MobileBaseLoader.java

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package com.neuronrobotics.bowlerstudio.creature;
 
import java.io.File;
import java.io.IOException;
import java.nio.file.WatchEvent;
import java.util.HashMap;
import org.apache.commons.io.IOUtils;
import org.eclipse.jgit.api.errors.GitAPIException;
import org.eclipse.jgit.api.errors.JGitInternalException;
 
import com.neuronrobotics.bowlerstudio.scripting.ScriptingEngine;
import com.neuronrobotics.bowlerstudio.util.FileWatchDeviceWrapper;
import com.neuronrobotics.bowlerstudio.util.IFileChangeListener;
import com.neuronrobotics.sdk.addons.kinematics.DHLink;
import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics;
import com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver;
import com.neuronrobotics.sdk.addons.kinematics.IDriveEngine;
import com.neuronrobotics.sdk.addons.kinematics.MobileBase;
import com.neuronrobotics.sdk.addons.kinematics.parallel.ParallelGroup;
 
public class MobileBaseLoader {
    private static HashMap<MobileBase, MobileBaseLoader> map = new HashMap<>();
    private MobileBase base;
    private IDriveEngine defaultDriveEngine;
 
    private MobileBaseLoader(MobileBase base) {
        this.setBase(base);
 
        setDefaultWalkingEngine(base);
        base.initializeParalellGroups();
    }
 
    public void setGitDhEngine(String gitsId, String file, DHParameterKinematics dh) {
        dh.setGitDhEngine(new String[] { gitsId, file });
 
        setDefaultDhParameterKinematics(dh);
 
    }
 
    public File setDefaultDhParameterKinematics(DHParameterKinematics device) {
        File code = null;
        try {
            code = ScriptingEngine.fileFromGit(device.getGitDhEngine()[0], device.getGitDhEngine()[1]);
            DhInverseSolver defaultDHSolver = (DhInverseSolver) ScriptingEngine.inlineFileScriptRun(code, null);
 
            File c = code;
            FileWatchDeviceWrapper.watch(device, code,new IFileChangeListener() {
                
                @Override
                public void onFileDelete(File fileThatIsDeleted) {
                    // TODO Auto-generated method stub
                    
                }
                
                @Override
                public void onFileChange(File fileThatChanged, WatchEvent event)  {
 
                    try {
                        System.out.println("D-H Solver changed, updating " + device.getScriptingName());
                        DhInverseSolver d = (DhInverseSolver) ScriptingEngine.inlineFileScriptRun(c, null);
                        device.setInverseSolver(d);
                    } catch (Exception ex) {
                        MobileBaseCadManager.get(base).getUi().highlightException(c, ex);
                    }
                }
            });
 
            device.setInverseSolver(defaultDHSolver);
            return code;
        } catch (Exception e1) {
            MobileBaseCadManager.get(base).getUi().highlightException(code, e1);
        }
        return null;
 
    }
 
    public void setDefaultWalkingEngine(MobileBase device) {
        if (defaultDriveEngine == null) {
            setGitWalkingEngine(device.getGitWalkingEngine()[0], device.getGitWalkingEngine()[1], device);
        }
        for (DHParameterKinematics dh : device.getAllDHChains()) {
            setDefaultDhParameterKinematics(dh);
        }
    }
 
    public void setGitWalkingEngine(String git, String file, MobileBase device) {
 
        device.setGitWalkingEngine(new String[] { git, file });
        File code = null;
        try {
            code = ScriptingEngine.fileFromGit(git, file);
        } catch (Exception ex) {
            ex.printStackTrace();
            ScriptingEngine.deleteRepo(git);
            try {
                code = ScriptingEngine.fileFromGit(git, file);
            } catch (GitAPIException | IOException e) {
                MobileBaseCadManager.get(base).getUi().highlightException(code, e);
                throw new RuntimeException(e);
            }
        }
 
        File c = code;
        FileWatchDeviceWrapper.watch(device, code, new IFileChangeListener() {
            
            @Override
            public void onFileDelete(File fileThatIsDeleted) {
                // TODO Auto-generated method stub
                
            }
            
            @Override
            public void onFileChange(File fileThatChanged, WatchEvent event){
 
                try {
                    System.out.println("Walking Gait Script changed, updating " + device.getScriptingName());
                    defaultDriveEngine = (IDriveEngine) ScriptingEngine.inlineFileScriptRun(c, null);
                    device.setWalkingDriveEngine(defaultDriveEngine);
                } catch (Exception ex) {
                    MobileBaseCadManager.get(base).getUi().highlightException(c, ex);
                }
            }
        });
 
        try {
            defaultDriveEngine = (IDriveEngine) ScriptingEngine.inlineFileScriptRun(c, null);
            device.setWalkingDriveEngine(defaultDriveEngine);
        } catch (Exception ex) {
            MobileBaseCadManager.get(base).getUi().highlightException(c, ex);
        }
    }
 
    public static MobileBase initializeScripts(MobileBase base) {
        if (map.get(base) == null) {
 
            if (map.get(base) == null)
                map.put(base, new MobileBaseLoader(base));
//          for (DHParameterKinematics kin : base.getAllDHChains()) {
//              for (int i = 0; i < kin.getNumberOfLinks(); i++) {
//                  MobileBase m = kin.getDhLink(i).getSlaveMobileBase();
//                  if (m != null) {
//                      m.setGitSelfSource(base.getGitSelfSource());
//                      if (map.get(m) == null)
//                          map.put(m, new MobileBaseLoader(m));
//                  }
//              }
//          }
            
        }
        return base;
    }
 
    public static MobileBase fromGit(String id, String file) throws Exception {
        String xmlContent = ScriptingEngine.codeFromGit(id, file)[0];
        MobileBase mb = new MobileBase(IOUtils.toInputStream(xmlContent, "UTF-8"));
 
        mb.setGitSelfSource(new String[] { id, file });
        return initializeScripts(mb);
    }
 
    public static MobileBaseLoader get(MobileBase base) {
        initializeScripts(base);
 
        return map.get(base);
    }
 
    public MobileBase getBase() {
        return base;
    }
 
    public void setBase(MobileBase base) {
        this.base = base;
    }
 
}