public class InMoov extends Service
cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML
Constructor and Description |
---|
InMoov(java.lang.String n) |
Modifier and Type | Method and Description |
---|---|
void |
addRoutes()
subscribe to the runtime for any new services
|
void |
atEase() |
void |
attach()
Deprecated.
|
void |
beginCheckingOnInactivity() |
void |
beginCheckingOnInactivity(int maxInactivityTimeSeconds) |
void |
broadcastState() |
void |
cameraOff() |
void |
cameraOn() |
java.lang.String |
captureGesture() |
java.lang.String |
captureGesture(java.lang.String gestureName) |
long |
checkInactivity() |
void |
clearTrackingPoints() |
void |
closePinch(java.lang.String which) |
boolean |
copyGesture(boolean b) |
void |
detach()
Deprecated.
|
void |
disable() |
void |
enable() |
void |
enableAutoDisable(java.lang.Boolean param)
Deprecated.
|
void |
finishedGesture() |
void |
finishedGesture(java.lang.String nameOfGesture) |
void |
fullSpeed() |
long |
getLastActivityTime()
finds most recent activity
|
static ServiceType |
getMetaData()
This static method returns all the details of the class without it having
to be constructed.
|
Python |
getPython() |
java.lang.Double |
getUltrasonicSensorDistance() |
void |
halfSpeed() |
void |
handClose(java.lang.String which) |
void |
handOpen(java.lang.String which) |
void |
handRest(java.lang.String which) |
boolean |
isAttached() |
boolean |
isMute() |
void |
loadCalibration() |
void |
loadCalibration(java.lang.String calibrationFilename) |
void |
loadGestures() |
void |
loadGestures(java.lang.String directory)
This method will look at all of the .py files in a directory.
|
static void |
main(java.lang.String[] args) |
void |
moveArm(java.lang.String which,
double bicep,
double rotate,
double shoulder,
double omoplate) |
void |
moveEyelids(double eyelidleft,
double eyelidright) |
void |
moveEyes(double eyeX,
double eyeY) |
void |
moveHand(java.lang.String which,
double thumb,
double index,
double majeure,
double ringFinger,
double pinky) |
void |
moveHand(java.lang.String which,
double thumb,
double index,
double majeure,
double ringFinger,
double pinky,
java.lang.Double wrist) |
void |
moveHead(double neck,
double rothead) |
void |
moveHead(double neck,
double rothead,
double rollNeck) |
void |
moveHead(double neck,
double rothead,
double eyeX,
double eyeY,
double jaw) |
void |
moveHead(double neck,
double rothead,
double eyeX,
double eyeY,
double jaw,
double rollNeck) |
void |
moveHeadBlocking(double neck,
double rothead) |
void |
moveHeadBlocking(double neck,
double rothead,
double rollNeck) |
void |
moveHeadBlocking(double neck,
double rothead,
double eyeX,
double eyeY,
double jaw) |
void |
moveHeadBlocking(double neck,
double rothead,
double eyeX,
double eyeY,
double jaw,
double rollNeck) |
void |
moveTorso(double topStom,
double midStom,
double lowStom) |
void |
moveTorsoBlocking(double topStom,
double midStom,
double lowStom) |
void |
onError(java.lang.String msg) |
void |
onIKServoEvent(Servo.IKData data) |
void |
onListeningEvent() |
void |
onOpenNIData(OpenNiData data) |
void |
onPauseListening() |
void |
onRecognized(java.lang.String text) |
void |
onRegistered(ServiceInterface sw) |
void |
openlefthand() |
void |
openPinch(java.lang.String which) |
void |
openrighthand() |
void |
powerDown() |
void |
powerUp() |
void |
publishPin(Pin pin) |
void |
purgeTasks() |
void |
rest() |
static boolean |
RobotIsOpenCvCapturing() |
static boolean |
RobotIsOpenNiCapturing() |
static boolean |
RobotIsTrackingSomething() |
boolean |
save()
method of serializing default will be simple xml to name file
|
void |
saveCalibration() |
void |
saveCalibration(java.lang.String calibrationFilename) |
void |
saveGesture(java.lang.String gestureName) |
void |
saveGesture(java.lang.String gestureName,
java.lang.String directory) |
void |
setArmSpeed(java.lang.String which,
java.lang.Double bicep,
java.lang.Double rotate,
java.lang.Double shoulder,
java.lang.Double omoplate)
Deprecated.
|
void |
setArmVelocity(java.lang.String which,
java.lang.Double bicep,
java.lang.Double rotate,
java.lang.Double shoulder,
java.lang.Double omoplate) |
void |
setAutoDisable(java.lang.Boolean param) |
void |
setBatteryLevel(java.lang.Integer level) |
void |
setEyelidsVelocity(java.lang.Double eyelidleft,
java.lang.Double eyelidright) |
void |
setHandSpeed(java.lang.String which,
java.lang.Double thumb,
java.lang.Double index,
java.lang.Double majeure,
java.lang.Double ringFinger,
java.lang.Double pinky)
Deprecated.
|
void |
setHandSpeed(java.lang.String which,
java.lang.Double thumb,
java.lang.Double index,
java.lang.Double majeure,
java.lang.Double ringFinger,
java.lang.Double pinky,
java.lang.Double wrist)
Deprecated.
|
void |
setHandVelocity(java.lang.String which,
java.lang.Double thumb,
java.lang.Double index,
java.lang.Double majeure,
java.lang.Double ringFinger,
java.lang.Double pinky) |
void |
setHandVelocity(java.lang.String which,
java.lang.Double thumb,
java.lang.Double index,
java.lang.Double majeure,
java.lang.Double ringFinger,
java.lang.Double pinky,
java.lang.Double wrist) |
void |
setHeadSpeed(java.lang.Double rothead,
java.lang.Double neck)
Deprecated.
|
void |
setHeadSpeed(java.lang.Double rothead,
java.lang.Double neck,
java.lang.Double eyeXSpeed,
java.lang.Double eyeYSpeed,
java.lang.Double jawSpeed)
Deprecated.
|
void |
setHeadVelocity(java.lang.Double rothead,
java.lang.Double neck) |
void |
setHeadVelocity(java.lang.Double rothead,
java.lang.Double neck,
java.lang.Double rollNeck) |
void |
setHeadVelocity(java.lang.Double rothead,
java.lang.Double neck,
java.lang.Double eyeXSpeed,
java.lang.Double eyeYSpeed,
java.lang.Double jawSpeed) |
void |
setHeadVelocity(java.lang.Double rothead,
java.lang.Double neck,
java.lang.Double eyeXSpeed,
java.lang.Double eyeYSpeed,
java.lang.Double jawSpeed,
java.lang.Double rollNeckSpeed)
Deprecated.
|
void |
setLeftArduinoConnected(boolean param) |
void |
setMute(boolean mute) |
void |
setNeopixelAnimation(java.lang.String animation,
java.lang.Integer red,
java.lang.Integer green,
java.lang.Integer blue,
java.lang.Integer speed) |
void |
setRightArduinoConnected(boolean param) |
void |
setTorsoSpeed(java.lang.Double topStom,
java.lang.Double midStom,
java.lang.Double lowStom)
Deprecated.
|
void |
setTorsoVelocity(java.lang.Double topStom,
java.lang.Double midStom,
java.lang.Double lowStom) |
boolean |
speakBlocking(Status test) |
boolean |
speakBlocking(java.lang.String toSpeak) |
boolean |
speakErrors(boolean b) |
void |
startAll(java.lang.String leftPort,
java.lang.String rightPort)
STARTS BEGIN
|
InMoovArm |
startArm(java.lang.String side,
java.lang.String port,
java.lang.String type) |
SpeechRecognizer |
startEar() |
void |
startedGesture() |
void |
startedGesture(java.lang.String nameOfGesture) |
InMoovEyelids |
startEyelids(ServoController controller,
java.lang.Integer eyeLidLeftPin,
java.lang.Integer eyeLidRightPin) |
InMoovEyelids |
startEyelids(java.lang.String port) |
InMoovEyelids |
startEyelids(java.lang.String port,
int eyelidleftPin,
int eyelidrightPin) |
InMoovEyelids |
startEyelids(java.lang.String port,
java.lang.String type,
int eyeLidLeftPin,
int eyeLidRightPin) |
Tracking |
startEyesTracking(java.lang.String port,
int xPin,
int yPin) |
InMoovHand |
startHand(java.lang.String side,
java.lang.String port,
java.lang.String type) |
InMoovHead |
startHead(java.lang.String port) |
InMoovHead |
startHead(java.lang.String port,
java.lang.Integer headYPin,
java.lang.Integer headXPin,
java.lang.Integer eyeXPin,
java.lang.Integer eyeYPin,
java.lang.Integer jawPin,
java.lang.Integer rollNeckPin) |
InMoovHead |
startHead(java.lang.String port,
java.lang.String type) |
InMoovHead |
startHead(java.lang.String port,
java.lang.String type,
java.lang.Integer headYPin,
java.lang.Integer headXPin,
java.lang.Integer eyeXPin,
java.lang.Integer eyeYPin,
java.lang.Integer jawPin,
java.lang.Integer rollNeckPin) |
Tracking |
startHeadTracking(java.lang.String port,
int neckPin,
int rotheadPin) |
void |
startIntegratedMovement() |
InMoovArm |
startLeftArm(java.lang.String port) |
InMoovArm |
startLeftArm(java.lang.String port,
java.lang.String type) |
InMoovHand |
startLeftHand(java.lang.String port) |
InMoovHand |
startLeftHand(java.lang.String port,
java.lang.String type) |
SpeechSynthesis |
startMouth() |
MouthControl |
startMouthControl(java.lang.String port) |
OpenCV |
startOpenCV() |
OpenNi |
startOpenNI() |
void |
startPIR(java.lang.String port,
int pin) |
InMoovArm |
startRightArm(java.lang.String port) |
InMoovArm |
startRightArm(java.lang.String port,
java.lang.String type) |
InMoovHand |
startRightHand(java.lang.String port) |
InMoovHand |
startRightHand(java.lang.String port,
java.lang.String type) |
void |
startService() |
InMoovTorso |
startTorso(java.lang.String port) |
InMoovTorso |
startTorso(java.lang.String port,
java.lang.String type) |
InMoov3DApp |
startVinMoov() |
void |
stopHeadTracking() |
void |
stopNeopixelAnimation() |
void |
stopPIR() |
void |
stopService()
Stops the service.
|
void |
stopTracking() |
void |
stopVinMoov() |
void |
systemCheck() |
void |
track() |
void |
trackHumans() |
void |
trackPoint() |
void |
waitTargetPos() |
addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, attach, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, echoHeartbeat, error, error, error, getAttached, getCfgDir, getComm, getDeclaredMethodNames, getDeclaredMethods, getDescription, getDna, getDnaString, getHostName, getInbox, getInstanceId, getIntanceName, getInterfaceSet, getLastError, getMessageSet, getMetaData, getMethodMap, getMethodNames, getMethods, getMethodToolTip, getMsg, getName, getNotifyList, getNotifyListKeySet, getOutbox, getPeerKey, getPeerName, getServiceResourceFile, getSimpleName, getTasks, getThisThread, getType, hasError, hasPeers, help, help, in, info, info, invoke, invoke, invoke, invokeOn, isAttached, isAttached, isLocal, isReady, isRunning, isRuntime, isVirtual, load, load, logTimeEnable, mergeDna, mergeDna, mergePeerDna, movePeerDna, out, out, preProcessHook, preRoutingHook, publishError, publishQueueStats, publishState, publishStats, publishStatus, purgeTask, releasePeers, releaseService, removeAllListeners, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, save, send, send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking, sendPeer, setInstanceId, setName, setPeer, setSecurityProvider, setState, setThisThread, setVirtual, sleep, stackToString, startHeartbeat, startPeer, startPeer, startRecording, stopHeartbeat, stopMsgRecording, subscribe, subscribe, subscribe, toString, unsubscribe, unsubscribe, unsubscribe, updateStats, warn, warn
public java.lang.String CALIBRATION_FILE
public static final org.slf4j.Logger log
public transient InMoovHead head
public transient InMoovTorso torso
public transient InMoovArm leftArm
public transient InMoovHand leftHand
public transient InMoovArm rightArm
public transient InMoovHand rightHand
public transient InMoovEyelids eyelids
public transient SpeechRecognizer ear
public transient SpeechSynthesis mouth
public static transient Tracking eyesTracking
public static transient Tracking headTracking
public static transient OpenCV opencv
public static transient OpenNi openni
public transient MouthControl mouthControl
public transient Python python
public static final transient java.lang.String LEFT
public static final transient java.lang.String RIGHT
public transient Pid pid
public double openNiShouldersOffset
public boolean openNiLeftShoulderInverted
public boolean openNiRightShoulderInverted
public java.lang.String lang_shutDown
public static int attachPauseMs
public static boolean RobotCanMoveHeadRandom
public static boolean RobotCanMoveEyesRandom
public static boolean RobotCanMoveBodyRandom
public static boolean RobotCanMoveRandom
public static boolean RobotIsSleeping
public static boolean RobotIsStarted
public java.lang.Integer pirPin
public java.lang.Boolean VinmoovMonitorActivated
public java.lang.Boolean VinmoovFullScreen
public java.lang.String VinmoovBackGroundColor
public int VinmoovWidth
public int VinmoovHeight
public Relay LeftRelay1
public Relay RightRelay1
public NeoPixel neopixel
public Arduino neopixelArduino
public UltrasonicSensor ultrasonicSensor
public static boolean RobotIsTrackingSomething()
public static boolean RobotIsOpenCvCapturing()
public static boolean RobotIsOpenNiCapturing()
public void addRoutes()
public void atEase()
@Deprecated public void attach()
public void enable()
public void beginCheckingOnInactivity()
public void beginCheckingOnInactivity(int maxInactivityTimeSeconds)
public void broadcastState()
broadcastState
in interface ServiceInterface
broadcastState
in class Service
public void cameraOff()
public void cameraOn() throws java.lang.Exception
java.lang.Exception
public java.lang.String captureGesture()
public java.lang.String captureGesture(java.lang.String gestureName)
public long checkInactivity()
public void clearTrackingPoints()
public void closePinch(java.lang.String which)
public boolean copyGesture(boolean b) throws java.lang.Exception
java.lang.Exception
@Deprecated public void detach()
Service
detach
in interface Attachable
detach
in class Service
public void disable()
public void fullSpeed()
public void halfSpeed()
public long getLastActivityTime()
public Python getPython()
public void handClose(java.lang.String which)
public void onError(java.lang.String msg)
public void handOpen(java.lang.String which)
public void handRest(java.lang.String which)
public boolean isAttached()
public boolean isMute()
public void moveArm(java.lang.String which, double bicep, double rotate, double shoulder, double omoplate)
public void moveEyes(double eyeX, double eyeY)
public void moveHand(java.lang.String which, double thumb, double index, double majeure, double ringFinger, double pinky)
public void moveHand(java.lang.String which, double thumb, double index, double majeure, double ringFinger, double pinky, java.lang.Double wrist)
public void moveHead(double neck, double rothead)
public void moveHead(double neck, double rothead, double rollNeck)
public void moveHead(double neck, double rothead, double eyeX, double eyeY, double jaw)
public void moveHead(double neck, double rothead, double eyeX, double eyeY, double jaw, double rollNeck)
public void moveTorso(double topStom, double midStom, double lowStom)
public void moveTorsoBlocking(double topStom, double midStom, double lowStom)
public void moveEyelids(double eyelidleft, double eyelidright)
public void moveHeadBlocking(double neck, double rothead)
public void moveHeadBlocking(double neck, double rothead, double rollNeck)
public void moveHeadBlocking(double neck, double rothead, double eyeX, double eyeY, double jaw)
public void moveHeadBlocking(double neck, double rothead, double eyeX, double eyeY, double jaw, double rollNeck)
public void waitTargetPos()
public void onOpenNIData(OpenNiData data)
public void openlefthand()
public void openPinch(java.lang.String which)
public void openrighthand()
public void powerDown()
public void powerUp()
public void publishPin(Pin pin)
public void purgeTasks()
purgeTasks
in class Service
public void onRegistered(ServiceInterface sw)
public void rest()
public boolean save()
Service
save
in interface StateSaver
save
in class Service
@Deprecated public void setArmSpeed(java.lang.String which, java.lang.Double bicep, java.lang.Double rotate, java.lang.Double shoulder, java.lang.Double omoplate)
public void setArmVelocity(java.lang.String which, java.lang.Double bicep, java.lang.Double rotate, java.lang.Double shoulder, java.lang.Double omoplate)
@Deprecated public void setHandSpeed(java.lang.String which, java.lang.Double thumb, java.lang.Double index, java.lang.Double majeure, java.lang.Double ringFinger, java.lang.Double pinky)
public void setHandVelocity(java.lang.String which, java.lang.Double thumb, java.lang.Double index, java.lang.Double majeure, java.lang.Double ringFinger, java.lang.Double pinky)
@Deprecated public void setHandSpeed(java.lang.String which, java.lang.Double thumb, java.lang.Double index, java.lang.Double majeure, java.lang.Double ringFinger, java.lang.Double pinky, java.lang.Double wrist)
public void setHandVelocity(java.lang.String which, java.lang.Double thumb, java.lang.Double index, java.lang.Double majeure, java.lang.Double ringFinger, java.lang.Double pinky, java.lang.Double wrist)
@Deprecated public void setHeadSpeed(java.lang.Double rothead, java.lang.Double neck)
public void setHeadVelocity(java.lang.Double rothead, java.lang.Double neck)
public void setHeadVelocity(java.lang.Double rothead, java.lang.Double neck, java.lang.Double rollNeck)
public void setHeadVelocity(java.lang.Double rothead, java.lang.Double neck, java.lang.Double eyeXSpeed, java.lang.Double eyeYSpeed, java.lang.Double jawSpeed)
@Deprecated public void setHeadSpeed(java.lang.Double rothead, java.lang.Double neck, java.lang.Double eyeXSpeed, java.lang.Double eyeYSpeed, java.lang.Double jawSpeed)
@Deprecated public void setHeadVelocity(java.lang.Double rothead, java.lang.Double neck, java.lang.Double eyeXSpeed, java.lang.Double eyeYSpeed, java.lang.Double jawSpeed, java.lang.Double rollNeckSpeed)
public void setMute(boolean mute)
@Deprecated public void setTorsoSpeed(java.lang.Double topStom, java.lang.Double midStom, java.lang.Double lowStom)
public void setTorsoVelocity(java.lang.Double topStom, java.lang.Double midStom, java.lang.Double lowStom)
public void setEyelidsVelocity(java.lang.Double eyelidleft, java.lang.Double eyelidright)
public boolean speakBlocking(Status test)
public boolean speakBlocking(java.lang.String toSpeak)
public boolean speakErrors(boolean b)
public void startAll(java.lang.String leftPort, java.lang.String rightPort) throws java.lang.Exception
leftPort
- com portrightPort
- com portjava.lang.Exception
- epublic InMoovArm startArm(java.lang.String side, java.lang.String port, java.lang.String type) throws java.lang.Exception
java.lang.Exception
public SpeechRecognizer startEar() throws java.lang.Exception
java.lang.Exception
public Tracking startEyesTracking(java.lang.String port, int xPin, int yPin) throws java.lang.Exception
java.lang.Exception
public InMoovHand startHand(java.lang.String side, java.lang.String port, java.lang.String type) throws java.lang.Exception
java.lang.Exception
public InMoovHead startHead(java.lang.String port) throws java.lang.Exception
java.lang.Exception
public InMoovHead startHead(java.lang.String port, java.lang.String type) throws java.lang.Exception
java.lang.Exception
public InMoovHead startHead(java.lang.String port, java.lang.Integer headYPin, java.lang.Integer headXPin, java.lang.Integer eyeXPin, java.lang.Integer eyeYPin, java.lang.Integer jawPin, java.lang.Integer rollNeckPin) throws java.lang.Exception
java.lang.Exception
public InMoovHead startHead(java.lang.String port, java.lang.String type, java.lang.Integer headYPin, java.lang.Integer headXPin, java.lang.Integer eyeXPin, java.lang.Integer eyeYPin, java.lang.Integer jawPin, java.lang.Integer rollNeckPin) throws java.lang.Exception
java.lang.Exception
@Deprecated public void enableAutoDisable(java.lang.Boolean param)
public void setAutoDisable(java.lang.Boolean param)
public Tracking startHeadTracking(java.lang.String port, int neckPin, int rotheadPin) throws java.lang.Exception
java.lang.Exception
public void stopHeadTracking()
public InMoovArm startLeftArm(java.lang.String port) throws java.lang.Exception
java.lang.Exception
public InMoovArm startLeftArm(java.lang.String port, java.lang.String type) throws java.lang.Exception
java.lang.Exception
public InMoovHand startLeftHand(java.lang.String port) throws java.lang.Exception
java.lang.Exception
public InMoovHand startLeftHand(java.lang.String port, java.lang.String type) throws java.lang.Exception
java.lang.Exception
public SpeechSynthesis startMouth() throws java.lang.Exception
java.lang.Exception
public MouthControl startMouthControl(java.lang.String port) throws java.lang.Exception
java.lang.Exception
public OpenCV startOpenCV() throws java.lang.Exception
java.lang.Exception
public OpenNi startOpenNI() throws java.lang.Exception
java.lang.Exception
public void startPIR(java.lang.String port, int pin) throws java.io.IOException
java.io.IOException
public InMoovArm startRightArm(java.lang.String port) throws java.lang.Exception
java.lang.Exception
public InMoovArm startRightArm(java.lang.String port, java.lang.String type) throws java.lang.Exception
java.lang.Exception
public InMoovHand startRightHand(java.lang.String port) throws java.lang.Exception
java.lang.Exception
public InMoovHand startRightHand(java.lang.String port, java.lang.String type) throws java.lang.Exception
java.lang.Exception
public void startService()
startService
in interface ServiceInterface
startService
in class Service
public InMoovTorso startTorso(java.lang.String port) throws java.lang.Exception
java.lang.Exception
public InMoovTorso startTorso(java.lang.String port, java.lang.String type) throws java.lang.Exception
java.lang.Exception
public InMoovEyelids startEyelids(java.lang.String port) throws java.lang.Exception
java.lang.Exception
public InMoovEyelids startEyelids(java.lang.String port, int eyelidleftPin, int eyelidrightPin) throws java.lang.Exception
java.lang.Exception
public InMoovEyelids startEyelids(java.lang.String port, java.lang.String type, int eyeLidLeftPin, int eyeLidRightPin) throws java.lang.Exception
java.lang.Exception
public InMoovEyelids startEyelids(ServoController controller, java.lang.Integer eyeLidLeftPin, java.lang.Integer eyeLidRightPin) throws java.lang.Exception
java.lang.Exception
public void stopPIR()
public void stopTracking()
public void systemCheck()
public void track()
public void trackHumans()
public void trackPoint()
public void loadGestures()
public void loadGestures(java.lang.String directory)
directory
- - the directory that contains the gesture python files.public void loadCalibration()
public void loadCalibration(java.lang.String calibrationFilename)
public void saveCalibration()
public void saveCalibration(java.lang.String calibrationFilename)
public void saveGesture(java.lang.String gestureName, java.lang.String directory)
public void saveGesture(java.lang.String gestureName)
public void startedGesture()
public void startedGesture(java.lang.String nameOfGesture)
public void finishedGesture()
public void finishedGesture(java.lang.String nameOfGesture)
public static void main(java.lang.String[] args)
public static ServiceType getMetaData()
public void onListeningEvent()
public void onPauseListening()
public void onRecognized(java.lang.String text)
public void setBatteryLevel(java.lang.Integer level)
public void setLeftArduinoConnected(boolean param)
public void setRightArduinoConnected(boolean param)
public InMoov3DApp startVinMoov() throws java.lang.InterruptedException
java.lang.InterruptedException
public void onIKServoEvent(Servo.IKData data)
public void stopVinMoov()
public void startIntegratedMovement()
public java.lang.Double getUltrasonicSensorDistance()
public void setNeopixelAnimation(java.lang.String animation, java.lang.Integer red, java.lang.Integer green, java.lang.Integer blue, java.lang.Integer speed)
public void stopNeopixelAnimation()
public void stopService()
Service
stopService
in interface ServiceInterface
stopService
in class Service