org.myrobotlab.service

Class Sweety

java.lang.Object

org.myrobotlab.framework.MessageService

org.myrobotlab.framework.Service

org.myrobotlab.service.Sweety

All Implemented Interfaces:

java.io.Serializable, java.lang.Runnable, Attachable, Invoker, LoggingSink, MessageSender, MessageSubscriber, NameProvider, NameTypeProvider, ServiceInterface, ServiceQueue, StateSaver, TypeProvider, QueueReporter

public class Sweety
extends Service

Sweety - The sweety robot service. Maintained by \@beetlejuice

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
Arduino	arduino
ProgramAB	chatBot
int	delaytime
int	delaytimeletter
int	delaytimestop
WebkitSpeechRecognition	ear
HtmlFilter	htmlFilter
Servo	leftArmServo
Servo	leftBicepsServo
Servo	leftElbowServo
Servo	leftIndexServo
Servo	leftMiddleServo
Servo	leftPinkyServo
Servo	leftRingServo
Servo	leftShoulderServo
Servo	leftThumbServo
Servo	leftWristServo
static org.slf4j.Logger	log
MarySpeech	mouth
Servo	neckPanServo
Servo	neckTiltServo
OpenNi	openni
Pid	pid
Pir	pir
Servo	rightArmServo
Servo	rightBicepsServo
Servo	rightElbowServo
Servo	rightIndexServo
Servo	rightMiddleServo
Servo	rightPinkyServo
Servo	rightRingServo
Servo	rightShoulderServo
Servo	rightThumbServo
Servo	rightWristServo
Tracking	tracker
UltrasonicSensor	USback
UltrasonicSensor	USbackLeft
UltrasonicSensor	USbackRight
UltrasonicSensor	USfront
UltrasonicSensor	USfrontLeft
UltrasonicSensor	USfrontRight
WebGui	webGui

Fields inherited from class org.myrobotlab.framework.Service

cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML

Constructor Summary

Constructors

Constructor and Description
Sweety(java.lang.String n)

Method Summary

Modifier and Type	Method and Description
void	attach() Attach the servos to arduino pins
java.lang.String	captureGesture()
java.lang.String	captureGesture(java.lang.String gestureName)
void	connect(java.lang.String port) Connect the arduino to a COM port .
boolean	copyGesture(boolean b)
void	detach() detach the servos from arduino pins
static ServiceType	getMetaData() This static method returns all the details of the class without it having to be constructed.
static void	main(java.lang.String[] args)
void	mouthState(java.lang.String value)
void	moveMotors(int speed, int direction)
void	onEndSpeaking(java.lang.String utterance)
void	onOpenNIData(OpenNiData data)
void	onStartSpeaking(java.lang.String text)
void	posture(java.lang.String pos) Move the servos to show asked posture
Sweety	publishState() publishing point for the whole service the entire Service is published
void	saying(java.lang.String text) Say text and move mouth leds
void	setdelays(java.lang.Integer d1, java.lang.Integer d2, java.lang.Integer d3)
void	setHead(int[] tilt, int[] pan) Set pin, min, max, and rest for each servos.
void	setHeadPosition(double neckTiltAngle, double neckPanAngle) Move the head .
void	setLanguage(java.lang.String lang)
void	setLeftArmPosition(double shoulderAngle, double armAngle, double bicepsAngle, double ElbowAngle, double wristAngle)
void	setLeftHand(int[] thumb, int[] index, int[] middle, int[] ring, int[] pinky) Same as setRightArm
void	setLeftHandPosition(double thumbAngle, double indexAngle, double middleAngle, double ringAngle, double pinkyAngle)
void	setLefttArm(int[] shoulder, int[] arm, int[] biceps, int[] elbow, int[] wrist) Same as setRightArm
void	setRightArm(int[] shoulder, int[] arm, int[] biceps, int[] elbow, int[] wrist) Set pin, min, max, and rest for each servos.
void	setRightArmPosition(double shoulderAngle, double armAngle, double bicepsAngle, double ElbowAngle, double wristAngle) Move the right arm .
void	setRightHand(int[] thumb, int[] index, int[] middle, int[] ring, int[] pinky) Same as setRightArm
void	setRightHandPosition(double thumbAngle, double indexAngle, double middleAngle, double ringAngle, double pinkyAngle)
void	setVoice(java.lang.String voice)
OpenNi	startOpenNI()
void	startService()
void	startServos()
void	startTrack(java.lang.String port, int CameraIndex)
void	startUltraSonic(java.lang.String port) Start the ultrasonic sensors services Start the tracking services
void	stopTrack() Stop the tracking services

Methods inherited from class org.myrobotlab.framework.Service

addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, attach, broadcastState, 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, publishStats, publishStatus, purgeTask, purgeTasks, releasePeers, releaseService, removeAllListeners, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, 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, stopService, subscribe, subscribe, subscribe, toString, unsubscribe, unsubscribe, unsubscribe, updateStats, warn, warn

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

log

public static final org.slf4j.Logger log

arduino

public transient Arduino arduino

ear

public transient WebkitSpeechRecognition ear

webGui

public transient WebGui webGui

mouth

public transient MarySpeech mouth

tracker

public transient Tracking tracker

chatBot

public transient ProgramAB chatBot

openni

public transient OpenNi openni

pid

public transient Pid pid

pir

public transient Pir pir

htmlFilter

public transient HtmlFilter htmlFilter

rightShoulderServo

public transient Servo rightShoulderServo

rightArmServo

public transient Servo rightArmServo

rightBicepsServo

public transient Servo rightBicepsServo

rightElbowServo

public transient Servo rightElbowServo

rightWristServo

public transient Servo rightWristServo

leftShoulderServo

public transient Servo leftShoulderServo

leftArmServo

public transient Servo leftArmServo

leftBicepsServo

public transient Servo leftBicepsServo

leftElbowServo

public transient Servo leftElbowServo

leftWristServo

public transient Servo leftWristServo

rightThumbServo

public transient Servo rightThumbServo

rightIndexServo

public transient Servo rightIndexServo

rightMiddleServo

public transient Servo rightMiddleServo

rightRingServo

public transient Servo rightRingServo

rightPinkyServo

public transient Servo rightPinkyServo

leftThumbServo

public transient Servo leftThumbServo

leftIndexServo

public transient Servo leftIndexServo

leftMiddleServo

public transient Servo leftMiddleServo

leftRingServo

public transient Servo leftRingServo

leftPinkyServo

public transient Servo leftPinkyServo

neckTiltServo

public transient Servo neckTiltServo

neckPanServo

public transient Servo neckPanServo

USfront

public transient UltrasonicSensor USfront

USfrontRight

public transient UltrasonicSensor USfrontRight

USfrontLeft

public transient UltrasonicSensor USfrontLeft

USback

public transient UltrasonicSensor USback

USbackRight

public transient UltrasonicSensor USbackRight

USbackLeft

public transient UltrasonicSensor USbackLeft

delaytime

public int delaytime

delaytimestop

public int delaytimestop

delaytimeletter

public int delaytimeletter

Constructor Detail

Sweety

public Sweety(java.lang.String n)

Method Detail

setRightArm

public void setRightArm(int[] shoulder,
                        int[] arm,
                        int[] biceps,
                        int[] elbow,
                        int[] wrist)

Set pin, min, max, and rest for each servos. -1 mean in an array mean "no change" Exemple setRightArm({39,1,2,3},{40,1,2,3},{41,1,2,3},{-1,1,2,3},{-1,1,2,3}) Python exemple : sweety.setRightArm([1,0,180,90],[2,0,180,0],[3,180,90,90],[7,7,4,4],[8,5,8,1])

setLefttArm

public void setLefttArm(int[] shoulder,
                        int[] arm,
                        int[] biceps,
                        int[] elbow,
                        int[] wrist)

Same as setRightArm

setLeftHand

public void setLeftHand(int[] thumb,
                        int[] index,
                        int[] middle,
                        int[] ring,
                        int[] pinky)

Same as setRightArm

setRightHand

public void setRightHand(int[] thumb,
                         int[] index,
                         int[] middle,
                         int[] ring,
                         int[] pinky)

Same as setRightArm

setHead

public void setHead(int[] tilt,
                    int[] pan)

Set pin, min, max, and rest for each servos. -1 mean in an array mean "no change" Exemple setNeck({39,1,2,3},{40,1,2,3}) Python exemple : sweety.setNeck([1,0,180,90],[2,0,180,0])

main

public static void main(java.lang.String[] args)

attach

public void attach()
            throws java.lang.Exception

Attach the servos to arduino pins

Throws:

java.lang.Exception - e

connect

public void connect(java.lang.String port)
             throws java.io.IOException

Connect the arduino to a COM port . Exemple : connect("COM8")

Parameters:

port - port

Throws:

java.io.IOException - e

detach

public void detach()

detach the servos from arduino pins

Specified by:

detach in interface Attachable

Overrides:

detach in class Service

setHeadPosition

public void setHeadPosition(double neckTiltAngle,
                            double neckPanAngle)

Move the head . Use : head(neckTiltAngle, neckPanAngle -1 mean "no change"

Parameters:

neckTiltAngle - tilt

neckPanAngle - pan

setRightArmPosition

public void setRightArmPosition(double shoulderAngle,
                                double armAngle,
                                double bicepsAngle,
                                double ElbowAngle,
                                double wristAngle)

Move the right arm . Use : setRightArm(shoulder angle, arm angle, biceps angle, Elbow angle, wrist angle) -1 mean "no change"

Parameters:

shoulderAngle - s

armAngle - a

bicepsAngle - b

ElbowAngle - f

wristAngle - w

setLeftArmPosition

public void setLeftArmPosition(double shoulderAngle,
                               double armAngle,
                               double bicepsAngle,
                               double ElbowAngle,
                               double wristAngle)

setLeftHandPosition

public void setLeftHandPosition(double thumbAngle,
                                double indexAngle,
                                double middleAngle,
                                double ringAngle,
                                double pinkyAngle)

setRightHandPosition

public void setRightHandPosition(double thumbAngle,
                                 double indexAngle,
                                 double middleAngle,
                                 double ringAngle,
                                 double pinkyAngle)

mouthState

public void mouthState(java.lang.String value)

moveMotors

public void moveMotors(int speed,
                       int direction)

posture

public void posture(java.lang.String pos)

Move the servos to show asked posture

Parameters:

pos - pos

publishState

public Sweety publishState()

Description copied from class: Service

publishing point for the whole service the entire Service is published

Overrides:

publishState in class Service

Returns:

the service

saying

public void saying(java.lang.String text)

Say text and move mouth leds

Parameters:

text - text being said

onStartSpeaking

public void onStartSpeaking(java.lang.String text)

onEndSpeaking

public void onEndSpeaking(java.lang.String utterance)

setdelays

public void setdelays(java.lang.Integer d1,
                      java.lang.Integer d2,
                      java.lang.Integer d3)

setLanguage

public void setLanguage(java.lang.String lang)

setVoice

public void setVoice(java.lang.String voice)

startService

public void startService()

Specified by:

startService in interface ServiceInterface

Overrides:

startService in class Service

startServos

public void startServos()

startTrack

public void startTrack(java.lang.String port,
                       int CameraIndex)
                throws java.lang.Exception

Throws:

java.lang.Exception

startUltraSonic

public void startUltraSonic(java.lang.String port)
                     throws java.lang.Exception

Start the ultrasonic sensors services Start the tracking services

Parameters:

port - port

Throws:

java.lang.Exception - e

stopTrack

public void stopTrack()
               throws java.lang.Exception

Stop the tracking services

Throws:

java.lang.Exception - e

startOpenNI

public OpenNi startOpenNI()
                   throws java.lang.Exception

Throws:

java.lang.Exception

copyGesture

public boolean copyGesture(boolean b)
                    throws java.lang.Exception

Throws:

java.lang.Exception

captureGesture

public java.lang.String captureGesture()

captureGesture

public java.lang.String captureGesture(java.lang.String gestureName)

onOpenNIData

public void onOpenNIData(OpenNiData data)

getMetaData

public static ServiceType getMetaData()

This static method returns all the details of the class without it having to be constructed. It has description, categories, and dependencies definitions.

Returns:

ServiceType - returns all the data