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    • com.neuronrobotics.bowlerstudio.BowlerKernel Maven / Gradle / Ivy

    package com.neuronrobotics.bowlerstudio;

import java.io.BufferedReader;
import java.io.BufferedWriter;
import java.io.File;
import java.io.FileNotFoundException;
import java.io.FileOutputStream;
import java.io.FileReader;
import java.io.FileWriter;
import java.io.IOException;
import java.io.OutputStreamWriter;
import java.io.PrintWriter;
import java.util.ArrayList;
import java.util.LinkedList;
import java.util.List;

//import org.springframework.boot.SpringApplication;
//import org.springframework.boot.autoconfigure.EnableAutoConfiguration;
//import org.springframework.context.annotation.ComponentScan;
//import org.springframework.context.annotation.Configuration;

import jline.ConsoleReader;
import jline.History;
import jline.Terminal;

import com.neuronrobotics.bowlerstudio.scripting.ScriptingEngine;
import com.neuronrobotics.imageprovider.OpenCVJNILoader;
import com.sun.speech.freetts.ProcessException;
import com.sun.speech.freetts.VoiceManager;
import com.sun.speech.freetts.en.us.FeatureProcessors.WordNumSyls;
import eu.mihosoft.vrl.v3d.*;
public class BowlerKernel {

	private static final String CSG = null;
	private static File historyFile= new File(ScriptingEngine.getWorkspace().getAbsolutePath()+"/bowler.history");
	static{
		historyFile= new File(ScriptingEngine.getWorkspace().getAbsolutePath()+"/bowler.history");
		ArrayList history=new ArrayList<>();
		if(!historyFile.exists()){
			try {
				historyFile.createNewFile();
			} catch (IOException e) {
				// TODO Auto-generated catch block
				e.printStackTrace();
			}
			history.add("println SDKBuildInfo.getVersion()");
			history.add("for(int i=0;i<1000000;i++) { println dyio.getValue(0) }");
			history.add("dyio.setValue(0,128)");
			history.add("println dyio.getValue(0)");
			history.add("ScriptingEngine.inlineGistScriptRun(\"d4312a0787456ec27a2a\", \"helloWorld.groovy\" , null)");
			history.add("DeviceManager.addConnection(new DyIO(ConnectionDialog.promptConnection()),\"dyio\")");
			history.add("DeviceManager.addConnection(new DyIO(new SerialConnection(\"/dev/DyIO0\")),\"dyio\")");
			history.add("shellType Clojure #Switches shell to Clojure");
			history.add("shellType Jython #Switches shell to Python");
			history.add("shellType Groovy #Switches shell to Groovy/Java");

			history.add("println \"Hello world!\"");
			
			
			writeHistory(history);
		}
	}
	private static void fail() {
		System.err
				.println("Usage: \r\njava -jar BowlerScriptKernel.jar -s  ..  # This will load one script after the next ");
		System.err
				.println("java -jar BowlerScriptKernel.jar -p  ..  # This will load one script then take the list of objects returned and pss them to the next script as its 'args' variable ");
		System.err
				.println("java -jar BowlerScriptKernel.jar -r  (Optional)(-s or -p) ..  # This will start a shell in the requested langauge and run the files provided. ");
		
		System.exit(1);
	}

	/**
	 * @param args
	 *            the command line arguments
	 * @throws Exception
	 */
	@SuppressWarnings("unchecked")
	public static void main(String[] args) throws Exception {

		if (args.length == 0) {
			fail();
		}
		OpenCVJNILoader.load(); // Loads the OpenCV JNI (java native interface)
//		File servo = ScriptingEngine.fileFromGit("https://github.com/NeuronRobotics/BowlerStudioVitamins.git",
//							"BowlerStudioVitamins/stl/servo/smallservo.stl");
//		
//		ArrayList  cad = (ArrayList )ScriptingEngine.inlineGistScriptRun("4814b39ee72e9f590757", "javaCad.groovy" , null);
//		System.out.println(servo.exists()+" exists: "+servo);
		
		boolean startLoadingScripts = false;
		Object ret = null;
		for (String s : args) {
			if (startLoadingScripts) {
				try {

					ret = ScriptingEngine
							.inlineFileScriptRun(new File(s), null);
				} catch (Error e) {
					e.printStackTrace();
					fail();
				}
			}
			if (s.contains("script") || s.contains("-s")) {
				startLoadingScripts = true;
			}
		}
		startLoadingScripts = false;

		for (String s : args) {

			if (startLoadingScripts) {
				try {
					ret = ScriptingEngine.inlineFileScriptRun(new File(s),
							(ArrayList) ret);
				} catch (Error e) {
					e.printStackTrace();
					fail();
				}
			}
			if (s.contains("pipe") || s.contains("-p")) {
				startLoadingScripts = true;
			}
		}
		boolean runShell = false;
		String groovy = "Groovy";
		String shellTypeStorage =groovy;
		for (String s : args) {

			if (runShell) {
				try {
					shellTypeStorage = s;
				} catch (Exception e) {
					shellTypeStorage = groovy;
				}
				break;
			}
			if (s.contains("repl") || s.contains("-r")) {
				runShell = true;
			}
		}
		
		System.out.println("Starting Bowler REPL in langauge: "
				+ shellTypeStorage);
		// sample from
		// http://jline.sourceforge.net/testapidocs/src-html/jline/example/Example.html

		if (!Terminal.getTerminal().isSupported()) {
			System.out.println("Terminal not supported "
					+ Terminal.getTerminal());
		}
		//Terminal.getTerminal().initializeTerminal();
		
		ConsoleReader reader = new ConsoleReader();
		reader.addTriggeredAction(Terminal.CTRL_C, e -> {
			System.exit(0);
		});
		

		if(!historyFile.exists()){
			historyFile.createNewFile();
			reader.getHistory().addToHistory("println SDKBuildInfo.getVersion()");
			reader.getHistory().addToHistory("for(int i=0;i<100;i++) { println dyio.getValue(0) }");
			reader.getHistory().addToHistory("dyio.setValue(0,128)");
			reader.getHistory().addToHistory("println dyio.getValue(0)");
			reader.getHistory().addToHistory("ScriptingEngine.inlineGistScriptRun(\"d4312a0787456ec27a2a\", \"helloWorld.groovy\" , null)");
			reader.getHistory().addToHistory("DeviceManager.addConnection(new DyIO(ConnectionDialog.promptConnection()),\"dyio\")");
			reader.getHistory().addToHistory("DeviceManager.addConnection(new DyIO(new SerialConnection(\"/dev/DyIO0\")),\"dyio\")");
			reader.getHistory().addToHistory("BowlerKernel.speak(\"Text to speech works like this\")");
			reader.getHistory().addToHistory("println \"Hello world!\"");
			writeHistory(reader.getHistory().getHistoryList());
		}else{
			List history = loadHistory();
			for( String h:history){
				reader.getHistory().addToHistory(h);
			}
		}
		reader.setBellEnabled(false);
		reader.setDebug(new PrintWriter(new FileWriter("writer.debug", true)));
		
		Runtime.getRuntime().addShutdownHook(new Thread() {
			@Override
			public void run() {
				
				writeHistory(reader.getHistory().getHistoryList());
			}
		});
		
		//SpringApplication.run(SpringBowlerUI.class, new String[]{});
		
		String line;		
		try {
			while ((line = reader.readLine("Bowler " + shellTypeStorage
					+ "> ")) != null) {
				if (line.equalsIgnoreCase("quit")
						|| line.equalsIgnoreCase("exit")) {
					break;
				}
				if (line.equalsIgnoreCase("history")
						|| line.equalsIgnoreCase("h")) {
					List h = reader.getHistory().getHistoryList();
					for(String s:h){
						System.out.println(s);
					}
					continue;
				}
				if(line.startsWith("shellType")){
					try {
						shellTypeStorage = line.split(" ")[1];
					} catch (Exception e) {
						shellTypeStorage = groovy;
					}
					continue;
				}
				try {
					ret =ScriptingEngine.inlineScriptStringRun(line, null,
							shellTypeStorage);
					if(ret !=null)
						System.out.println(ret);
				}catch (Error e) {
					e.printStackTrace();
				}catch (Exception e) {
					e.printStackTrace();
				}
			}
		} catch (Exception e) {
			e.printStackTrace();
		} 
		
	}
	
	public static ArrayList loadHistory() throws IOException{
		ArrayList history=new ArrayList<>();
		// Construct BufferedReader from FileReader
		BufferedReader br = new BufferedReader(new FileReader(historyFile));
	 
		String line = null;
		while ((line = br.readLine()) != null) {
			history.add(line);
		}
		br.close();
		return history;
	}
	
	public static void writeHistory(List history){
		System.out.println("Saving history");
		FileOutputStream fos;
		try {
			fos = new FileOutputStream(historyFile);
			BufferedWriter bw = new BufferedWriter(new OutputStreamWriter(fos));
			for(String s:history){
				bw.write(s);
				bw.newLine();
			}
		 
			bw.close();
		} catch (FileNotFoundException e) {
			// TODO Auto-generated catch block
			e.printStackTrace();
		} catch (IOException e) {
			// TODO Auto-generated catch block
			e.printStackTrace();
		}
	 

	}
	public static int speak(String msg){
		
		return speak( msg, 175.0, 120.0, 41.0, 1.0, 1.0);
	}

	@SuppressWarnings("unused")
	public static int speak(String msg, Double rate, Double pitch, Double range, Double shift, Double volume) {
		System.setProperty("freetts.voices", "com.sun.speech.freetts.en.us.cmu_us_kal.KevinVoiceDirectory");
		VoiceManager voiceManager = VoiceManager.getInstance();
		com.sun.speech.freetts.Voice voice = voiceManager.getVoice("kevin16");

		System.out.println("Rate " + rate);
		System.out.println("Pitch hertz " + pitch);
		System.out.println("PitchRange " + range);
		System.out.println("PitchShift " + shift);
		System.out.println("Volume " + volume);
		if (voice != null) {
			voice.setRate(rate.floatValue());
			voice.setPitch(pitch.floatValue());
			voice.setPitchRange(range.floatValue());
			voice.setPitchShift(shift.floatValue());
			voice.setVolume(volume.floatValue());
			voice.allocate();
			voice.speak(msg);
			voice.deallocate();
		} else {
			System.out.println("All voices available:");
			com.sun.speech.freetts.Voice[] voices = voiceManager.getVoices();
			for (int i = 0; i < voices.length; i++) {
				System.out.println("    " + voices[i].getName() + " (" + voices[i].getDomain() + " domain)");
			}
		}

		// WordNumSyls feature =
		// (WordNumSyls)voice.getFeatureProcessor("word_numsyls");
		// if(feature!=null)
		// try {
		//
		// System.out.println("Syllables# = "+feature.process(null));
		// } catch (ProcessException e) {
		// // TODO Auto-generated catch block
		// e.printStackTrace();
		// }
		//
		return 0;
	}

}
    
    
    
    

    




    
    
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