From 3863abacafff1cf4e89e53a65426523870a7ca74 Mon Sep 17 00:00:00 2001
From: grog <grog@myrobotlab.org>
Date: Thu, 12 Oct 2023 08:37:43 -0700
Subject: [PATCH] non breaking methods plus deprecation notice

---
 .../org/myrobotlab/service/InMoov2Arm.java    |  5 +++
 .../org/myrobotlab/service/InMoov2Hand.java   |  6 +++
 .../org/myrobotlab/service/InMoov2Head.java   | 41 +++++++++++++++----
 .../org/myrobotlab/service/InMoov2Torso.java  |  6 +++
 4 files changed, 50 insertions(+), 8 deletions(-)

diff --git a/src/main/java/org/myrobotlab/service/InMoov2Arm.java b/src/main/java/org/myrobotlab/service/InMoov2Arm.java
index a73f5527b5..d190af46e8 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2Arm.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2Arm.java
@@ -89,7 +89,12 @@ public static DHRobotArm getDHRobotArm(String name, String side) {
     return arm;
   }
   
+  @Deprecated /* use onMove */
   public void onMoveArm(HashMap<String, Double> map) {
+    onMove(map);
+  }
+
+  public void onMove(Map<String, Double> map) {
     moveTo(map.get("bicep"), map.get("rotate"), map.get("shoulder"), map.get("omoplate"));
   }
 
diff --git a/src/main/java/org/myrobotlab/service/InMoov2Hand.java b/src/main/java/org/myrobotlab/service/InMoov2Hand.java
index b1744ad03e..9bf4cf923b 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2Hand.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2Hand.java
@@ -5,6 +5,7 @@
 import java.util.HashMap;
 import java.util.HashSet;
 import java.util.List;
+import java.util.Map;
 import java.util.Set;
 
 import org.myrobotlab.framework.Registration;
@@ -489,7 +490,12 @@ public LeapData onLeapData(LeapData data) {
     return data;
   }
 
+  @Deprecated /* use onMove */
   public void onMoveHand(HashMap<String, Double> map) {
+    onMove(map);
+  }
+
+  public void onMove(Map<String, Double> map) {
     moveTo(map.get("thumb"), map.get("index"), map.get("majeure"), map.get("majeure"), map.get("pinky"), map.get("wrist"));
   }
 
diff --git a/src/main/java/org/myrobotlab/service/InMoov2Head.java b/src/main/java/org/myrobotlab/service/InMoov2Head.java
index 11d71fba7c..0df855a1ab 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2Head.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2Head.java
@@ -3,6 +3,7 @@
 import java.io.File;
 import java.io.IOException;
 import java.util.HashMap;
+import java.util.Map;
 import java.util.concurrent.ThreadLocalRandom;
 
 import org.myrobotlab.framework.Service;
@@ -142,15 +143,34 @@ public void disable() {
       eyelidRight.disable();
   }
 
-  public long getLastActivityTime() {
+  public Long getLastActivityTime() {
 
-    long lastActivityTime = Math.max(rothead.getLastActivityTime(), neck.getLastActivityTime());
-    lastActivityTime = Math.max(lastActivityTime, eyeX.getLastActivityTime());
-    lastActivityTime = Math.max(lastActivityTime, eyeY.getLastActivityTime());
-    lastActivityTime = Math.max(lastActivityTime, jaw.getLastActivityTime());
-    lastActivityTime = Math.max(lastActivityTime, rollNeck.getLastActivityTime());
-    lastActivityTime = Math.max(lastActivityTime, eyelidLeft.getLastActivityTime());
-    lastActivityTime = Math.max(lastActivityTime, eyelidRight.getLastActivityTime());
+    Long lastActivityTime = Math.max(rothead.getLastActivityTime(), neck.getLastActivityTime());
+    if (getPeer("eyeX") != null) {
+      lastActivityTime = Math.max(lastActivityTime, eyeX.getLastActivityTime());
+    }
+    if (getPeer("eyeY") != null) {
+      lastActivityTime = Math.max(lastActivityTime, eyeY.getLastActivityTime());
+    }
+    if (getPeer("jaw") != null) {
+      lastActivityTime = Math.max(lastActivityTime, jaw.getLastActivityTime());
+    }
+    if (getPeer("rollNeck") != null) {
+      lastActivityTime = Math.max(lastActivityTime, rollNeck.getLastActivityTime());
+    }
+    if (getPeer("rollNeck") != null) {
+      lastActivityTime = Math.max(lastActivityTime, rothead.getLastActivityTime());
+    }
+    if (getPeer("rollNeck") != null) {
+      lastActivityTime = Math.max(lastActivityTime, neck.getLastActivityTime());
+    }
+
+    if (getPeer("eyelidLeft") != null) {
+      lastActivityTime = Math.max(lastActivityTime, eyelidLeft.getLastActivityTime());
+    }
+    if (getPeer("eyelidRight") != null) {
+      lastActivityTime = Math.max(lastActivityTime, eyelidRight.getLastActivityTime());
+    }
     return lastActivityTime;
   }
 
@@ -199,7 +219,12 @@ public void lookAt(Double x, Double y, Double z) {
     log.info("object distance is {},rothead servo {},neck servo {} ", distance, rotation, colatitude);
   }
 
+  @Deprecated /* use onMoov */
   public void onMoveHead(HashMap<String, Double> map) {
+    onMove(map);
+  }
+
+  public void onMove(Map<String, Double> map) {
     moveTo(map.get("neck"), map.get("rothead"), map.get("eyeX"), map.get("eyeY"), map.get("jaw"), map.get("rollNeck"));
   }
 
diff --git a/src/main/java/org/myrobotlab/service/InMoov2Torso.java b/src/main/java/org/myrobotlab/service/InMoov2Torso.java
index d2607a1033..f3953699c5 100644
--- a/src/main/java/org/myrobotlab/service/InMoov2Torso.java
+++ b/src/main/java/org/myrobotlab/service/InMoov2Torso.java
@@ -3,6 +3,7 @@
 import java.io.File;
 import java.io.IOException;
 import java.util.HashMap;
+import java.util.Map;
 
 import org.myrobotlab.framework.Service;
 import org.myrobotlab.io.FileIO;
@@ -93,7 +94,12 @@ public void disable() {
       lowStom.disable();
   }
   
+  @Deprecated /* use onMove */
   public void onMoveTorso(HashMap<String, Double> map) {
+    onMove(map);
+  }
+
+  public void onMove(Map<String, Double> map) {
     moveTo(map.get("topStom"), map.get("midStom"), map.get("lowStom"));
   }