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Non breaking methods plus deprecation notice #1347

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merged 1 commit into from
Oct 12, 2023
+50 −8
Merged

Non breaking methods plus deprecation notice #1347

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5 changes: 5 additions & 0 deletions src/main/java/org/myrobotlab/service/InMoov2Arm.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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"));
}

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6 changes: 6 additions & 0 deletions src/main/java/org/myrobotlab/service/InMoov2Hand.java
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Expand Up @@ -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;
Expand Down Expand Up @@ -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"));
}

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41 changes: 33 additions & 8 deletions src/main/java/org/myrobotlab/service/InMoov2Head.java
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Expand Up @@ -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;
Expand Down Expand Up @@ -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;
}

Expand Down Expand Up @@ -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"));
}

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6 changes: 6 additions & 0 deletions src/main/java/org/myrobotlab/service/InMoov2Torso.java
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Expand Up @@ -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;
Expand Down Expand Up @@ -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"));
}

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