-        or the build.properties is replaced by a curl command
-        curl http://build.myrobotlab.org:8888/getBuildNumber?branch=develop > build.properties
-        maven or jenkins can do this
-        
-       -->
-      <!-- from jenkins env vars -->
-      <version.prefix>1.1.</version.prefix>
-      <!-- force overriding property at command line, use ${maven.build.timestamp}-->
-      <timestamp>${maven.build.timestamp}</timestamp>
-      <maven.build.timestamp.format>yyyyMMddHHmm</maven.build.timestamp.format>      
-      <build.number>${timestamp}</build.number>
-      <version>${version.prefix}${build.number}</version>   
-      <GitBranch>${git.branch}</GitBranch>
-      <username>${NODE_NAME}</username>      
-      <platform>${NODE_LABELS}</platform>      
-      <!-- end env vars -->
-      <!-- echoproperties / -->
-      
-    <maven.compiler.source>11</maven.compiler.source>
-    <maven.compiler.target>11</maven.compiler.target>
-    <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
-
-  </properties>
-  
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+  <!-- 
+    # configure jvm and javac
+    sudo update-alternatives (minus minus) config java
+    sudo update-alternatives (minus minus) config javac 
+    export JAVA_HOME=/usr/lib/jvm/java-8-openjdk-amd64
+    export PATH=$JAVA_HOME/bin:$PATH
+
+    # shows system vars and env vars
+    mvn -DskipTests help:system
+    
+    # fast build
+    mvn -DskipTests package -o 
+
+    # specific test
+    mvn test -Dtest="org.myrobotlab.service.WebGuiTest#postTest"  
+
+    # compile only sync with raspi
+    rsync -zarvh target/classes pi@192.168.0.104:/opt/mrl/myrobotlab/target
+    rsync -zarvh src pi@192.168.0.104:/opt/mrl/myrobotlab
+    # for jar in root
+    rsync -zarvh target/myrobotlab.jar pi@192.168.0.104:/opt/mrl/myrobotlab
+    
+    # javadoc check
+    mvn -q javadoc:javadoc -o
+    
+    # specific test
+    mvn test -Dtest=OpenCVTest#testGetClassifications
+
+    # installing in a local repo
+    mvn install:install-file  -Dfile=target/myrobotlab.jar \
+                      -DgroupId=myrobotlab.org \
+                      -DartifactId=myrobotlab \
+                      -Dversion=1.1.401 \
+                      -Dpackaging=jar \
+                      -DlocalRepositoryPath=test-repo
+
+    # proxy
+    -Dhttp.proxyHost=webproxy -Dhttp.proxyPort=80 -Dhttps.proxyHost=webproxy -Dhttps.proxyPort=80
+
+    # single dep
+    mvn org.apache.maven.plugins:maven-dependency-plugin:2.8:get -Dartifact=org.myrobotlab:worke:0.0.2:jar:sources -Ddest=.
+    mvn org.apache.maven.plugins:maven-dependency-plugin:2.8:get -Dartifact=org.myrobotlab:worke:0.0.2:zip -Ddest=.
+
+    # doclets
+    javadoc -classpath target/myrobotlab.jar:libraries/jar/* -docletpath target/myrobotlab.jar -doclet org.myrobotlab.doclet.ScannerDoclet  src/main/java/org/myrobotlab/service/Clock.java minus-show-comments/show-elements
+    # specific test
+    mvn -Dtest=org.myrobotlab.opencv.OpenCVFilterFaceDetectTest test
+
+    # doclets
+    javadoc -classpath target/myrobotlab.jar:libraries/jar/* -docletpath target/myrobotlab.jar -doclet org.myrobotlab.doclet.ScannerDoclet  src/main/java/org/myrobotlab/service/Clock.java minus-show-comments/show-elements
+  
+    # how to mount sshfs from a raspi and maintain a single build
+    usermod -a -G i2c xxxxx
+    usermod -a -G gpio xxxxx
+    sshfs xxxxx@yyyyy.myrobotlab.org:/home/xxxxx /home/xxxxx/sshfs/blade2
+    java -classpath target/classes:libraries/jar/* org.myrobotlab.service.Runtime &#45;&#45;from-launcher -s webgui WebGui python Python
+
+    # jpackage
+    jpackage &#45;&#45;verbose &#45;&#45;name myrobotlab &#45;&#45;input target &#45;&#45;main-jar myrobotlab.jar &#45;&#45;main-class org.myrobotlab.service.Runtime &#45;&#45;java-options '-Xmx512m -Xms512m -Djava.library.path=libraries/native -Djna.library.path=libraries/native -Dfile.encoding=UTF-8' &#45;&#45;arguments "&#45;&#45;from-launcher &#45;&#45;id historical-gates &#45;&#45;log-level info -s webgui WebGui intro Intro python Python" &#45;&#45;type app-image
+  
+   -->  
+  <modelVersion>4.0.0</modelVersion>
+  <groupId>org.myrobotlab</groupId>
+  <artifactId>mrl</artifactId>
+  <version>0.0.1-SNAPSHOT</version>
+  <name>MyRobotLab</name>
+  <description>Open Source Creative Machine Control</description>
+  <properties>
+      <!-- TODO all manually set manifest properties here e.g. <build.number>${env.BUILD_NUMBER} - for clarity !!!! -->
+      <dependency.locations.enabled>false</dependency.locations.enabled>
+      <!-- begin env vars -->
+      <!-- 
+        global build number comes either from a local build.properties file,
+        or the build.properties is replaced by a curl command
+        curl http://build.myrobotlab.org:8888/getBuildNumber?branch=develop > build.properties
+        maven or jenkins can do this
+        
+       -->
+      <!-- from jenkins env vars -->
+      <version.prefix>1.1.</version.prefix>
+      <!-- force overriding property at command line, use ${maven.build.timestamp}-->
+      <timestamp>${maven.build.timestamp}</timestamp>
+      <maven.build.timestamp.format>yyyyMMddHHmm</maven.build.timestamp.format>      
+      <build.number>${timestamp}</build.number>
+      <version>${version.prefix}${build.number}</version>   
+      <GitBranch>${git.branch}</GitBranch>
+      <username>${NODE_NAME}</username>      
+      <platform>${NODE_LABELS}</platform>      
+      <!-- end env vars -->
+      <!-- echoproperties / -->
+      
+    <maven.compiler.source>11</maven.compiler.source>
+    <maven.compiler.target>11</maven.compiler.target>
+    <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+
+  </properties>
+  
      <repositories>
         <!-- the mother load  -->
         <repository>
@@ -135,9 +135,9 @@
           <url>https://m2.dv8tion.net/releases</url>
         </repository>
      </repositories>
-  
-  
-  <dependencies>
+  
+  
+  <dependencies>
 <!-- AudioFile begin -->
   <dependency>
     <groupId>javazoom</groupId>
@@ -1734,375 +1734,375 @@
   </dependency>
 <!-- Xmpp end -->
 
-
-  	<dependency>
-	    <groupId>org.mockito</groupId>
-	    <artifactId>mockito-core</artifactId>
-	    <version>3.12.4</version>
-	    <scope>test</scope>
-	</dependency>
-  </dependencies>
-  
-  <build>
-    <resources>
-      <resource>
-        <filtering>false</filtering>
-        <directory>src/main/resources</directory>
-      </resource>
-      <resource>
-        <filtering>false</filtering>
-        <directory>src/main/java</directory>
-        <includes>
-          <include>**</include>
-        </includes>
-        <excludes>
-          <exclude>**/*.java</exclude>
-        </excludes>
-      </resource>
-    </resources>
-    <testResources>
-      <testResource>
-        <filtering>false</filtering>
-        <directory>src/test/resources</directory>
-      </testResource>
-      <testResource>
-        <filtering>false</filtering>
-        <directory>src/test/java</directory>
-        <includes>
-          <include>**</include>
-        </includes>
-        <excludes>
-          <exclude>**/*.java</exclude>
-        </excludes>
-      </testResource>
-      <testResource>
-        <directory>src/main/resources</directory>
-        <targetPath>${project.basedir}</targetPath>
-      </testResource>
-    </testResources>
-
-    <!-- define the plugin -->
-      <pluginManagement>
-        <plugins>
-          <plugin>
-            <groupId>org.codehaus.mojo</groupId>
-            <artifactId>properties-maven-plugin</artifactId>
-            <version>1.0.0</version>
-          </plugin>
-          <plugin>
-            <groupId>org.apache.maven.plugins</groupId>
-            <artifactId>maven-enforcer-plugin</artifactId>
-            <version>3.1.0</version>
-         </plugin>
-        </plugins>
-      </pluginManagement>
-  
-          <!-- use plugin -->
-      <plugins>
-      <plugin>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-enforcer-plugin</artifactId>
-        <executions>
-            <execution>
-                <id>no-duplicate-declared-dependencies</id>
-                <goals>
-                    <goal>enforce</goal>
-                </goals>
-                <configuration>
-                    <rules>
-                        <banDuplicatePomDependencyVersions/>
-                    </rules>
-                </configuration>
-            </execution>
-        </executions>
-      </plugin>
-
-      <plugin>
-          <groupId>org.codehaus.mojo</groupId>
-          <artifactId>properties-maven-plugin</artifactId>        
-          <executions>
-            <execution>
-              <phase>initialize</phase>
-              <goals>
-                <goal>read-project-properties</goal>
-              </goals>
-              <configuration>
-                <files>
-                  <file>build.properties</file>
-                </files>
-              </configuration>
-            </execution>
-          </executions>
-        </plugin>
-  
-      <!-- removed because now we generate serviceData.json during runtime plugin>
-        <groupId>org.codehaus.mojo</groupId>
-        <artifactId>exec-maven-plugin</artifactId>
-        <version>1.6.0</version>
-        <executions>
-          <execution>
-            <id>service-data-execution</id>
-            <phase>prepare-package</phase>
-            <goals>
-              <goal>java</goal>
-            </goals>
-          </execution>
-        </executions>
-        <configuration>
-          <mainClass>org.myrobotlab.framework.repo.ServiceData</mainClass>
-          <classpathScope>test</classpathScope>
-          <arguments>
-                  <argument>target/classes/resource/framework</argument>
-                </arguments>
-        </configuration>
-      </plugin -->
-    
-      <plugin>
-                <groupId>org.apache.maven.plugins</groupId>
-                <artifactId>maven-shade-plugin</artifactId>
-                <version>3.1.0</version>
-                <executions>
-                    <execution>
-                        <phase>package</phase>
-                        <goals>
-                            <goal>shade</goal>
-                        </goals>
-                        <configuration>
-                            <finalName>myrobotlab</finalName>
-                            <!-- finalName>myrobotlab-${git.branch}-${version}</finalName -->
-                            <shadedArtifactAttached>true</shadedArtifactAttached>
-                            <shadedClassifierName>myrobotlab-full</shadedClassifierName>
-                            <minimizeJar>false</minimizeJar>
-                           <!--  <artifactSet>
-                                <excludes>
-                                    <exclude>edu.stanford.nlp:*</exclude>
-                                </excludes>
-                            </artifactSet>  -->
-                            <transformers>
-                                <transformer
-                                        implementation="org.apache.maven.plugins.shade.resource.ManifestResourceTransformer">
-                                        <manifestEntries>
-                                          <Main-Class>org.myrobotlab.service.Runtime</Main-Class>
-                                          <Major-Version>${version}</Major-Version>
-                                          <Implementation-Version>${version}</Implementation-Version>                               
-              
-                        <Build-Version>${build.number}</Build-Version>
-                        <Build-Time>${maven.build.timestamp}</Build-Time>
-                        <Build-Host>${agent.name}</Build-Host>
-                        <Build-User>${user.name}</Build-User>
-                        
-                    <!-- maven git plugin id info -->
-                      <GitTags>${git.tags}</GitTags>
-                      <GitBranch>${git.branch}</GitBranch>
-                      <GitDirty>${git.dirty}</GitDirty>
-                      <GitRemoteOriginUrl>${git.remote.origin.url}</GitRemoteOriginUrl>
-                      <GitCommitId>${git.commit.id}</GitCommitId>
-                      <GitCommitIdAbbrev>${git.commit.id.abbrev}</GitCommitIdAbbrev>
-                      <GitCommitIdFull>${git.commit.id.full}</GitCommitIdFull>
-                      <GitCommitIdDescribe>${git.commit.id.describe}</GitCommitIdDescribe>
-                      <GitCommitIdDescribeShort>${git.commit.id.describe-short}</GitCommitIdDescribeShort>
-                      <GitCommitUserName>${git.commit.user.name}</GitCommitUserName>
-                      <GitCommitUserEmail>${git.commit.user.email}</GitCommitUserEmail>
-                      <!-- removed because multi-line value can break manifest
-                        GitCommitMessageFull>${git.commit.message.full}</GitCommitMessageFull                         
-                      <GitCommitMessageShort>${git.commit.message.short}</GitCommitMessageShort>
-                      -->
-                      <GitCommitTime>${git.commit.time}</GitCommitTime>
-                      <GitClosestTagName>${git.closest.tag.name}</GitClosestTagName>
-                      <GitClosestTagCommitCount>${git.closest.tag.commit.count}</GitClosestTagCommitCount>
-                      <GitBuildUserName>${git.build.user.name}</GitBuildUserName>
-                      <GitBuildUserEmail>${git.build.user.email}</GitBuildUserEmail>
-                      <GitBuildTime>${git.build.time}</GitBuildTime>
-                      <GitBuildVersion>${git.build.version}</GitBuildVersion>                        
-                        
-                                        </manifestEntries>                                    
-                                </transformer>
-                            </transformers>
-                             <filters>
-                                <filter>
-                                    <artifact>*:*</artifact>
-                                    <excludes>
-                                        <exclude>module-info.class</exclude>
-                                        <exclude>META-INF/*.SF</exclude>
-                                        <exclude>META-INF/*.DSA</exclude>
-                                        <exclude>META-INF/*.RSA</exclude>
-                                    </excludes>
-                                </filter>
-                            </filters>
-                        </configuration>
-                    </execution>
-                </executions>
-            </plugin>
-
-      <plugin>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-assembly-plugin</artifactId>
-        <configuration>
-          <descriptors>
-            <descriptor>assembly.xml</descriptor>
-          </descriptors>
-          <finalName>myrobotlab</finalName>
-          <appendAssemblyId>false</appendAssemblyId>
-        </configuration>
-        <executions>
-          <execution>
-            <id>trigger-assembly</id>
-            <phase>package</phase>
-            <goals>
-              <goal>single</goal>
-            </goals>
-         </execution>
-       </executions>
-      </plugin>
-      
-      <plugin>
-        <inherited>true</inherited>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-compiler-plugin</artifactId>
-        <version>2.3.2</version>
-        <configuration>
-          <source>11</source>
-          <target>11</target>
-          <optimize>true</optimize>
-          <debug>true</debug>
-          <compilerArgument>-parameters</compilerArgument>          
-        </configuration>
-      </plugin>
-
-      <plugin>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-resources-plugin</artifactId>
-        <version>2.4.3</version>
-      </plugin>
-
-      <plugin>
-          <groupId>pl.project13.maven</groupId>
-          <artifactId>git-commit-id-plugin</artifactId>
-          <version>4.9.10</version>
-          <executions>
-              <execution>
-                  <phase>initialize</phase>
-                  <id>get-the-git-infos</id>
-                  <goals>
-                      <goal>revision</goal>
-                  </goals>
-              </execution>
-          </executions>
-          <configuration>
-              <dotGitDirectory>${project.basedir}/.git</dotGitDirectory>
-              <prefix>git</prefix>
-              <verbose>false</verbose>
-              <generateGitPropertiesFile>true</generateGitPropertiesFile>
-              <generateGitPropertiesFilename>${project.build.outputDirectory}/git.properties</generateGitPropertiesFilename>
-              <!-- format>json</format -->
-              <gitDescribe>
-                  <skip>false</skip>
-                  <always>false</always>
-                  <dirty>-dirty</dirty>
-              </gitDescribe>
-          </configuration>
-      </plugin>          
-
-      <plugin>
-        <artifactId>maven-surefire-plugin</artifactId>
-        <groupId>org.apache.maven.plugins</groupId>
-        <version>2.22.2</version>
-        <configuration>
-          <argLine>-Djava.library.path=libraries/native -Djna.library.path=libraries/native</argLine>
-          <includes>
-            <include>**/*Test.java</include>
-          </includes>
-          <excludes>
-            <exclude>**/integration/*</exclude>
-          </excludes>
-             <systemPropertyVariables>
-              </systemPropertyVariables>
-        </configuration>
-      </plugin>
-      <!-- This plugin deletes the .myrobotlab on a build also the target directory from previous builds -->
-      <plugin>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-clean-plugin</artifactId>
-        <version>2.3</version>
-                <configuration>
-                  <filesets>
-                    <fileset>
-                      <directory>data/.myrobotlab</directory>
-                      <followSymlinks>false</followSymlinks>
-            </fileset>
-          <fileset>
-            <directory>libraries</directory>
-            <includes>
-              <include>**</include>
-            </includes>
-            <followSymlinks>false</followSymlinks>
-          </fileset>
-          <fileset>
-            <directory>data</directory>
-            <includes>
-            <include>**</include>
-            </includes>
-          </fileset>
-          <fileset>
-            <directory>resource</directory>
-            <includes>
-            <include>**</include>
-            </includes>
-          </fileset>
-          <fileset>
-            <directory>src/main/resources/resource/framework</directory>
-            <includes>
-              <include>**/serviceData.json</include>
-            </includes>
-            <followSymlinks>false</followSymlinks>
-          </fileset>
-                  </filesets>
-                </configuration>
-      </plugin>
-      <!-- attached to Maven test phase -->
-      <!--
-      <plugin>
-        <groupId>org.jacoco</groupId>
-        <artifactId>jacoco-maven-plugin</artifactId>
-        <version>0.8.8</version>
-        <executions>
-          <execution>
-            <goals>
-              <goal>prepare-agent</goal>
-            </goals>
-          </execution>          
-          <execution>
-            <id>report</id>
-            <phase>test</phase>
-            <goals>
-              <goal>report</goal>
-            </goals>
-          </execution>
-        </executions>
-      </plugin>
-      -->
-    </plugins>
-  </build>
-    <reporting>    
-    <plugins>
-      <plugin>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-surefire-report-plugin</artifactId>
-        <version>2.22.2</version>
-      </plugin>
-      <plugin>
-        <groupId>org.apache.maven.plugins</groupId>
-        <artifactId>maven-javadoc-plugin</artifactId>
-        <version>3.0.1</version>
-      </plugin>
-    </plugins>
-    </reporting>
-  <organization>
-    <name>myrobotlab</name>
-    <url>http://myrobotlab.org</url>
-  </organization>
-  <issueManagement>
-      <system>github</system>
-      <url>https://github.com/MyRobotLab/myrobotlab/issues</url>
-  </issueManagement>
-</project>
+
+  	<dependency>
+	    <groupId>org.mockito</groupId>
+	    <artifactId>mockito-core</artifactId>
+	    <version>3.12.4</version>
+	    <scope>test</scope>
+	</dependency>
+  </dependencies>
+  
+  <build>
+    <resources>
+      <resource>
+        <filtering>false</filtering>
+        <directory>src/main/resources</directory>
+      </resource>
+      <resource>
+        <filtering>false</filtering>
+        <directory>src/main/java</directory>
+        <includes>
+          <include>**</include>
+        </includes>
+        <excludes>
+          <exclude>**/*.java</exclude>
+        </excludes>
+      </resource>
+    </resources>
+    <testResources>
+      <testResource>
+        <filtering>false</filtering>
+        <directory>src/test/resources</directory>
+      </testResource>
+      <testResource>
+        <filtering>false</filtering>
+        <directory>src/test/java</directory>
+        <includes>
+          <include>**</include>
+        </includes>
+        <excludes>
+          <exclude>**/*.java</exclude>
+        </excludes>
+      </testResource>
+      <testResource>
+        <directory>src/main/resources</directory>
+        <targetPath>${project.basedir}</targetPath>
+      </testResource>
+    </testResources>
+
+    <!-- define the plugin -->
+      <pluginManagement>
+        <plugins>
+          <plugin>
+            <groupId>org.codehaus.mojo</groupId>
+            <artifactId>properties-maven-plugin</artifactId>
+            <version>1.0.0</version>
+          </plugin>
+          <plugin>
+            <groupId>org.apache.maven.plugins</groupId>
+            <artifactId>maven-enforcer-plugin</artifactId>
+            <version>3.1.0</version>
+         </plugin>
+        </plugins>
+      </pluginManagement>
+  
+          <!-- use plugin -->
+      <plugins>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-enforcer-plugin</artifactId>
+        <executions>
+            <execution>
+                <id>no-duplicate-declared-dependencies</id>
+                <goals>
+                    <goal>enforce</goal>
+                </goals>
+                <configuration>
+                    <rules>
+                        <banDuplicatePomDependencyVersions/>
+                    </rules>
+                </configuration>
+            </execution>
+        </executions>
+      </plugin>
+
+      <plugin>
+          <groupId>org.codehaus.mojo</groupId>
+          <artifactId>properties-maven-plugin</artifactId>        
+          <executions>
+            <execution>
+              <phase>initialize</phase>
+              <goals>
+                <goal>read-project-properties</goal>
+              </goals>
+              <configuration>
+                <files>
+                  <file>build.properties</file>
+                </files>
+              </configuration>
+            </execution>
+          </executions>
+        </plugin>
+  
+      <!-- removed because now we generate serviceData.json during runtime plugin>
+        <groupId>org.codehaus.mojo</groupId>
+        <artifactId>exec-maven-plugin</artifactId>
+        <version>1.6.0</version>
+        <executions>
+          <execution>
+            <id>service-data-execution</id>
+            <phase>prepare-package</phase>
+            <goals>
+              <goal>java</goal>
+            </goals>
+          </execution>
+        </executions>
+        <configuration>
+          <mainClass>org.myrobotlab.framework.repo.ServiceData</mainClass>
+          <classpathScope>test</classpathScope>
+          <arguments>
+                  <argument>target/classes/resource/framework</argument>
+                </arguments>
+        </configuration>
+      </plugin -->
+    
+      <plugin>
+                <groupId>org.apache.maven.plugins</groupId>
+                <artifactId>maven-shade-plugin</artifactId>
+                <version>3.1.0</version>
+                <executions>
+                    <execution>
+                        <phase>package</phase>
+                        <goals>
+                            <goal>shade</goal>
+                        </goals>
+                        <configuration>
+                            <finalName>myrobotlab</finalName>
+                            <!-- finalName>myrobotlab-${git.branch}-${version}</finalName -->
+                            <shadedArtifactAttached>true</shadedArtifactAttached>
+                            <shadedClassifierName>myrobotlab-full</shadedClassifierName>
+                            <minimizeJar>false</minimizeJar>
+                           <!--  <artifactSet>
+                                <excludes>
+                                    <exclude>edu.stanford.nlp:*</exclude>
+                                </excludes>
+                            </artifactSet>  -->
+                            <transformers>
+                                <transformer
+                                        implementation="org.apache.maven.plugins.shade.resource.ManifestResourceTransformer">
+                                        <manifestEntries>
+                                          <Main-Class>org.myrobotlab.service.Runtime</Main-Class>
+                                          <Major-Version>${version}</Major-Version>
+                                          <Implementation-Version>${version}</Implementation-Version>                               
+              
+                        <Build-Version>${build.number}</Build-Version>
+                        <Build-Time>${maven.build.timestamp}</Build-Time>
+                        <Build-Host>${agent.name}</Build-Host>
+                        <Build-User>${user.name}</Build-User>
+                        
+                    <!-- maven git plugin id info -->
+                      <GitTags>${git.tags}</GitTags>
+                      <GitBranch>${git.branch}</GitBranch>
+                      <GitDirty>${git.dirty}</GitDirty>
+                      <GitRemoteOriginUrl>${git.remote.origin.url}</GitRemoteOriginUrl>
+                      <GitCommitId>${git.commit.id}</GitCommitId>
+                      <GitCommitIdAbbrev>${git.commit.id.abbrev}</GitCommitIdAbbrev>
+                      <GitCommitIdFull>${git.commit.id.full}</GitCommitIdFull>
+                      <GitCommitIdDescribe>${git.commit.id.describe}</GitCommitIdDescribe>
+                      <GitCommitIdDescribeShort>${git.commit.id.describe-short}</GitCommitIdDescribeShort>
+                      <GitCommitUserName>${git.commit.user.name}</GitCommitUserName>
+                      <GitCommitUserEmail>${git.commit.user.email}</GitCommitUserEmail>
+                      <!-- removed because multi-line value can break manifest
+                        GitCommitMessageFull>${git.commit.message.full}</GitCommitMessageFull                         
+                      <GitCommitMessageShort>${git.commit.message.short}</GitCommitMessageShort>
+                      -->
+                      <GitCommitTime>${git.commit.time}</GitCommitTime>
+                      <GitClosestTagName>${git.closest.tag.name}</GitClosestTagName>
+                      <GitClosestTagCommitCount>${git.closest.tag.commit.count}</GitClosestTagCommitCount>
+                      <GitBuildUserName>${git.build.user.name}</GitBuildUserName>
+                      <GitBuildUserEmail>${git.build.user.email}</GitBuildUserEmail>
+                      <GitBuildTime>${git.build.time}</GitBuildTime>
+                      <GitBuildVersion>${git.build.version}</GitBuildVersion>                        
+                        
+                                        </manifestEntries>                                    
+                                </transformer>
+                            </transformers>
+                             <filters>
+                                <filter>
+                                    <artifact>*:*</artifact>
+                                    <excludes>
+                                        <exclude>module-info.class</exclude>
+                                        <exclude>META-INF/*.SF</exclude>
+                                        <exclude>META-INF/*.DSA</exclude>
+                                        <exclude>META-INF/*.RSA</exclude>
+                                    </excludes>
+                                </filter>
+                            </filters>
+                        </configuration>
+                    </execution>
+                </executions>
+            </plugin>
+
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-assembly-plugin</artifactId>
+        <configuration>
+          <descriptors>
+            <descriptor>assembly.xml</descriptor>
+          </descriptors>
+          <finalName>myrobotlab</finalName>
+          <appendAssemblyId>false</appendAssemblyId>
+        </configuration>
+        <executions>
+          <execution>
+            <id>trigger-assembly</id>
+            <phase>package</phase>
+            <goals>
+              <goal>single</goal>
+            </goals>
+         </execution>
+       </executions>
+      </plugin>
+      
+      <plugin>
+        <inherited>true</inherited>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-compiler-plugin</artifactId>
+        <version>2.3.2</version>
+        <configuration>
+          <source>11</source>
+          <target>11</target>
+          <optimize>true</optimize>
+          <debug>true</debug>
+          <compilerArgument>-parameters</compilerArgument>          
+        </configuration>
+      </plugin>
+
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-resources-plugin</artifactId>
+        <version>2.4.3</version>
+      </plugin>
+
+      <plugin>
+          <groupId>pl.project13.maven</groupId>
+          <artifactId>git-commit-id-plugin</artifactId>
+          <version>4.9.10</version>
+          <executions>
+              <execution>
+                  <phase>initialize</phase>
+                  <id>get-the-git-infos</id>
+                  <goals>
+                      <goal>revision</goal>
+                  </goals>
+              </execution>
+          </executions>
+          <configuration>
+              <dotGitDirectory>${project.basedir}/.git</dotGitDirectory>
+              <prefix>git</prefix>
+              <verbose>false</verbose>
+              <generateGitPropertiesFile>true</generateGitPropertiesFile>
+              <generateGitPropertiesFilename>${project.build.outputDirectory}/git.properties</generateGitPropertiesFilename>
+              <!-- format>json</format -->
+              <gitDescribe>
+                  <skip>false</skip>
+                  <always>false</always>
+                  <dirty>-dirty</dirty>
+              </gitDescribe>
+          </configuration>
+      </plugin>          
+
+      <plugin>
+        <artifactId>maven-surefire-plugin</artifactId>
+        <groupId>org.apache.maven.plugins</groupId>
+        <version>2.22.2</version>
+        <configuration>
+          <argLine>-Djava.library.path=libraries/native -Djna.library.path=libraries/native</argLine>
+          <includes>
+            <include>**/*Test.java</include>
+          </includes>
+          <excludes>
+            <exclude>**/integration/*</exclude>
+          </excludes>
+             <systemPropertyVariables>
+              </systemPropertyVariables>
+        </configuration>
+      </plugin>
+      <!-- This plugin deletes the .myrobotlab on a build also the target directory from previous builds -->
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-clean-plugin</artifactId>
+        <version>2.3</version>
+                <configuration>
+                  <filesets>
+                    <fileset>
+                      <directory>data/.myrobotlab</directory>
+                      <followSymlinks>false</followSymlinks>
+            </fileset>
+          <fileset>
+            <directory>libraries</directory>
+            <includes>
+              <include>**</include>
+            </includes>
+            <followSymlinks>false</followSymlinks>
+          </fileset>
+          <fileset>
+            <directory>data</directory>
+            <includes>
+            <include>**</include>
+            </includes>
+          </fileset>
+          <fileset>
+            <directory>resource</directory>
+            <includes>
+            <include>**</include>
+            </includes>
+          </fileset>
+          <fileset>
+            <directory>src/main/resources/resource/framework</directory>
+            <includes>
+              <include>**/serviceData.json</include>
+            </includes>
+            <followSymlinks>false</followSymlinks>
+          </fileset>
+                  </filesets>
+                </configuration>
+      </plugin>
+      <!-- attached to Maven test phase -->
+      <!--
+      <plugin>
+        <groupId>org.jacoco</groupId>
+        <artifactId>jacoco-maven-plugin</artifactId>
+        <version>0.8.8</version>
+        <executions>
+          <execution>
+            <goals>
+              <goal>prepare-agent</goal>
+            </goals>
+          </execution>          
+          <execution>
+            <id>report</id>
+            <phase>test</phase>
+            <goals>
+              <goal>report</goal>
+            </goals>
+          </execution>
+        </executions>
+      </plugin>
+      -->
+    </plugins>
+  </build>
+    <reporting>    
+    <plugins>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-surefire-report-plugin</artifactId>
+        <version>2.22.2</version>
+      </plugin>
+      <plugin>
+        <groupId>org.apache.maven.plugins</groupId>
+        <artifactId>maven-javadoc-plugin</artifactId>
+        <version>3.0.1</version>
+      </plugin>
+    </plugins>
+    </reporting>
+  <organization>
+    <name>myrobotlab</name>
+    <url>http://myrobotlab.org</url>
+  </organization>
+  <issueManagement>
+      <system>github</system>
+      <url>https://github.com/MyRobotLab/myrobotlab/issues</url>
+  </issueManagement>
+</project>
diff --git a/src/main/java/org/myrobotlab/codec/CodecUtils.java b/src/main/java/org/myrobotlab/codec/CodecUtils.java
index 6b37b525ee..cb7698d26a 100644
--- a/src/main/java/org/myrobotlab/codec/CodecUtils.java
+++ b/src/main/java/org/myrobotlab/codec/CodecUtils.java
@@ -237,7 +237,7 @@ public static String makeFullTypeName(String type) {
       return null;
     }
     if (!type.contains(".")) {
-      return String.format("org.myrobotlab.service.%s", type);
+      return ("Service".equals(type)) ? "org.myrobotlab.framework.Service" : String.format("org.myrobotlab.service.%s", type);
     }
     return type;
   }
diff --git a/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java b/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java
index 023411b3f8..5759c4866e 100644
--- a/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java
+++ b/src/main/java/org/myrobotlab/framework/repo/IvyWrapper.java
@@ -477,7 +477,7 @@ synchronized public void install(String location, String[] serviceTypes) {
       }
 
       if (err.size() > 0) {
-        log.error("had errors - repo will not be updated");
+        log.error("had errors - repo will not be updated. Errors:\n{}", err);
       } else {
 
         // TODO - promote to Repo.setInstalled
diff --git a/src/main/java/org/myrobotlab/framework/repo/MavenWrapper.java b/src/main/java/org/myrobotlab/framework/repo/MavenWrapper.java
index c490e2e6ac..8374f92cdf 100644
--- a/src/main/java/org/myrobotlab/framework/repo/MavenWrapper.java
+++ b/src/main/java/org/myrobotlab/framework/repo/MavenWrapper.java
@@ -155,11 +155,11 @@ public void createPom(String location, String[] serviceTypes) throws IOException
 
           // If we haven't seen this dependency before, add it to our known
           // dependencies
-          if (!allDependencies.containsKey(serviceDependency.getKey()))
-            allDependencies.put(serviceDependency.getKey(), new ArrayList<>(List.of(serviceDependency)));
+          if (!allDependencies.containsKey(serviceDependency.getProjectCoordinates()))
+            allDependencies.put(serviceDependency.getProjectCoordinates(), new ArrayList<>(List.of(serviceDependency)));
           else {
             // We have seen it, so loop over all dependencies with matching keys
-            allDependencies.get(serviceDependency.getKey()).forEach(existingDependency -> {
+            allDependencies.get(serviceDependency.getProjectCoordinates()).forEach(existingDependency -> {
 
               // Check priority, if this dependency is higher priority than
               // existing,
@@ -173,7 +173,7 @@ public void createPom(String location, String[] serviceTypes) throws IOException
                 serviceDependency.setSkipped(true);
             });
             // Add the dependency to the known dependencies
-            allDependencies.get(serviceDependency.getKey()).add(serviceDependency);
+            allDependencies.get(serviceDependency.getProjectCoordinates()).add(serviceDependency);
 
           }
         });
diff --git a/src/main/java/org/myrobotlab/framework/repo/ServiceData.java b/src/main/java/org/myrobotlab/framework/repo/ServiceData.java
index d1f6818449..00c4406d4e 100644
--- a/src/main/java/org/myrobotlab/framework/repo/ServiceData.java
+++ b/src/main/java/org/myrobotlab/framework/repo/ServiceData.java
@@ -39,6 +39,16 @@
  */
 public class ServiceData implements Serializable {
 
+  /**
+   * the set of all categories
+   */
+  public TreeMap<String, Category> categoryTypes = new TreeMap<>();
+
+  /**
+   * all services meta data is contained here
+   */
+  public TreeMap<String, MetaData> serviceTypes = new TreeMap<>();
+
   static private ServiceData localInstance = null;
   
   static final public String LIBRARIES = "libraries";
@@ -57,7 +67,7 @@ public class ServiceData implements Serializable {
 
   private static final long serialVersionUID = 1L;
 
-  static private String serviceDataCacheFileName = LIBRARIES + File.separator + "serviceData.json";
+  static private final String serviceDataCacheFileName = LIBRARIES + File.separator + "serviceData.json";
 
   /**
    * clears all overrides. All services shall be using the standard hard co
@@ -92,9 +102,8 @@ static public synchronized ServiceData generate() throws IOException {
     List<String> services = FileIO.getServiceList();
 
     log.info("found {} services", services.size());
-    for (int i = 0; i < services.size(); ++i) {
+    for (String fullClassName : services) {
 
-      String fullClassName = services.get(i);
       log.debug("querying {}", fullClassName);
       try {
 
@@ -112,7 +121,7 @@ static public synchronized ServiceData generate() throws IOException {
         sd.add(serviceType);
 
         for (String cat : serviceType.categories) {
-          Category category = null;
+          Category category;
           if (serviceType.isAvailable()) {
             if (sd.categoryTypes.containsKey(cat)) {
               category = sd.categoryTypes.get(cat);
@@ -135,10 +144,10 @@ static public synchronized ServiceData generate() throws IOException {
   }
 
   static public List<ServiceDependency> getDependencyKeys(String fullTypeName) {
-    List<ServiceDependency> keys = new ArrayList<ServiceDependency>();
+    List<ServiceDependency> keys = new ArrayList<>();
     ServiceData sd = getLocalInstance();
     if (!sd.serviceTypes.containsKey(fullTypeName)) {
-      log.error("{} not defined in service types");
+      log.error("{} not defined in service types", fullTypeName);
       return keys;
     }
 
@@ -278,16 +287,6 @@ static public Map<String, ServiceReservation> getOverrides() {
     return planStore;
   }
 
-  /**
-   * the set of all categories
-   */
-  TreeMap<String, Category> categoryTypes = new TreeMap<String, Category>();
-
-  /**
-   * all services meta data is contained here
-   */
-  TreeMap<String, MetaData> serviceTypes = new TreeMap<String, MetaData>();
-
   public ServiceData() {
   }
 
diff --git a/src/main/java/org/myrobotlab/framework/repo/ServiceDependency.java b/src/main/java/org/myrobotlab/framework/repo/ServiceDependency.java
index 56322134d9..d8047f90dd 100644
--- a/src/main/java/org/myrobotlab/framework/repo/ServiceDependency.java
+++ b/src/main/java/org/myrobotlab/framework/repo/ServiceDependency.java
@@ -142,6 +142,27 @@ public String getKey() {
     return String.format("%s/%s/%s/%s", groupId, artifactId, version, ext);
   }
 
+  /**
+   * Gives the Maven coordinates for this dependency,
+   * which are the group ID, artifact ID, and version
+   * all separated by colons.
+   * @return The Maven coordinates for this dependency
+   */
+  public String getCoordinates() {
+    return String.format("%s:%s:%s", groupId, artifactId, version);
+  }
+
+  /**
+   * Gives the unique Maven coordinates of this dependency's project.
+   * This does not give the version, and is mainly used to determine
+   * if two dependencies are for the same project.
+   *
+   * @return The group ID and the artifact ID, separated by a colon
+   */
+  public String getProjectCoordinates() {
+    return String.format("%s:%s", groupId, artifactId);
+  }
+
   public void add(ServiceExclude serviceExclude) {
     excludes.add(serviceExclude);
   }
diff --git a/src/main/java/org/myrobotlab/service/Runtime.java b/src/main/java/org/myrobotlab/service/Runtime.java
index 9c57690e44..f6000f2a2f 100644
--- a/src/main/java/org/myrobotlab/service/Runtime.java
+++ b/src/main/java/org/myrobotlab/service/Runtime.java
@@ -694,12 +694,7 @@ static private synchronized ServiceInterface createService(String name, String t
       return null;
     }
 
-    String fullTypeName;
-    if (type.contains(".")) {
-      fullTypeName = type;
-    } else {
-      fullTypeName = String.format("org.myrobotlab.service.%s", type);
-    }
+    String fullTypeName = CodecUtils.makeFullTypeName(type);
 
     ServiceInterface si = Runtime.getService(fullName);
     if (si != null) {
@@ -902,7 +897,7 @@ public static Runtime getInstance() {
           if (startYml.enable) {
             Runtime.load("runtime", "Runtime");
           }
-          ((RuntimeConfig) runtime.config).add("runtime");
+          runtime.config.add("runtime");
 
           runtime.startService();
           // platform virtual is higher priority than service virtual
diff --git a/src/main/java/org/myrobotlab/service/Sphinx.java b/src/main/java/org/myrobotlab/service/Sphinx.java
index af7a082a68..3be5294e08 100644
--- a/src/main/java/org/myrobotlab/service/Sphinx.java
+++ b/src/main/java/org/myrobotlab/service/Sphinx.java
@@ -41,6 +41,8 @@
 import java.util.HashSet;
 import java.util.Map;
 
+import edu.cmu.sphinx.api.Configuration;
+import edu.cmu.sphinx.api.LiveSpeechRecognizer;
 import org.apache.commons.lang.StringUtils;
 import org.myrobotlab.framework.Message;
 import org.myrobotlab.framework.Service;
@@ -57,7 +59,6 @@
 import org.slf4j.Logger;
 
 import edu.cmu.sphinx.frontend.util.Microphone;
-import edu.cmu.sphinx.recognizer.Recognizer;
 import edu.cmu.sphinx.result.Result;
 import edu.cmu.sphinx.util.props.ConfigurationManager;
 
@@ -90,29 +91,28 @@ public void run() {
         String newPath = FileIO.getCfgDir() + File.separator + myService.getName() + ".xml";
         File localGramFile = new File(newPath);
 
+        warn("CONFIG NOT IMPLEMENTED, ONLY SUPPORTS BASE EN-US");
+
         info("loading grammar file");
         if (localGramFile.exists()) {
           info(String.format("grammar config %s", newPath));
-          cm = new ConfigurationManager(newPath);
         } else {
           // resource in jar default
           info(String.format("grammar /resource/Sphinx/simple.xml"));
-          cm = new ConfigurationManager(this.getClass().getResource(FileIO.gluePaths(getResourceDir(), "/Sphinx/simple.xml")));
         }
 
         info("starting recognizer");
         // start the word recognizer
-        recognizer = (Recognizer) cm.lookup("recognizer");
-        recognizer.allocate();
-
-        info("starting microphone");
-        microphone = (Microphone) cm.lookup("microphone");
-        if (!microphone.startRecording()) {
-          log.error("Cannot start microphone.");
-          recognizer.deallocate();
-        }
+//        recognizer = cm.lookup("recognizer");
+        Configuration configuration = new Configuration();
+
+        configuration.setAcousticModelPath("resource:/edu/cmu/sphinx/models/en-us/en-us");
+        configuration.setDictionaryPath("resource:/edu/cmu/sphinx/models/en-us/cmudict-en-us.dict");
+        configuration.setLanguageModelPath("resource:/edu/cmu/sphinx/models/en-us/en-us.lm.bin");
+        recognizer = new LiveSpeechRecognizer(configuration);
+        recognizer.startRecognition(true);
         
-        SpeechRecognizerConfig c = (SpeechRecognizerConfig)config;
+        SpeechRecognizerConfig c = config;
 
 
         // loop the recognition until the program exits.
@@ -121,7 +121,7 @@ public void run() {
 
           info("listening: %b", c.listening);
           invoke("listeningEvent", true);
-          Result result = recognizer.recognize();
+          Result result = recognizer.getResult().getResult();
 
           if (!c.listening) {
             // we could have stopped listening
@@ -220,7 +220,7 @@ public void run() {
   public final static Logger log = LoggerFactory.getLogger(Sphinx.class.getCanonicalName());
   transient Microphone microphone = null;
   transient ConfigurationManager cm = null;
-  transient Recognizer recognizer = null;
+  transient LiveSpeechRecognizer recognizer = null;
 
   transient SpeechProcessor speechProcessor = null;
 
@@ -434,7 +434,7 @@ public boolean isRecording() {
    * 
    */
   public synchronized boolean onIsSpeaking(Boolean talking) {
-    SpeechRecognizerConfig c = (SpeechRecognizerConfig)config;
+    SpeechRecognizerConfig c = config;
 
     if (talking) {
       c.listening = false;
@@ -501,7 +501,7 @@ public void lockOutAllGrammarExcept(String lockPhrase) {
   @Override
   public synchronized void pauseListening() {
     log.info("Pausing Listening");
-    SpeechRecognizerConfig c = (SpeechRecognizerConfig)config;
+    SpeechRecognizerConfig c = config;
 
     c.listening = false;
     if (microphone != null && recognizer != null) {
@@ -539,11 +539,7 @@ public void resumeListening() {
     SpeechRecognizerConfig c = (SpeechRecognizerConfig)config;
 
     c.listening = true;
-    if (microphone != null) {
-      // TODO: no idea if this does anything useful.
-      microphone.clear();
-      microphone.startRecording();
-    }
+    recognizer.startRecognition(true);
   }
 
   // FYI - grammar must be created BEFORE we start to listen
@@ -587,8 +583,7 @@ private String cleanGrammar(String grammar) {
   }
 
   public void startRecordingx() {
-    microphone.clear();
-    microphone.startRecording();
+    recognizer.startRecognition(true);
   }
 
   /**
@@ -598,13 +593,12 @@ public void startRecordingx() {
    */
   @Override
   public void stopListening() {
-    if (microphone != null) {
-      microphone.stopRecording();
-      microphone.clear();
-    }
-    SpeechRecognizerConfig c = (SpeechRecognizerConfig)config;
+    SpeechRecognizerConfig c = config;
 
     c.listening = false;
+    if (recognizer != null) {
+      recognizer.stopRecognition();
+    }
     if (speechProcessor != null) {
       speechProcessor.isRunning = false;
     }
@@ -615,14 +609,6 @@ public void stopListening() {
   public void stopService() {
     super.stopService();
     stopListening();
-    if (recognizer != null) {
-      recognizer.deallocate();
-      recognizer = null;
-    }
-    if (microphone != null) {
-      microphone.stopRecording();
-      microphone = null;
-    }
   }
 
   @Override
diff --git a/src/main/java/org/myrobotlab/service/config/ServiceConfig.java b/src/main/java/org/myrobotlab/service/config/ServiceConfig.java
index 59e8f9ff9a..7696e57e2a 100755
--- a/src/main/java/org/myrobotlab/service/config/ServiceConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/ServiceConfig.java
@@ -1,13 +1,19 @@
 package org.myrobotlab.service.config;
 
 import java.lang.reflect.Constructor;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.ParameterizedType;
+import java.lang.reflect.Type;
 import java.util.List;
 import java.util.Map;
+import java.util.NoSuchElementException;
 import java.util.TreeMap;
 
 import org.myrobotlab.codec.CodecUtils;
 import org.myrobotlab.framework.Peer;
 import org.myrobotlab.framework.Plan;
+import org.myrobotlab.framework.Service;
+import org.myrobotlab.framework.interfaces.ServiceInterface;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.service.Runtime;
 import org.slf4j.Logger;
@@ -209,6 +215,12 @@ public Peer putPeerType(String peerKey, String fullName, String peerType) {
   }
 
   public static Plan getDefault(Plan plan, String name, String inType) {
+//    if ("Service".equals(inType) || Service.class.getCanonicalName().equals(inType)) {
+//      ServiceConfig sc = new ServiceConfig();
+//      sc.type = inType;
+//      plan.put(name, sc);
+//      return plan;
+//    }
     try {
 
       // if (type == null) {
@@ -227,11 +239,28 @@ public static Plan getDefault(Plan plan, String name, String inType) {
       // plan.merge();
       config.getDefault(plan, name);
 
-    } catch (ClassNotFoundException e) {
-      log.info("could not find {} loading generalized ServiceConfig", inType);
-      ServiceConfig sc = new ServiceConfig();
-      sc.type = inType;
-      plan.put(name, sc);
+    } catch (ClassNotFoundException cnfe) {
+      try {
+        Class<? extends Service> serviceClass = Class.forName(CodecUtils.makeFullTypeName(inType)).asSubclass(Service.class);
+        Type superClass = serviceClass.getGenericSuperclass();
+        if (superClass instanceof ParameterizedType) {
+          ParameterizedType genericSuperClass = (ParameterizedType) superClass;
+          System.out.println("Got generic superclass: " + genericSuperClass + " for service class " + serviceClass);
+          Class<? extends ServiceConfig> configClass = ((Class<?>) genericSuperClass.getActualTypeArguments()[0]).asSubclass(ServiceConfig.class);
+          ServiceConfig newConfig = configClass.getConstructor().newInstance();
+          newConfig.type = inType;
+          newConfig.getDefault(plan, name);
+        } else {
+          throw new NoSuchElementException("Superclass is not generic");
+        }
+
+      } catch (NoClassDefFoundError | ClassNotFoundException | NoSuchElementException | NoSuchMethodException | InstantiationException |
+               IllegalAccessException | InvocationTargetException | ClassCastException ignored) {
+        log.info("could not find config class for {}, loading generalized ServiceConfig", inType);
+        ServiceConfig sc = new ServiceConfig();
+        sc.type = inType;
+        plan.put(name, sc);
+      }
     } catch (Exception e) {
       Runtime.getInstance().error(e);
     }
diff --git a/src/main/java/org/myrobotlab/string/StringUtil.java b/src/main/java/org/myrobotlab/string/StringUtil.java
index 06c152b8db..411e8a9322 100644
--- a/src/main/java/org/myrobotlab/string/StringUtil.java
+++ b/src/main/java/org/myrobotlab/string/StringUtil.java
@@ -155,10 +155,7 @@ public static String StringToMethodName(String english) {
 
   public static boolean isEmpty(String v) {
     // return true if the string is null or empty.
-    if (v == null || "".equals(v)) {
-      return true;
-    }
-    return false;
+    return v == null || v.isEmpty();
   }
 
   // split a string into sub strings that are a maxlength
@@ -220,11 +217,11 @@ public static String removeAccents(String text) {
    * list of the integer values of the bytes. This ensures that the human
    * readable string values for the bytes are considered unsigned. (range 0-255)
    * not (-128 to 127)
-   * 
+   *
    * @param bytes
    *          input array to convert
    * @return string representing the bytes as integers
-   * 
+   *
    */
   public static String byteArrayToIntString(byte[] bytes) {
     if (bytes.length == 0) {
@@ -251,14 +248,23 @@ public static String intArrayToString(int[] ints) {
     return builder.toString();
   }
 
-  public static String removeEnd(final String str, final String remove) {
-    if (str == null || str.length() == 0 || remove == null || remove.length() == 0) {
-      return str;
-    }
-    if (str.endsWith(remove)) {
-      return str.substring(0, str.length() - remove.length());
+
+  /**
+   * Removes a trailing substring from the given
+   * string if it exists as the last component
+   * of the given string.
+   *
+   * @param fullString The string to remove the end from
+   * @param toRemove The string to be removed if {@code fullString.endsWith(toRemove) == true}
+   * @return fullString with toRemove stripped from only the end.
+   */
+  public static String removeEnd(String fullString, String toRemove) {
+    if (isEmpty(fullString) || isEmpty(toRemove) || !fullString.endsWith(toRemove)) {
+      return fullString;
     }
-    return str;
+
+
+    return fullString.substring(0, fullString.length() - toRemove.length());
   }
 
 }
diff --git a/src/test/java/org/myrobotlab/string/StringUtilTest.java b/src/test/java/org/myrobotlab/string/StringUtilTest.java
index f75b693330..35403af57c 100644
--- a/src/test/java/org/myrobotlab/string/StringUtilTest.java
+++ b/src/test/java/org/myrobotlab/string/StringUtilTest.java
@@ -34,4 +34,10 @@ public void testChunkString() {
     assertEquals(text, StringUtils.join(result, " "));
 
   }
+
+  @Test
+  public void testRemoveEnd() {
+    String testStr = "python@test_runtime";
+    assertEquals("python", StringUtil.removeEnd(testStr, "@test_runtime"));
+  }
 }

From 9a2f38242d41f1a6c667165160832f762e4ddcd2 Mon Sep 17 00:00:00 2001
From: Branden Butler <bwtbutler@hotmail.com>
Date: Thu, 7 Sep 2023 09:15:59 -0500
Subject: [PATCH 54/54] Add comments to ServiceConfig inspection code and
 change println (#1340)

* Fix incorrect duplicate deps checking, regen pom

* Add StringUtil docstring and test

* Fix incorrect full type creation

* Add additional fallback lookup for service configs based on generic superclasses

* Fix broken installation

* Fix Sphinx, sort of

* Add comments to superclass generic introspection code and change sout to log.info
---
 .../service/config/ServiceConfig.java         | 24 +++++++++----------
 1 file changed, 11 insertions(+), 13 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/config/ServiceConfig.java b/src/main/java/org/myrobotlab/service/config/ServiceConfig.java
index 7696e57e2a..233e0c29b8 100755
--- a/src/main/java/org/myrobotlab/service/config/ServiceConfig.java
+++ b/src/main/java/org/myrobotlab/service/config/ServiceConfig.java
@@ -170,7 +170,7 @@ public ServiceConfig addDefaultGlobalConfig(Plan plan, String key, String global
    * @param plan
    * @param key
    * @param globalName
-   * @param peer
+   * @param peerType
    * @return
    */
   public ServiceConfig addDefaultGlobalConfig(Plan plan, String key, String globalName, String peerType, boolean autoStart) {
@@ -215,19 +215,8 @@ public Peer putPeerType(String peerKey, String fullName, String peerType) {
   }
 
   public static Plan getDefault(Plan plan, String name, String inType) {
-//    if ("Service".equals(inType) || Service.class.getCanonicalName().equals(inType)) {
-//      ServiceConfig sc = new ServiceConfig();
-//      sc.type = inType;
-//      plan.put(name, sc);
-//      return plan;
-//    }
     try {
 
-      // if (type == null) {
-      // log.error("getDefault(null)");
-      // return null;
-      // }
-
       // FIXME - at some point setting, examining and changing
       // peer keys to actual names will need to be worky
       String fullType = getConfigType(inType);
@@ -240,12 +229,17 @@ public static Plan getDefault(Plan plan, String name, String inType) {
       config.getDefault(plan, name);
 
     } catch (ClassNotFoundException cnfe) {
+      // We could not find the config type with the simple {serviceType}Config pattern
+      // So now we look at its superclasses and try to find a config class in
+      // the generic type parameters
+      // FIXME should also perform the simple pattern check on superclasses
       try {
+        @SuppressWarnings("rawtypes")
         Class<? extends Service> serviceClass = Class.forName(CodecUtils.makeFullTypeName(inType)).asSubclass(Service.class);
         Type superClass = serviceClass.getGenericSuperclass();
         if (superClass instanceof ParameterizedType) {
           ParameterizedType genericSuperClass = (ParameterizedType) superClass;
-          System.out.println("Got generic superclass: " + genericSuperClass + " for service class " + serviceClass);
+          log.debug("Got generic superclass: " + genericSuperClass + " for service class " + serviceClass);
           Class<? extends ServiceConfig> configClass = ((Class<?>) genericSuperClass.getActualTypeArguments()[0]).asSubclass(ServiceConfig.class);
           ServiceConfig newConfig = configClass.getConstructor().newInstance();
           newConfig.type = inType;
@@ -256,6 +250,10 @@ public static Plan getDefault(Plan plan, String name, String inType) {
 
       } catch (NoClassDefFoundError | ClassNotFoundException | NoSuchElementException | NoSuchMethodException | InstantiationException |
                IllegalAccessException | InvocationTargetException | ClassCastException ignored) {
+        // Many ways for the generic inspection code to fail. NoClassDefFound is thrown when the service isn't installed
+        // We should probably only attempt to load configs for installed services
+        // NoSuchElementException is manually thrown when we can't find a generic superclass to inspect
+        // All others are checked exceptions thrown by the reflection utilities being used
         log.info("could not find config class for {}, loading generalized ServiceConfig", inType);
         ServiceConfig sc = new ServiceConfig();
         sc.type = inType;