RobotHelper.java

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package com.neuronrobotics.bowlerstudio.scripting;
 
import java.io.File;
import java.io.IOException;
import java.nio.file.Files;
import java.util.ArrayList;
import java.util.Arrays;
 
import org.apache.commons.io.IOUtils;
 
import com.neuronrobotics.bowlerstudio.creature.MobileBaseLoader;
import com.neuronrobotics.sdk.addons.kinematics.DHLink;
import com.neuronrobotics.sdk.addons.kinematics.DHParameterKinematics;
import com.neuronrobotics.sdk.addons.kinematics.LinkConfiguration;
import com.neuronrobotics.sdk.addons.kinematics.MobileBase;
 
public class RobotHelper implements IScriptingLanguage {
 
    @Override
    public Object inlineScriptRun(File code, ArrayList<Object> args) {
        byte[] bytes;
        try {
            bytes = Files.readAllBytes(code.toPath());
            String s = new String(bytes, "UTF-8");
            MobileBase mb;
            try {
                mb = new MobileBase(IOUtils.toInputStream(s, "UTF-8"));
                mb.setGitSelfSource(ScriptingEngine.findGitTagFromFile(code));
                return MobileBaseLoader.get(mb).getBase();
            } catch (IOException e) {
                // TODO Auto-generated catch block
                e.printStackTrace();
                return null;
            }
        } catch (IOException e1) {
            // TODO Auto-generated catch block
            e1.printStackTrace();
        }
        // System.out.println("Clojure returned of type="+ret.getClass()+" value="+ret);
        return null;
    }
 
    @Override
    public Object inlineScriptRun(String code, ArrayList<Object> args) {
 
        MobileBase mb = null;
        try {
            mb = new MobileBase(IOUtils.toInputStream(code, "UTF-8"));
        } catch (IOException e) {
            // TODO Auto-generated catch block
            e.printStackTrace();
            return null;
        }
 
        return mb;
    }
 
    @Override
    public String getShellType() {
        return "MobilBaseXML";
    }
 
    @Override
    public boolean getIsTextFile() {
        // TODO Auto-generated method stub
        return true;
    }
 
    public String getDefaultContents() {
 
        return new MobileBase().getXml();
    }
 
    @SuppressWarnings("restriction")
    public String getDefaultContents(String gitURL, String slug) {
        MobileBase back = new MobileBase();
        back.setScriptingName(slug);
        back.setGitSelfSource(Arrays.asList(gitURL, slug + ".xml").toArray(new String[0]));
        String[] cad = ScriptingEngine.copyGitFile(
                "https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git", gitURL, "exampleCad.groovy",slug+"Cad.groovy",true);
        String[] kin = ScriptingEngine.copyGitFile(
                "https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git", gitURL,
                "exampleKinematics.groovy",slug+"Kinematics.groovy",true);
        String[] walk = ScriptingEngine.copyGitFile(
                "https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git", gitURL,
                "exampleWalking.groovy",slug+"Walk.groovy",true);
        back.setGitCadEngine(cad);
        back.setGitDhEngine(kin);
        back.setGitWalkingEngine(walk);
        DHParameterKinematics limb = new DHParameterKinematics();
        limb.setScriptingName(slug+"-Limb-1");
        limb.setGitCadEngine(cad);
        limb.setGitDhEngine(kin);
        LinkConfiguration newLink = new LinkConfiguration();
        newLink.setName("link1");
        newLink.setDeviceScriptingName(newLink.getName());
        newLink.setDeviceScriptingName("exampleDevice");
        DHLink nextLink = new DHLink(0, 0, 100, 0);
        nextLink.setListener(new javafx.scene.transform.Affine());
        limb.addNewLink(newLink, nextLink);
        back.getAppendages().add(limb);
 
        return back.getXml();
    }
 
    @Override
    public ArrayList<String> getFileExtenetion() {
        // TODO Auto-generated method stub
        return new ArrayList<>(Arrays.asList("xml"));
    }
 
}