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[75] updates
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@mirage22
mirage22 committed Dec 14, 2024
1 parent a8ed463 commit 28143b7
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Showing 11 changed files with 156 additions and 168 deletions.
7 changes: 4 additions & 3 deletions robo4j-core/src/test/java/com/robo4j/net/MessageServerTest.java
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@
public class MessageServerTest {
private static final Logger LOGGER = LoggerFactory.getLogger(MessageServerTest.class);
private static final int TIMEOUT_SEC = 30;
private static final String CONST_MYUUID = "myuuid";
private static final String CONST_MY_UUID = "myuuid";
private static final String PROPERTY_SERVER_NAME = "ServerName";
private static final int SERVER_LISTEN_DELAY_MILLIS = 250;
private static final String LOCALHOST_VALUE = "localhost";
Expand All @@ -53,6 +53,7 @@ public class MessageServerTest {

@Test
void clientServerMessagePassingTest() throws Exception {

final var messageCache = new ArrayList<>();
final var messagesLatch = new CountDownLatch(3);

Expand Down Expand Up @@ -85,7 +86,7 @@ void clientServerMessagePassingTest() throws Exception {
}

var messageReceiverConfig = ConfigurationFactory.createEmptyConfiguration();
var messageReceiver = new MessageClient(messageServer.getListeningURI(), CONST_MYUUID, messageReceiverConfig);
var messageReceiver = new MessageClient(messageServer.getListeningURI(), CONST_MY_UUID, messageReceiverConfig);
if (exception != null) {
throw exception;
}
Expand Down Expand Up @@ -147,7 +148,7 @@ void testMessageTypes() throws Exception {
}

Configuration clientConfig = ConfigurationFactory.createEmptyConfiguration();
MessageClient client = new MessageClient(messageServer.getListeningURI(), CONST_MYUUID, clientConfig);
MessageClient client = new MessageClient(messageServer.getListeningURI(), CONST_MY_UUID, clientConfig);
if (exception != null) {
throw exception;
}
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7 changes: 5 additions & 2 deletions robo4j-core/src/test/java/com/robo4j/net/RemoteContextTests.java
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,9 @@ class RemoteContextTests {

@Test
void discoveryOfDiscoveryEnabledRoboContextTest() throws RoboBuilderException, IOException {
var expectedMetaDataName = "Caprica";
var expectedMetaDataClass = "Cylon";

RoboBuilder builder = new RoboBuilder(SystemUtil.getInputStreamByResourceName("testDiscoverableSystem.xml"));
RoboContext ctx = builder.build();
ctx.start();
Expand All @@ -75,8 +78,8 @@ void discoveryOfDiscoveryEnabledRoboContextTest() throws RoboBuilderException, I
RoboContextDescriptor descriptor = service.getDescriptor("6");

assertFalse(service.getDiscoveredContexts().isEmpty());
assertEquals(descriptor.getMetadata().get("name"), "Caprica");
assertEquals(descriptor.getMetadata().get("class"), "Cylon");
assertEquals(expectedMetaDataName, descriptor.getMetadata().get("name"));
assertEquals(expectedMetaDataClass, descriptor.getMetadata().get("class"));
ctx.shutdown();
}

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100 changes: 52 additions & 48 deletions robo4j-hw-rpi/src/main/java/com/robo4j/hw/rpi/gps/Location.java
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Expand Up @@ -18,63 +18,67 @@

/**
* A 2D location on earth.
*
*
* @author Marcus Hirt (@hirt)
* @author Miro Wengner (@miragemiko)
*/
public final class Location {
private static final String STR_DEGREE = "\u00B0";
private static final String STR_MINUTE = "'"; // "\u2032";
private static final String STR_SECOND = "\""; // \u2033";
private static final String STR_DEGREE = "\u00B0";
private static final String STR_MINUTE = "'"; // "\u2032";
private static final String STR_SECOND = "\""; // \u2033";
public static final int DEGREE_MINS = 60;
public static final int DEGREE_SECONDS = 3600;

private final float latitude;
private final float longitude;

private final float latitude;
private final float longitude;
/**
* Creates a new location.
*
* @param latitude the latitude in decimal degrees.
* @param longitude the longitude in decimal degrees.
*/
public Location(float latitude, float longitude) {
this.latitude = latitude;
this.longitude = longitude;
}

/**
* Creates a new location.
*
* @param latitude
* the latitude in decimal degrees.
* @param longitude
* the longitude in decimal degrees.
*/
public Location(float latitude, float longitude) {
this.latitude = latitude;
this.longitude = longitude;
}
/**
* @return the decimal degree for the latitude.
*/
public float getLatitude() {
return latitude;
}

/**
* @return the decimal degree for the latitude.
*/
public float getLatitude() {
return latitude;
}
/**
* @return the decimal degree for the longitude.
*/
public float getLongitude() {
return longitude;
}

/**
* @return the decimal degree for the longitude.
*/
public float getLongitude() {
return longitude;
}
/**
* Returns the coordinates as a String in degrees, minutes and seconds format.
*
* @return the coordinates as a String in degrees, minutes and seconds format.
*/
public String asDMS() {
return String.format("%s%s %s%s", toDMS(latitude), latitude > 0 ? "N" : "S", toDMS(longitude), longitude > 0 ? "E" : "W");
}

/**
* Returns the coordinates as a String in degrees, minutes and seconds format.
*
* @return the coordinates as a String in degrees, minutes and seconds format.
*/
public String asDMS() {
return String.format("%s%s %s%s", toDMS(latitude), latitude > 0 ? "N" : "S", toDMS(longitude), longitude > 0 ? "E" : "W");
}
private Object toDMS(float coordinateInDegree) {
int degreesIntAbs = Math.abs((int) coordinateInDegree);
int minute = convertDegreesByConversionType(degreesIntAbs, DEGREE_MINS);
int second = convertDegreesByConversionType(degreesIntAbs, DEGREE_SECONDS);
return String.format("%d%s%d%s%d%s", degreesIntAbs, STR_DEGREE, minute, STR_MINUTE, second, STR_SECOND);
}

private Object toDMS(float coordinate) {
int deg = Math.abs((int) coordinate);
int minute = Math.abs((int) (coordinate * 60) % 60);
int second = Math.abs((int) (coordinate * 3600) % 60);
return String.format("%d%s%d%s%d%s", deg, STR_DEGREE, minute, STR_MINUTE, second, STR_SECOND);
}
@Override
public String toString() {
return asDMS();
}

@Override
public String toString() {
return asDMS();
}
private int convertDegreesByConversionType(int degree, int multiplier) {
return (degree * multiplier) % DEGREE_MINS;
}
}
45 changes: 17 additions & 28 deletions robo4j-hw-rpi/src/main/java/com/robo4j/hw/rpi/i2c/adafruitbackpack/AbstractBackpack.java
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Original file line number Diff line number Diff line change
Expand Up @@ -81,28 +81,24 @@ short intToShort(int value) {
*/
void setColorByMatrixToBuffer(short x, short y, BiColor color) {
switch (color) {
case RED:
case RED -> {
// Turn on red LED.
buffer[y] |= _BV(intToShort(x + 8));
// Turn off green LED.
buffer[y] &= (short) ~_BV(x);
break;
case YELLOW:
}
case YELLOW -> {
// Turn on green and red LED.
buffer[y] |= (short) (_BV(intToShort(x + 8)) | _BV(x));
break;
case GREEN:
}
case GREEN -> {
// Turn on green LED.
buffer[y] |= _BV(x);
// Turn off red LED.
buffer[y] &= (short) ~_BV(intToShort(x + 8));
break;
case OFF:
buffer[y] &= (short) (~_BV(x) & ~_BV(intToShort(x + 8)));
break;
default:
LOGGER.warn("setColorByMatrixToBuffer: {}", color);
break;
}
case OFF -> buffer[y] &= (short) (~_BV(x) & ~_BV(intToShort(x + 8)));
default -> LOGGER.warn("setColorByMatrixToBuffer: {}", color);
}
}

Expand Down Expand Up @@ -134,36 +130,31 @@ void setValue(int n, short v, boolean dp) {
*/
void setColorToBarBuffer(short a, short c, BiColor color) {
switch (color) {
case RED:
case RED -> {
// Turn on red LED.
buffer[c] |= _BV(a);
// Turn off green LED.
buffer[c] &= (short) ~_BV(intToShort(a + 8));
break;
case YELLOW:
}
case YELLOW -> {
// Turn on red and green LED.
buffer[c] |= (short) (_BV(a) | _BV(intToShort(a + 8)));
break;
case GREEN:
}
case GREEN -> {
// Turn on green LED.
buffer[c] |= _BV(intToShort(a + 8));
// Turn off red LED.
buffer[c] &= (short) ~_BV(a);
break;
case OFF:
}
case OFF -> {
// Turn off red and green LED.
buffer[c] &= (short) (~_BV(a) & ~_BV(intToShort(a + 8)));
break;
default:
LOGGER.warn("setColorToBarBuffer: {}", color);
break;
}
default -> LOGGER.warn("setColorToBarBuffer: {}", color);
}
}

private void initiate(int brightness) throws IOException {
// i2CConfig.write((byte) (OSCILLATOR_TURN_ON)); // Turn on oscilator
// i2CConfig.write(blinkRate(HT16K33_BLINK_OFF));
// i2CConfig.write(setBrightness(brightness));
writeByte((byte) (OSCILLATOR_TURN_ON)); // Turn on oscilator
writeByte(blinkRate(HT16K33_BLINK_OFF));
writeByte(setBrightness(brightness));
Expand All @@ -172,8 +163,6 @@ private void initiate(int brightness) throws IOException {
private void writeDisplay() throws IOException {
int address = 0;
for (short value : buffer) {
// i2CConfig.write(address++, (byte) (buffer[i] & 0xFF));
// i2CConfig.write(address++, (byte) (buffer[i] >> 8));
writeByte(address++, (byte) (value & 0xFF));
writeByte(address++, (byte) (value >> 8));
}
Expand Down
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