resolved or less controversial updates (#1364)

pom.xml

@@ -162,7 +162,7 @@
 <!-- Duplicate entry for com.squareup.okhttp3-okhttp-3.9.0 skipping -->
 <!-- AzureTranslator end -->
 
-<!-- BoofCV begin -->
+<!-- BoofCv begin -->
   <dependency>
     <groupId>org.boofcv</groupId>
     <artifactId>boofcv-all</artifactId>
@@ -198,6 +198,12 @@
   </dependency>
 <!-- CsvConnector end -->
 
+<dependency>
+	<groupId>org.nanohttpd</groupId> <!-- <groupId>com.nanohttpd</groupId> for 2.1.0 and earlier -->
+	<artifactId>nanohttpd</artifactId>
+	<version>2.2.0</version>
+</dependency>
+
 <!-- Deeplearning4j begin -->
   <dependency>
     <groupId>org.bytedeco</groupId>
@@ -1602,6 +1608,34 @@
   </dependency>
 <!-- Twitter end -->
 
+<!-- Vertx begin -->
+  <dependency>
+    <groupId>io.vertx</groupId>
+    <artifactId>vertx-core</artifactId>
+    <version>4.3.3</version>
+    <scope>provided</scope>
+      <exclusions>
+        <exclusion>
+          <groupId>io.netty</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+      </exclusions>
+  </dependency>
+  <dependency>
+    <groupId>io.vertx</groupId>
+    <artifactId>vertx-web</artifactId>
+    <version>4.3.3</version>
+    <scope>provided</scope>
+      <exclusions>
+        <exclusion>
+          <groupId>io.netty</groupId>
+          <artifactId>*</artifactId>
+        </exclusion>
+      </exclusions>
+  </dependency>
+<!-- Duplicate entry for io.netty-netty-all-4.1.82.Final skipping -->
+<!-- Vertx end -->
+
 <!-- VoiceRss begin -->
 <!-- Duplicate entry for org.myrobotlab.audio-voice-effects-1.0 skipping -->
   <dependency>
@@ -1645,6 +1679,18 @@
 <!-- Duplicate entry for javax.websocket-javax.websocket-api-1.1 skipping -->
 <!-- WebSocketConnector end -->
 
+  <dependency>
+      <groupId>au.edu.federation.caliko</groupId>
+      <artifactId>caliko</artifactId>
+      <version>1.3.8</version>
+    </dependency> 
+
+        <dependency>
+      <groupId>au.edu.federation.caliko.visualisation</groupId>
+      <artifactId>caliko-visualisation</artifactId>
+      <version>1.3.8</version>
+    </dependency> 
+
 <!-- Webcam begin -->
   <dependency>
     <groupId>com.github.sarxos</groupId>
@@ -1733,13 +1779,24 @@
   </dependency>
 <!-- Xmpp end -->
 
+<dependency>
+    <groupId>dev.onvoid.webrtc</groupId>
+    <artifactId>webrtc-java</artifactId>
+    <version>0.7.0</version>
+</dependency>
+
 
   	<dependency>
 	    <groupId>org.mockito</groupId>
 	    <artifactId>mockito-core</artifactId>
 	    <version>3.12.4</version>
 	    <scope>test</scope>
 	</dependency>
+  	<dependency>
+  		<groupId>au.edu.federation.caliko.demo</groupId>
+  		<artifactId>caliko-demo</artifactId>
+  		<version>1.3.8</version>
+  	</dependency>
   </dependencies>
 
   <build>

src/main/java/org/myrobotlab/framework/interfaces/JsonSender.java

@@ -0,0 +1,12 @@
+package org.myrobotlab.framework.interfaces;
+
+public interface JsonSender {
+
+  /**
+   * Send interface which takes a json encoded Message.
+   * For schema look at org.myrobotlab.framework.Message
+   * @param jsonEncodedMessage
+   */
+  public void send(String jsonEncodedMessage);
+
+}

src/main/java/org/myrobotlab/framework/interfaces/MessageSender.java

@@ -3,7 +3,7 @@
 import org.myrobotlab.framework.Message;
 import org.myrobotlab.framework.TimeoutException;
 
-public interface MessageSender extends NameProvider {
+public interface MessageSender extends NameProvider, SimpleMessageSender {
 
   /**
    * Send invoking messages to remote location to invoke {name} instance's

src/main/java/org/myrobotlab/framework/interfaces/SimpleMessageSender.java

@@ -0,0 +1,9 @@
+package org.myrobotlab.framework.interfaces;
+
+import org.myrobotlab.framework.Message;
+
+public interface SimpleMessageSender {
+
+  public void send(Message msg);
+
+}

src/main/java/org/myrobotlab/service/FiniteStateMachine.java

@@ -17,7 +17,6 @@
 import org.myrobotlab.logging.LoggingFactory;
 import org.myrobotlab.service.config.FiniteStateMachineConfig;
 import org.myrobotlab.service.config.FiniteStateMachineConfig.Transition;
-import org.myrobotlab.service.config.ServiceConfig;
 import org.slf4j.Logger;
 
 import com.github.pnavais.machine.StateMachine;
@@ -46,8 +45,14 @@ public class FiniteStateMachine extends Service<FiniteStateMachineConfig> {
 
   protected String lastEvent = null;
 
+  @Deprecated /* is this deprecated with ServiceConfig.listeners ? */
   protected Set<String> messageListeners = new HashSet<>();
 
+  /**
+   * state history of fsm
+   */
+  protected List<String> history = new ArrayList<>();
+
   // TODO - .from("A").to("B").on(Messages.ANY)
   // TODO - .from("A").to("B").on(Messages.EMPTY)
 
@@ -58,6 +63,21 @@ public class Tuple {
     public Transition transition;
     public StateTransition stateTransition;
   }
+
+  public class StateChange {
+    public String last;
+    public String current;
+    public String event;
+    public StateChange(String last, String current, String event) {
+      this.last = last;
+      this.current = current;
+      this.event = event;
+    }
+
+    public String toString() {
+      return String.format("%s --%s--> %s", last, event, current);
+    }
+  }
 
   private static Transition toFsmTransition(StateTransition state) {
     Transition transition = new Transition();
@@ -92,6 +112,13 @@ public String getNext(String key) {
 
   public void init() {
     stateMachine.init();
+    State state = stateMachine.getCurrent();
+    if (history.size() > 100) {
+      history.remove(0);
+    }
+    if (state != null) {
+      history.add(state.getName());
+    }
   }
 
   private String makeKey(String state0, String msgType, String state1) {
@@ -167,7 +194,8 @@ public void fire(String event) {
       log.info("fired event ({}) -> ({}) moves to ({})", event, last == null ? null : last.getName(), current == null ? null : current.getName());
 
       if (last != null && !last.equals(current)) {
-        invoke("publishNewState", current.getName());
+        invoke("publishStateChange", new StateChange(last.getName(), current.getName(), event));
+        history.add(current.getName());
       }
     } catch (Exception e) {
       log.error("fire threw", e);
@@ -209,21 +237,21 @@ public List<Transition> getTransitions() {
   }
 
   /**
-   * publishes state if changed here
+   * Publishes state change (current, last and event) 
    * 
-   * @param state
+   * @param stateChange
    * @return
    */
-  public String publishNewState(String state) {
-    log.error("publishNewState {}", state);
+  public StateChange publishStateChange(StateChange stateChange) {
+    log.info("publishStateChange {}", stateChange);
     for (String listener : messageListeners) {
       ServiceInterface service = Runtime.getService(listener);
       if (service != null) {
-        org.myrobotlab.framework.Message msg = org.myrobotlab.framework.Message.createMessage(getName(), listener, CodecUtils.getCallbackTopicName(state), null);
+        org.myrobotlab.framework.Message msg = org.myrobotlab.framework.Message.createMessage(getName(), listener, CodecUtils.getCallbackTopicName(stateChange.current), null);
         service.in(msg);
       }
     }
-    return state;
+    return stateChange;
   }
 
   @Override
@@ -391,7 +419,7 @@ public void setCurrent(String state) {
       stateMachine.setCurrent(state);
       current = stateMachine.getCurrent();
       if (last != null && !last.equals(current)) {
-        invoke("publishNewState", current.getName());
+        invoke("publishStateChange", new StateChange(last.getName(), current.getName(), null));
       }
     } catch (Exception e) {
       log.error("setCurrent threw", e);

src/main/java/org/myrobotlab/service/JMonkeyEngine.java

@@ -7,8 +7,6 @@
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.nio.FloatBuffer;
-import java.nio.file.Path;
-import java.nio.file.Paths;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.Collections;
@@ -52,7 +50,6 @@
 import org.myrobotlab.net.Connection;
 import org.myrobotlab.sensor.EncoderData;
 import org.myrobotlab.sensor.EncoderListener;
-import org.myrobotlab.service.abstracts.AbstractComputerVision;
 import org.myrobotlab.service.config.JMonkeyEngineConfig;
 import org.myrobotlab.service.config.ServiceConfig;
 import org.myrobotlab.service.interfaces.Gateway;
@@ -405,10 +402,12 @@ public void attach(Attachable attachable) throws Exception {
     // this is to support future (non-Java) classes that cannot be instantiated
     // and
     // are subclassed in a proxy class with getType() overloaded for to identify
+    /**<pre> DO NOT NEED THIS UNTIL JMONKEY DISPLAYS VIDEO DATA - SLAM MAPPING
     if (service.getTypeKey().equals("org.myrobotlab.service.OpenCV")) {
       AbstractComputerVision cv = (AbstractComputerVision) service;
       subscribe(service.getName(), "publishCvData");
-    }
+    }</pre>
+     */
 
     if (service.getTypeKey().equals("org.myrobotlab.service.Servo")) {
       // non-batched - "instantaneous" move data subscription
@@ -1469,7 +1468,7 @@ public void onAnalog(String name, float keyPressed, float tpf) {
 
     // PAN -- works(ish)
     if (mouseMiddle && shiftLeft) {
-      log.info("PAN !!!!");
+      log.debug("panning");
       switch (name) {
         case "mouse-axis-x":
         case "mouse-axis-x-negative":

src/main/java/org/myrobotlab/service/OakD.java

@@ -1,10 +1,12 @@
 package org.myrobotlab.service;
 
 import org.myrobotlab.framework.Service;
+import org.myrobotlab.framework.Status;
 import org.myrobotlab.logging.Level;
 import org.myrobotlab.logging.LoggerFactory;
 import org.myrobotlab.logging.LoggingFactory;
-import org.myrobotlab.service.config.ServiceConfig;
+import org.myrobotlab.process.GitHub;
+import org.myrobotlab.service.config.OakDConfig;
 import org.slf4j.Logger;
 /**
  * 
@@ -14,16 +16,50 @@
  * @author GroG
  *
  */
-public class OakD extends Service<ServiceConfig> {
+public class OakD extends Service<OakDConfig> {
 
   private static final long serialVersionUID = 1L;
 
   public final static Logger log = LoggerFactory.getLogger(OakD.class);
 
+  private transient Py4j py4j = null;
+  private transient Git git = null;
+
   public OakD(String n, String id) {
     super(n, id);
   }
 
+  public void startService() {
+    super.startService();
+
+    py4j = (Py4j)startPeer("py4j");
+    git = (Git)startPeer("git");
+
+    if (config.py4jInstall) {
+      installDepthAi();
+    }
+
+  }
+
+  /**
+   * starting install of depthapi
+   */
+  public void publishInstallStart() {    
+  }
+
+  public Status publishInstallFinish() {
+    return Status.error("depth ai install was not successful");
+  }
+
+  /**
+   * For depthai we need to clone its repo and install requirements
+   * 
+   */
+  public void installDepthAi() {
+
+    //git.clone("./", config.depthaiCloneUrl)
+    py4j.exec("");
+  }
 
   public static void main(String[] args) {
     try {

src/main/java/org/myrobotlab/service/ProgramAB.java

@@ -792,7 +792,7 @@ public String addBotPath(String path) {
 
       broadcastState();
     } else {
-      error("invalid bot path - a bot must be a directory with a subdirectory named \"aiml\"");
+      error("invalid bot path %s - a bot must be a directory with a subdirectory named \"aiml\"", path);
       return null;
     }
     return path;