Merge branch 'develop' of https://github.com/MyRobotLab/myrobotlab in…

…to inmoov2-heart-2

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

@@ -123,6 +123,11 @@ public class AudioFile extends Service<AudioFileConfig> implements AudioPublishe
   transient Map<String, AudioProcessor> processors = new HashMap<String, AudioProcessor>();
 
   final private transient PlaylistPlayer playlistPlayer = new PlaylistPlayer(this);
+
+  /**
+   * last file played
+   */
+  protected String lastPlayed;
 
   public void attach(Attachable attachable) {
     if (attachable instanceof AudioListener) {
@@ -418,6 +423,7 @@ public AudioData publishAudioStart(AudioData data) {
   @Override
   public AudioData publishAudioEnd(AudioData data) {
     log.debug("Audio File publishAudioEnd");
+    lastPlayed = data.getFileName();
     return data;
   }
 

src/main/java/org/myrobotlab/service/InMoov2.java

@@ -1557,7 +1557,7 @@ public void searchPlay(String requestedSong) {
    */
   public void processMessage(String method, Object... data) {
     // User processing should not occur until after boot has completed
-    if (!state.equals("boot")) {
+    if (!state.equals("boot") && config.execScript) {
       // FIXME - this needs to be in config
       // FIXME - change peer name to "processor"
       // String processor = getPeerName("py4j");
@@ -1948,7 +1948,7 @@ public boolean setAllVirtual(boolean virtual) {
   public void setArmSpeed(String which, Double bicep, Double rotate, Double shoulder, Double omoplate) {
     InMoov2Arm arm = getArm(which);
     if (arm == null) {
-      warn("%s arm not started", which);
+      info("%s arm not started", which);
       return;
     }
     arm.setSpeed(bicep, rotate, shoulder, omoplate);
@@ -1982,7 +1982,7 @@ public void setHandSpeed(String which, Double thumb, Double index, Double majeur
   public void setHandSpeed(String which, Double thumb, Double index, Double majeure, Double ringFinger, Double pinky, Double wrist) {
     InMoov2Hand hand = getHand(which);
     if (hand == null) {
-      warn("%s hand not started", which);
+      info("%s hand not started", which);
       return;
     }
     hand.setSpeed(thumb, index, majeure, ringFinger, pinky, wrist);

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

@@ -813,8 +813,6 @@ public String addBotPath(String path) {
 
       bots.put(botInfo.name, botInfo);
       botInfo.img = getBotImage(botInfo.name);
-
-      broadcastState();
     } else {
       error("invalid bot path %s - a bot must be a directory with a subdirectory named \"aiml\"", path);
       return null;
@@ -1115,10 +1113,11 @@ public ProgramABConfig getConfig() {
   public ProgramABConfig apply(ProgramABConfig c) {
     super.apply(c);
     if (c.bots != null && c.bots.size() > 0) {
-      // bots.clear();
+      bots.clear();
       for (String botPath : c.bots) {
         addBotPath(botPath);
       }
+      broadcastState();
     }
 
     if (c.currentUserName != null) {

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

@@ -111,7 +111,10 @@ public class InMoov2Config extends ServiceConfig {
    */
   public boolean reportOnBoot = true;
 
-  public boolean robotCanMoveHeadWhileSpeaking = true;
+  /**
+   * script related config - idea is good, but shouldn't be implemented with global scripts
+   */
+  public boolean robotCanMoveHeadWhileSpeaking = false;
 
   /**
    * startup and shutdown will pause inmoov - set the speed to this value then
@@ -527,9 +530,6 @@ public Plan getDefault(Plan plan, String name) {
     log.listeners.add(new Listener("publishErrors", name));
     // service --to--> InMoov2
 
-    // mouth_audioFile.listeners.add(new Listener("publishAudioEnd", name));
-    // mouth_audioFile.listeners.add(new Listener("publishAudioStart", name));
-
     // InMoov2 --to--> service
     listeners.add(new Listener("publishEvent", getPeerName("chatBot"), "getResponse"));
     listeners.add(new Listener("publishFlash", getPeerName("neoPixel")));
@@ -554,9 +554,6 @@ public Plan getDefault(Plan plan, String name) {
     audioPlayer.listeners.add(new Listener("publishAudioStart", name));
     audioPlayer.listeners.add(new Listener("publishAudioEnd", name));
 
-    AudioFileConfig mouth_audioFile = (AudioFileConfig) plan.get(getPeerName("mouth.audioFile"));
-    mouth_audioFile.listeners.add(new Listener("publishPeak", name));
-
     htmlFilter.listeners.add(new Listener("publishText", name));
 
     OakDConfig oakd = (OakDConfig) plan.get(getPeerName("oakd"));
@@ -565,6 +562,15 @@ public Plan getDefault(Plan plan, String name) {
 
     webxr.listeners.add(new Listener("publishJointAngles", name));
 
+    // service --to--> service
+    AudioFileConfig mouth_audioFile = (AudioFileConfig) plan.get(getPeerName("mouth.audioFile"));
+    mouth_audioFile.listeners.add(new Listener("publishPeak", name));
+    mouth_audioFile.listeners.add(new Listener("publishPeak", name + ".head.jaw", "moveTo"));
+    mouth_audioFile.peakDelayMs = 150L;
+    mouth_audioFile.peakMultiplier = 200.0;
+    mouth_audioFile.peakSampleInterval = 2.0;
+    mouth_audioFile.publishPeakResetDelayMs = 100L;
+
     // mouth_audioFile.listeners.add(new Listener("publishAudioEnd", name));
     // mouth_audioFile.listeners.add(new Listener("publishAudioStart", name));
 

src/main/resources/resource/WebGui/app/service/js/AudioFileGui.js

@@ -46,6 +46,7 @@ angular.module('mrlapp.service.AudioFileGui', []).controller('AudioFileGuiCtrl',
 
         if (firstUpdate){
             $scope.selectedPlaylist = $scope.service.config.currentPlaylist
+
             firstUpdate = false
         }
 
@@ -65,9 +66,8 @@ angular.module('mrlapp.service.AudioFileGui', []).controller('AudioFileGuiCtrl',
             $scope.activity = 'playing'
         }
 
-        if (!$scope.inputSelectedFile){
-            $scope.inputSelectedFile = $scope.selectedFile
-        }
+        $scope.selectedFile = service.lastPlayed.filename;
+
 
     }
 
@@ -81,13 +81,18 @@ angular.module('mrlapp.service.AudioFileGui', []).controller('AudioFileGuiCtrl',
         case 'onAudioStart':
             $scope.playing = data.filename
             $scope.activity = 'playing'
+            if (!$scope.selectedFile || $scope.selectedFile == ""){
+                $scope.selectedFile = data.filename
+            }
             $scope.$apply()
             break
         case 'onAudioEnd':
             $scope.playing = data.filename
             $scope.activity = 'stopped'
+            if (!$scope.selectedFile || $scope.selectedFile == ""){
+                $scope.selectedFile = data.filename
+            }
             $scope.$apply()
-            $scope.service.lastPlayed = data.filename
             break
         case 'onPeak':
             $scope.peak = Math.round(data/* * 100 */)

src/main/resources/resource/WebGui/app/service/views/AudioFileGui.html

@@ -9,7 +9,7 @@
     <table border="1" class="table table-hover table-condensed table-striped table-bordered">
         <tr>
             <td>
-                <input class="form-control" ng-change="setSelectedFileFromTrack(inputSelectedFile)" type="text" ng-model="inputSelectedFile" name="selectedFile" id="selectedFile" ng-init="" placeholder="file"/>
+                <input class="form-control" ng-change="setSelectedFileFromTrack(selectedFile)" type="text" ng-model="selectedFile" name="selectedFile" id="selectedFile" ng-init="" placeholder="file"/>
             </td>
         </tr>
         <tr>

src/main/resources/resource/WebGui/app/service/views/RuntimeGui.html

@@ -10,7 +10,7 @@ <h3> {{service.platform.arch}}.{{service.platform.jvmBitness}}.{{service.platfor
         </ui-select>            
         </td>
         <td>&nbsp;
-            <button class="btn btn-default" ng-show="!service.isVirtual" title="This will auto start config on next start"
+            <button class="btn btn-default" ng-show="!service.isVirtual" title="This will virtualize hardware"
             ng-click="msg.setVirtual(true)">virtualization off</button>
         <button class="btn btn-info" ng-show="service.isVirtual" title="This will auto start config on next start"
             ng-click="msg.setVirtual(false)">virtualization on</button>