merged master

pom.xml

@@ -198,6 +198,12 @@
   </dependency>
 <!-- CsvConnector end -->
 
+<dependency>
+	<groupId>org.nanohttpd</groupId> <!-- <groupId>com.nanohttpd</groupId> for 2.1.0 and earlier -->
+	<artifactId>nanohttpd</artifactId>
+	<version>2.2.0</version>
+</dependency>
+
 <!-- Deeplearning4j begin -->
   <dependency>
     <groupId>org.bytedeco</groupId>

src/main/java/org/myrobotlab/framework/Service.java

@@ -1416,7 +1416,8 @@ public <P extends ServiceConfig> P getPeerConfig(String peerKey, StaticType<P> t
     }
 
     // Java generics don't let us create a new StaticType using
-    // P here because the type variable is erased, so we have to cast anyway for now
+    // P here because the type variable is erased, so we have to cast anyway for
+    // now
     ConfigurableService<P> si = (ConfigurableService<P>) Runtime.getService(peerName);
     if (si != null) {
       // peer is currently running - get its config
@@ -1447,7 +1448,8 @@ public void setPeerConfigValue(String peerKey, String fieldname, Object value) t
     field.set(sc, value);
     savePeerConfig(peerKey, sc);
     String peerName = getPeerName(peerKey);
-    var cs = Runtime.getConfigurableService(peerName, new StaticType<Service<ServiceConfig>>() {});
+    var cs = Runtime.getConfigurableService(peerName, new StaticType<Service<ServiceConfig>>() {
+    });
     if (cs != null) {
       cs.apply(sc); // TODO - look for applies if its read from the file system
                     // it needs to update Runtime.plan
@@ -2163,7 +2165,7 @@ public Status error(Exception e) {
     invoke("publishStatus", status);
     return status;
   }
-  
+
   @Override
   public Status error(String format, Object... args) {
     Status ret;
@@ -2194,10 +2196,8 @@ public Status warn(String msg) {
 
   @Override
   public Status warn(String format, Object... args) {
-    String msg =  String.format(
-        Objects.requireNonNullElse(format, ""),
-        args);    
-
+    String msg = String.format(Objects.requireNonNullElse(format, ""), args);
+
     return warn(msg);
   }
 
@@ -2235,7 +2235,7 @@ public Status info(String format, Object... args) {
   public Status publishError(Status status) {
     return status;
   }
-  
+
   public Status publishWarn(Status status) {
     return status;
   }
@@ -2857,7 +2857,8 @@ public void apply() {
   }
 
   public void applyPeerConfig(String peerKey, ServiceConfig config) {
-    applyPeerConfig(peerKey, config, new StaticType<>() {});
+    applyPeerConfig(peerKey, config, new StaticType<>() {
+    });
   }
 
   /**

src/main/java/org/myrobotlab/service/WebGui.java

@@ -1179,7 +1179,7 @@ public static void main(String[] args) {
 
       // Platform.setVirtual(true);
 
-      Runtime.startConfig("default");
+      Runtime.startConfig("dev");
 
       boolean done = true;
       if (done) {

src/main/java/org/myrobotlab/service/WebXR.java

@@ -129,7 +129,15 @@ public static void main(String[] args) {
 
       // identical to command line start
       // Runtime.startConfig("inmoov2");
-      Runtime.main(new String[] { "--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python" });
+
+
+      // normal non-config launch
+      // Runtime.main(new String[] { "--log-level", "info", "-s", "webgui", "WebGui", "intro", "Intro", "python", "Python" });
+
+
+      // config launch
+      Runtime.startConfig("webxr");
+
       boolean done = true;
       if (done)
         return;

src/main/java/org/myrobotlab/service/config/InMoov2Config.java

@@ -1,10 +1,13 @@
 package org.myrobotlab.service.config;
 
 import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.Map;
 
 import org.myrobotlab.framework.Plan;
 import org.myrobotlab.jme3.UserDataConfig;
 import org.myrobotlab.math.MapperLinear;
+import org.myrobotlab.math.MapperSimple;
 import org.myrobotlab.service.Pid.PidData;
 import org.myrobotlab.service.Runtime;
 import org.myrobotlab.service.config.FiniteStateMachineConfig.Transition;
@@ -198,7 +201,26 @@ public Plan getDefault(Plan plan, String name) {
     addDefaultPeerConfig(plan, name, "torso", "InMoov2Torso", false);
     addDefaultPeerConfig(plan, name, "ultrasonicRight", "UltrasonicSensor", false);
     addDefaultPeerConfig(plan, name, "ultrasonicLeft", "UltrasonicSensor", false);
-
+    addDefaultPeerConfig(plan, name, "vertx", "Vertx", false);
+    addDefaultPeerConfig(plan, name, "webxr", "WebXR", false);
+
+    WebXRConfig webxr = (WebXRConfig)plan.get(getPeerName("webxr"));
+
+    Map<String, MapperSimple> map = new HashMap<>();
+    MapperSimple mapper = new MapperSimple(-0.5, 0.5, 0, 180);
+    map.put("i01.head.neck", mapper);
+    webxr.controllerMappings.put("head.orientation.pitch", map);
+
+    map = new HashMap<>();
+    mapper = new MapperSimple(-0.5, 0.5, 0, 180);
+    map.put("i01.head.rothead", mapper);
+    webxr.controllerMappings.put("head.orientation.yaw", map);
+
+    map = new HashMap<>();
+    mapper = new MapperSimple(-0.5, 0.5, 0, 180);
+    map.put("i01.head.roll", mapper);
+    webxr.controllerMappings.put("head.orientation.roll", map);
+
     MouthControlConfig mouthControl = (MouthControlConfig) plan.get(getPeerName("mouthControl"));
 
     // setup name references to different services FIXME getPeerName("head").getPeerName("jaw")
@@ -525,6 +547,10 @@ public Plan getDefault(Plan plan, String name) {
     mouth_audioFile.listeners = new ArrayList<>();
     mouth_audioFile.listeners.add(new Listener("publishPeak", name));
     fsm.listeners.add(new Listener("publishStateChange", name, "publishStateChange"));
+
+    webxr.listeners = new ArrayList<>();
+    webxr.listeners.add(new Listener("publishJointAngles", name));
+
 //    mouth_audioFile.listeners.add(new Listener("publishAudioEnd", name));
 //    mouth_audioFile.listeners.add(new Listener("publishAudioStart", name));
 

src/main/java/org/myrobotlab/vertx/ApiVerticle.java

@@ -47,14 +47,20 @@ public void start() throws Exception {
     // static file routing - this is from a npm "build" ... but durin gdevelop its far
     // easier to use setupProxy.js from a npm start .. but deployment would be easier with a "build"
 
-    //StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app");
-    // StaticHandler root = StaticHandler.create("src/main/resources/resource/Vertx/app");
-    StaticHandler root = StaticHandler.create("../robotlab-x-app/build/");
+    // new UI
+    // StaticHandler root = StaticHandler.create("../robotlab-x-app/build/");
+
+    // old UI (runtime vs dev time...)
+    StaticHandler root = StaticHandler.create("src/main/resources/resource/WebGui/app/");
     root.setCachingEnabled(false);
     root.setDirectoryListing(true);
     root.setIndexPage("index.html");
     // root.setAllowRootFileSystemAccess(true);
     // root.setWebRoot(null);
+
+    VideoStreamHandler video = new VideoStreamHandler(service);
+
+    router.route("/video/*").handler(video);
     router.route("/*").handler(root);