BowlerKernel.java

Go to the documentation of this file.

package com.neuronrobotics.bowlerstudio;
 
import java.awt.Desktop;
import java.io.BufferedReader;
import java.io.BufferedWriter;
import java.io.File;
import java.io.FileNotFoundException;
import java.io.FileOutputStream;
import java.io.FileReader;
import java.io.FileWriter;
import java.io.IOException;
import java.io.OutputStreamWriter;
import java.io.PrintWriter;
import java.net.URI;
import java.net.URISyntaxException;
import java.net.URL;
import java.nio.file.Files;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collection;
import java.util.List;
import java.util.Set;
 
//import org.springframework.boot.SpringApplication;
//import org.springframework.boot.autoconfigure.EnableAutoConfiguration;
//import org.springframework.context.annotation.ComponentScan;
//import org.springframework.context.annotation.Configuration;
 
import jline.ConsoleReader;
import jline.Terminal;
 
import com.neuronrobotics.bowlerstudio.creature.CadFileExporter;
import com.neuronrobotics.bowlerstudio.creature.IMobileBaseUI;
import com.neuronrobotics.bowlerstudio.creature.IgenerateBed;
import com.neuronrobotics.bowlerstudio.creature.MobileBaseCadManager;
import com.neuronrobotics.bowlerstudio.printbed.PrintBedManager;
import com.neuronrobotics.bowlerstudio.scripting.ScriptingEngine;
import com.neuronrobotics.bowlerstudio.vitamins.VitaminBomManager;
import com.neuronrobotics.sdk.addons.kinematics.MobileBase;
 
import eu.mihosoft.vrl.v3d.CSG;
import eu.mihosoft.vrl.v3d.ICSGProgress;
import eu.mihosoft.vrl.v3d.JavaFXInitializer;
import javafx.scene.transform.Affine;
import marytts.signalproc.effects.LpcWhisperiserEffect;
import marytts.signalproc.effects.RobotiserEffect;
import marytts.signalproc.effects.ChorusEffectBase;
import marytts.signalproc.effects.HMMDurationScaleEffect;
import marytts.signalproc.effects.VolumeEffect;
 
public class BowlerKernel {
 
    // private static final String CSG = null;
    private static File historyFile = new File(ScriptingEngine.getWorkspace().getAbsolutePath() + "/bowler.history");
 
    static {
        historyFile = new File(ScriptingEngine.getWorkspace().getAbsolutePath() + "/bowler.history");
        ArrayList<String> history = new ArrayList<>();
        if (!historyFile.exists()) {
            try {
                historyFile.createNewFile();
            } catch (IOException e) {
                // TODO Auto-generated catch block
                e.printStackTrace();
            }
            history.add("println SDKBuildInfo.getVersion()");
            history.add("for(int i=0;i<1000000;i++) { println dyio.getValue(0) }");
            history.add("dyio.setValue(0,128)");
            history.add("println dyio.getValue(0)");
            history.add("ScriptingEngine.inlineGistScriptRun(\"d4312a0787456ec27a2a\", \"helloWorld.groovy\" , null)");
            history.add("DeviceManager.addConnection(new DyIO(ConnectionDialog.promptConnection()),\"dyio\")");
            history.add("DeviceManager.addConnection(new DyIO(new SerialConnection(\"/dev/DyIO0\")),\"dyio\")");
            history.add("shellType Clojure #Switches shell to Clojure");
            history.add("shellType Jython #Switches shell to Python");
            history.add("shellType Groovy #Switches shell to Groovy/Java");
 
            history.add("println \"Hello world!\"");
 
            writeHistory(history);
        }
    }
 
    private static void fail() {
        System.err.println(
                "Usage: \r\njava -jar BowlerScriptKernel.jar -s <file 1> .. <file n> # This will load one script after the next ");
        System.err.println(
                "java -jar BowlerScriptKernel.jar -p <file 1> .. <file n> # This will load one script then take the list of objects returned and pss them to the next script as its 'args' variable ");
        System.err.println(
                "java -jar BowlerScriptKernel.jar -r <Groovy Jython or Clojure> (Optional)(-s or -p)<file 1> .. <file n> # This will start a shell in the requested langauge and run the files provided. ");
        System.err.println("java -jar BowlerScriptKernel.jar -g <Git repo> <Git file> # this will run a file from git");
 
        System.exit(1);
    }
 
    @SuppressWarnings("unchecked")
    public static void main(String[] args) throws Exception {
        long startTime = System.currentTimeMillis();
        try {
            JavaFXInitializer.go();
        } catch (Throwable t) {
            t.printStackTrace();
            System.err.println("ERROR No UI engine availible");
        }
        ScriptingEngine.waitForLogin();
        if (args.length == 0) {
            fail();
        }
        ScriptingEngine.gitScriptRun("https://github.com/CommonWealthRobotics/DeviceProviders.git", "loadAll.groovy",
                null);
        boolean gitRun = false;
        String gitRepo = null;
        String gitFile = null;
        for (String s : args) {
 
            if (gitRun) {
                if (gitRepo == null) {
                    gitRepo = s;
                } else if (gitFile == null) {
                    gitFile = s;
                }
            }
            if (s.startsWith("-g")) {
                gitRun = true;
            }
        }
        Object ret = null;
        File baseWorkspaceFile = null;
        if (gitRun && gitRepo != null) {
            String url = null;
 
            ScriptingEngine.pull(gitRepo);
            ArrayList<String> files = ScriptingEngine.filesInGit(gitRepo);
            boolean fileExists = false;
            if (gitFile == null)
                gitFile = "launch";
            if (gitFile.endsWith("/"))
                gitFile += "launch";
            for (String f : files) {
                if (f.startsWith(gitFile)) {
                    gitFile = f;
                    fileExists = true;
                }
            }
            if (!fileExists) {
                System.err.println("\n\nERROR file does not exist: " + gitFile);
                gitFile = null;
            }
            if (gitFile != null)
                try {
                    ret = ScriptingEngine.gitScriptRun(gitRepo, gitFile, null);
                    url = gitRepo;
                    baseWorkspaceFile = ScriptingEngine.getRepositoryCloneDirectory(url);
 
                    processReturnedObjectsStart(ret, baseWorkspaceFile);
                } catch (Throwable e) {
                    e.printStackTrace();
                    fail();
                }
            else {
                System.out.println("Files in git:");
                for (String f : files) {
                    System.out.println("\t" + f);
                }
            }
            finish(startTime);
        }
//      File servo = ScriptingEngine.fileFromGit("https://github.com/CommonWealthRobotics/BowlerStudioVitamins.git",
//                          "BowlerStudioVitamins/stl/servo/smallservo.stl");
//      
//      ArrayList<CSG>  cad = (ArrayList<CSG> )ScriptingEngine.inlineGistScriptRun("4814b39ee72e9f590757", "javaCad.groovy" , null);
//      System.out.println(servo.exists()+" exists: "+servo);
 
        boolean startLoadingScripts = false;
        for (String s : args) {
            if (startLoadingScripts) {
                try {
 
                    File f = new File(s);
                    File parentFile = f.getParentFile();
                    if(parentFile==null) {
                        parentFile=new File(".");
                    }
                    String location  =parentFile.getAbsolutePath();
                    if(location.endsWith(".")) {
                        location=location.substring(0,location.length()-1);
                    }       
                    if(!location.endsWith("/")) {
                        location+="/";
                    }
                    baseWorkspaceFile = new File(location);
                    
                    System.out.println("Using working directory  "+baseWorkspaceFile.getAbsolutePath());
                    f=new File(baseWorkspaceFile.getAbsolutePath()+"/"+f.getName());
                    System.out.println("File   "+f.getName());
                    ret = ScriptingEngine.inlineFileScriptRun(f, null);
                } catch (Throwable e) {
                    e.printStackTrace();
                    fail();
                }
            }
            if (s.startsWith("-f") || s.startsWith("-s")) {
                startLoadingScripts = true;
            }
        }
        if (startLoadingScripts) {
            processReturnedObjectsStart(ret, baseWorkspaceFile);
            startLoadingScripts = false;
            finish(startTime);
            return;
        }
 
        for (String s : args) {
 
            if (startLoadingScripts) {
                try {
                    ret = ScriptingEngine.inlineFileScriptRun(new File(s), (ArrayList<Object>) ret);
                } catch (Throwable e) {
                    e.printStackTrace();
                    fail();
                }
            }
            if (s.startsWith("-p")) {
                startLoadingScripts = true;
            }
        }
        if (startLoadingScripts) {
            processReturnedObjectsStart(ret, null);
            finish(startTime);
            return;
        }
        boolean runShell = false;
        String groovy = "Groovy";
        String shellTypeStorage = groovy;
        for (String s : args) {
 
            if (runShell) {
                try {
                    shellTypeStorage = s;
                } catch (Throwable e) {
                    shellTypeStorage = groovy;
                }
                break;
            }
            if (s.startsWith("-r")) {
                runShell = true;
            }
        }
 
        if (!runShell) {
            finish(startTime);
        }
        System.out.println("Starting Bowler REPL in langauge: " + shellTypeStorage);
        // sample from
        // http://jline.sourceforge.net/testapidocs/src-html/jline/example/Example.html
 
        if (!Terminal.getTerminal().isSupported()) {
            System.out.println("Terminal not supported " + Terminal.getTerminal());
        }
        // Terminal.getTerminal().initializeTerminal();
 
        ConsoleReader reader = new ConsoleReader();
        reader.addTriggeredAction(Terminal.CTRL_C, e -> {
            finish(startTime);
        });
 
        if (!historyFile.exists()) {
            historyFile.createNewFile();
            reader.getHistory().addToHistory("println SDKBuildInfo.getVersion()");
            reader.getHistory().addToHistory("for(int i=0;i<100;i++) { println dyio.getValue(0) }");
            reader.getHistory().addToHistory("dyio.setValue(0,128)");
            reader.getHistory().addToHistory("println dyio.getValue(0)");
            reader.getHistory().addToHistory(
                    "ScriptingEngine.inlineGistScriptRun(\"d4312a0787456ec27a2a\", \"helloWorld.groovy\" , null)");
            reader.getHistory().addToHistory(
                    "DeviceManager.addConnection(new DyIO(ConnectionDialog.promptConnection()),\"dyio\")");
            reader.getHistory().addToHistory(
                    "DeviceManager.addConnection(new DyIO(new SerialConnection(\"/dev/DyIO0\")),\"dyio\")");
            reader.getHistory().addToHistory("BowlerKernel.speak(\"Text to speech works like this\")");
            reader.getHistory().addToHistory(
                    "ScriptingEngine.gitScriptRun(\\\"https://github.com/OperationSmallKat/greycat.git\\\", \\\"launch.groovy\\\" , null)");
            reader.getHistory().addToHistory("println \"Hello world!\"");
            writeHistory(reader.getHistory().getHistoryList());
        } else {
            List<String> history = loadHistory();
            for (String h : history) {
                reader.getHistory().addToHistory(h);
            }
        }
        reader.setBellEnabled(false);
        reader.setDebug(new PrintWriter(new FileWriter("writer.debug", true)));
 
        Runtime.getRuntime().addShutdownHook(new Thread() {
            @Override
            public void run() {
                Thread.currentThread().setUncaughtExceptionHandler(new IssueReportingExceptionHandler());
 
                writeHistory(reader.getHistory().getHistoryList());
            }
        });
 
        // SpringApplication.run(SpringBowlerUI.class, new String[]{});
 
        String line;
        try {
            while ((line = reader.readLine("Bowler " + shellTypeStorage + "> ")) != null) {
                if (line.equalsIgnoreCase("quit") || line.equalsIgnoreCase("exit")) {
                    break;
                }
                if (line.equalsIgnoreCase("history") || line.equalsIgnoreCase("h")) {
                    List<String> h = reader.getHistory().getHistoryList();
                    for (String s : h) {
                        System.out.println(s);
                    }
                    continue;
                }
                if (line.startsWith("shellType")) {
                    try {
                        shellTypeStorage = line.split(" ")[1];
                    } catch (Exception e) {
                        shellTypeStorage = groovy;
                    }
                    continue;
                }
                try {
                    ret = ScriptingEngine.inlineScriptStringRun(line, null, shellTypeStorage);
                    if (ret != null) {
                        System.out.println(ret);
                    }
                    processReturnedObjectsStart(ret, null);
                } catch (Error e) {
                    e.printStackTrace();
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
 
    }
 
    private static void finish(long startTime) {
        System.out.println(
                "Process took " + (((double) (System.currentTimeMillis() - startTime))) / 60000.0 + " minutes");
        System.exit(0);
    }
 
    private static void processReturnedObjectsStart(Object ret, File baseWorkspaceFile) {
        if(baseWorkspaceFile!=null)
            System.out.println("Processing file in directory "+baseWorkspaceFile.getAbsolutePath());
        CSG.setProgressMoniter(new ICSGProgress() {
            @Override
            public void progressUpdate(int currentIndex, int finalIndex, String type,
                    eu.mihosoft.vrl.v3d.CSG intermediateShape) {
 
            }
 
        });
        if (baseWorkspaceFile != null) {
            File baseDirForFiles = new File("./manufacturing/");
            if (baseDirForFiles.exists()) {
                // baseDirForFiles.mkdir();
                File bomCSV = new File(
                        baseWorkspaceFile.getAbsolutePath() + "/" + VitaminBomManager.MANUFACTURING_BOM_CSV);
                if (bomCSV.exists()) {
 
                    File file = new File(baseDirForFiles.getAbsolutePath() + "/bom.csv");
                    if (file.exists())
                        file.delete();
                    try {
                        Files.copy(bomCSV.toPath(), file.toPath());
                    } catch (IOException e) {
                        // TODO Auto-generated catch block
                        e.printStackTrace();
                    }
                }
                File bom = new File(
                        baseWorkspaceFile.getAbsolutePath() + "/" + VitaminBomManager.MANUFACTURING_BOM_JSON);
                if (bom.exists()) {
                    File file = new File(baseDirForFiles.getAbsolutePath() + "/bom.json");
                    if (file.exists())
                        file.delete();
                    try {
                        Files.copy(bom.toPath(), file.toPath());
                    } catch (IOException e) {
                        // TODO Auto-generated catch block
                        e.printStackTrace();
                    }
                }
            }
        }
        ArrayList<CSG> csgBits = new ArrayList<>();
        try {
            processReturnedObjects(ret, csgBits);
            String url = ScriptingEngine.locateGitUrl(baseWorkspaceFile);
            System.out.println("Loading printbed URL  "+url);
            PrintBedManager printBedManager = new PrintBedManager(baseWorkspaceFile, csgBits);
            if(printBedManager.hasPrintBed())
                csgBits = printBedManager.makePrintBeds();
            else {
                System.out.println("Exporting files without print bed");
            }
            new CadFileExporter().generateManufacturingParts(csgBits, new File("."));
        } catch (Throwable t) {
            t.printStackTrace();
            fail();
        }
 
    }
 
    private static void processReturnedObjects(Object ret, ArrayList<CSG> csgBits) {
        if (List.class.isInstance(ret)) {
            List lst = (List) ret;
            for (int i = 0; i < lst.size(); i++)
                processReturnedObjects(lst.get(i), csgBits);
            return;
        }
        if (CSG.class.isInstance(ret)) {
            csgBits.add((CSG) ret);
        }
        if (MobileBase.class.isInstance(ret)) {
            MobileBase ret2 = (MobileBase) ret;
            MobileBaseCadManager m = MobileBaseCadManager.get(ret2);
            m.setUi(new IMobileBaseUI() {
 
                @Override
                public void setSelectedCsg(Collection<CSG> selectedCsg) {
                    // TODO Auto-generated method stub
 
                }
 
                @Override
                public void setSelected(Affine rootListener) {
                    // TODO Auto-generated method stub
 
                }
 
                @Override
                public void setAllCSG(Collection<CSG> toAdd, File source) {
                    // TODO Auto-generated method stub
 
                }
 
                @Override
                public void highlightException(File fileEngineRunByName, Throwable ex) {
                    ex.printStackTrace();
                    fail();
                }
 
                @Override
                public Set<CSG> getVisibleCSGs() {
                    // TODO Auto-generated method stub
                    return null;
                }
 
                @Override
                public void addCSG(Collection<CSG> toAdd, File source) {
                    // TODO Auto-generated method stub
 
                }
            });
            m.setConfigurationViewerMode(false);
            ret2.connect();
            m.generateBody();
            try {
 
                MobileBase base = (MobileBase) ret2;
                File baseDir = new File("./manufacturing/");
                File dir = new File(baseDir.getAbsolutePath() + "/" + base.getScriptingName());
                if (!dir.exists())
                    dir.mkdirs();
                IgenerateBed bed = null;
                try {
                    bed = m.getIgenerateBed();
                } catch (Throwable T) {
                    throw new RuntimeException(T.getMessage());
                }
                bed = m.getPrintBed(dir, bed, ScriptingEngine.getRepositoryCloneDirectory(base.getGitSelfSource()[0]));
                if (bed == null) {
                    m._generateStls(base, dir, false);
                    return;
                }
                System.out.println("Found arrangeBed API in CAD engine");
                List<CSG> totalAssembly = bed.arrangeBed(base);
                base.disconnect();
                Thread.sleep(1000);
                System.gc();
                // Get current size of heap in bytes
                long heapSize = Runtime.getRuntime().totalMemory();
 
                // Get maximum size of heap in bytes. The heap cannot grow beyond this size.//
                // Any attempt will result in an OutOfMemoryException.
                long heapMaxSize = Runtime.getRuntime().maxMemory();
                // System.out.println("Heap remaining
                // "+(heapMaxSize-Runtime.getRuntime().totalMemory()));
                // System.out.println("Of Heap "+(heapMaxSize));
                for (int i = 0; i < totalAssembly.size(); i++) {
                    List<CSG> tmp = Arrays.asList(totalAssembly.get(i));
                    totalAssembly.set(i, null);
                    // System.out.println("Before Heap remaining
                    // "+(heapMaxSize-Runtime.getRuntime().totalMemory()));
 
                    new CadFileExporter(m.getUi()).generateManufacturingParts(tmp, dir);
                    tmp = null;
                    System.gc();
                    // System.out.println("After Heap remaining
                    // "+(heapMaxSize-Runtime.getRuntime().totalMemory()));
 
                }
            } catch (Exception e) {
                // TODO Auto-generated catch block
                e.printStackTrace();
                fail();
            }
        }
    }
 
    public static ArrayList<String> loadHistory() throws IOException {
        ArrayList<String> history = new ArrayList<>();
        // Construct BufferedReader from FileReader
        BufferedReader br = new BufferedReader(new FileReader(historyFile));
 
        String line = null;
        while ((line = br.readLine()) != null) {
            history.add(line);
        }
        br.close();
        return history;
    }
 
    public static void writeHistory(List<String> history) {
        System.out.println("Saving history");
        FileOutputStream fos;
        try {
            fos = new FileOutputStream(historyFile);
            BufferedWriter bw = new BufferedWriter(new OutputStreamWriter(fos));
            for (String s : history) {
                bw.write(s);
                bw.newLine();
            }
 
            bw.close();
        } catch (FileNotFoundException e) {
            // TODO Auto-generated catch block
            e.printStackTrace();
        } catch (IOException e) {
            // TODO Auto-generated catch block
            e.printStackTrace();
        }
 
    }
 
    public static int speak(String msg, ISpeakingProgress progress) {
        return speak(msg, 200, 0, 100, 1.0, 1.0, progress);
    }
 
    public static int speak(String msg) {
 
        return speak(msg, 200, 0, 301, 1.0, 1.0, null);
    }
 
    @SuppressWarnings("unused")
    public static int speak(String msg, Number rate, Number pitch, Number voice, Number shift, Number volume) {
        return speak(msg, rate, pitch, voice, shift, volume, null);
    }
 
    @SuppressWarnings("unused")
    public static int speak(String msg, Number rate, Number pitch, Number voiceNumber, Number shift, Number volume,
            ISpeakingProgress progress) {
        if (rate.doubleValue() > 300)
            rate = 300;
        if (rate.doubleValue() < 10)
            rate = 10;
        try {
            if (voiceNumber.doubleValue() >= 800) {
                if (0 == CoquiDockerManager.get(voiceNumber.doubleValue()).speak(msg, 2.0f, false, true, progress)) {
                    return 0;
                }
            }
        } catch (Throwable t) {
            t.printStackTrace();
        }
        TextToSpeech tts = new TextToSpeech();
        // cd ..
        tts.getAvailableVoices().stream().forEach(voice -> System.out.println("Voice: " + voice));
        // Setting the Current Voice
        // voice =(tts.getAvailableVoices().toArray()[0].toString());
        String voice = "dfki-poppy-hsmm";
        if (voiceNumber.doubleValue() > 600)
            voice = ("dfki-prudence-hsmm");
        else if (voiceNumber.doubleValue() > 500)
            voice = ("cmu-rms-hsmm");
        else if (voiceNumber.doubleValue() > 400)
            voice = ("cmu-bdl-hsmm");
        else if (voiceNumber.doubleValue() > 300)
            voice = ("dfki-obadiah-hsmm");
        else if (voiceNumber.doubleValue() > 200)
            voice = ("cmu-slt-hsmm");
        else if (voiceNumber.doubleValue() > 100)
            voice = ("dfki-spike-hsmm");
 
        tts.setVoice(voice);
 
        System.out.println("Using voice " + voice);
 
        RobotiserEffect vocalTractLSE = new RobotiserEffect(); // russian drunk effect
        vocalTractLSE.setParams("amount:" + pitch.intValue());
 
        // TTS say something that we actually are typing into the first variable
//  tts.getAudioEffects().stream().forEach(audioEffect -> {
//      if(audioEffect.getName().contains("Rate")) {
//      System.out.println("-----Name-----");
//      System.out.println(audioEffect.getName());
//      System.out.println("-----Examples-----");
//      System.out.println(audioEffect.getExampleParameters());
//      System.out.println("-----Help Text------");
//      System.out.println(audioEffect.getHelpText() + "\n\n");
//      }
//  });
        String effect = "";
        if (volume.doubleValue() < 0.5) {
 
            LpcWhisperiserEffect lpcWhisperiserEffect = new LpcWhisperiserEffect(); // creepy
            lpcWhisperiserEffect.setParams("amount:" + (50 + (50 * volume.doubleValue())));
            effect += "+" + lpcWhisperiserEffect.getFullEffectAsString();
            volume = 1;
        }
        if (shift.doubleValue() < 1) {
            ChorusEffectBase ce = new ChorusEffectBase();
            ce.setParams("delay1:" + (int) (366.0 * shift.doubleValue())
                    + ";amp1:0.54;delay2:600;amp2:-0.10;delay3:250;amp3:0.30");
            effect += "+" + ce.getFullEffectAsString();
        }
        // Apply the effects
        // ----You can add multiple effects by using the method
        // `getFullEffectAsString()` and + symbol to connect with the other effect that
        // you want
        // ----check the example below
        VolumeEffect volumeEffect = new VolumeEffect(); // be careful with this i almost got heart attack
        volumeEffect.setParams("amount:" + volume);
 
        HMMDurationScaleEffect ratEff = new HMMDurationScaleEffect();
        ratEff.setParams("durScale:" + rate.doubleValue() / 100.0);
 
        effect += "+" + ratEff.getFullEffectAsString();
        effect += "+" + volumeEffect.getFullEffectAsString();
        if (pitch.intValue() > 0)
            effect += "+" + vocalTractLSE.getFullEffectAsString();
        System.out.println(msg + "-->" + effect);
        tts.getMarytts().setAudioEffects(effect);
 
        tts.speak(msg, 2.0f, false, true, progress);
 
        return 0;
    }
 
    public static void upenURL(String string) {
 
        System.err.println("Opening " + string);
        try {
            upenURL(new URI(string));
 
        } catch (URISyntaxException e) {
            // TODO Auto-generated catch block
            e.printStackTrace();
        } catch (Throwable e) {
            // TODO Auto-generated catch block
            e.printStackTrace();
        }
    }
 
    public static void upenURL(URI htmlUrl) {
        if (Desktop.isDesktopSupported() && Desktop.getDesktop().isSupported(Desktop.Action.BROWSE))
            try {
                Desktop.getDesktop().browse(htmlUrl);
            } catch (IOException e) {
                // TODO Auto-generated catch block
                e.printStackTrace();
            }
    }
 
}