Issue #1631: revise structure and toolboxes

- refactor workers and validators - revise toolboxes -- add new blocks to calliopeV3 --- logo touch sensor --- play file action --- play expression action --- set volume action --- sound toggle action --- rgb led - implement external sensors - implement external actuators
OpenRoberta · Jun 17, 2024 · 4772193 · 4772193
1 parent 49a4539
commit 4772193
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Showing 169 changed files with 6,592 additions and 1,267 deletions.
diff --git a/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/factory/RobotFactory.java b/OpenRobertaRobot/src/main/java/de/fhg/iais/roberta/factory/RobotFactory.java
@@ -106,6 +106,10 @@ public boolean hasMarkerSim() {
         return p != null && p.equals("true");
     }
 
+    public final String getPluginSim() {
+        return this.pluginProperties.getStringProperty("robot.pluginSim");
+    }
+
     public final String nnProperty() {
         String p = this.pluginProperties.getStringProperty("robot.nn");
         return p == null ? "never" : p;

diff --git a/...ertaServer/src/main/java/de/fhg/iais/roberta/generated/restEntities/SetRobotResponse.java b/...ertaServer/src/main/java/de/fhg/iais/roberta/generated/restEntities/SetRobotResponse.java
@@ -38,6 +38,8 @@ public class SetRobotResponse extends BaseResponse {
     protected String sourceCodeFileExtension;
     protected String binaryFileExtension;
     protected String firmwareDefault;
+    protected String pluginSim;
+    protected boolean pluginSimDefined;
 
     /**
      * the response for the /setRobot REST request
@@ -85,6 +87,7 @@ public static SetRobotResponse makeFromProperties(
         boolean sim,
         boolean multipleSim,
         boolean markerSim,
+        String pluginSim,
         boolean nn,
         JSONArray nnActivations,
         boolean webotsSim,
@@ -120,6 +123,7 @@ public static SetRobotResponse makeFromProperties(
         entity.setSim(sim);
         entity.setMultipleSim(multipleSim);
         entity.setMarkerSim(markerSim);
+        entity.setPluginSim(pluginSim);
         entity.setNn(nn);
         entity.setNnActivations(nnActivations);
         entity.setWebotsSim(webotsSim);
@@ -426,6 +430,29 @@ public boolean getMarkerSim() {
         return this.markerSim;
     }
 
+    /**
+     * GET pluginSim. Object must be immutable. Never return null or an undefined/default value.
+     */
+    public String getPluginSim() {
+        if ( !this.immutable ) {
+            throw new RuntimeException("no pluginSim from an object under construction: " + toString());
+        }
+        return this.pluginSim;
+    }
+
+    /**
+     * SET pluginSim. Object must be mutable.
+     */
+    public SetRobotResponse setPluginSim(String pluginSim) {
+        if ( this.immutable ) {
+            throw new RuntimeException("pluginSim assigned to an immutable object: " + toString());
+        }
+        this.pluginSim = pluginSim;
+        this.pluginSimDefined = true;
+        return this;
+    }
+
+
     /**
      * SET markerSim. Object must be mutable.
      */
@@ -768,6 +795,7 @@ public JSONObject toJson() {
             jsonO.put("sim", this.sim);
             jsonO.put("multipleSim", this.multipleSim);
             jsonO.put("markerSim", this.markerSim);
+            jsonO.put("pluginSim", this.pluginSim);
             jsonO.put("nn", this.nn);
             jsonO.put("nnActivations", this.nnActivations);
             jsonO.put("webotsSim", this.webotsSim);

diff --git a/...src/main/java/de/fhg/iais/roberta/javaServer/restServices/all/controller/ClientAdmin.java b/...src/main/java/de/fhg/iais/roberta/javaServer/restServices/all/controller/ClientAdmin.java
@@ -202,6 +202,7 @@ public Response setRobot(FullRestRequest fullRequest) throws Exception //
                     response.setSim(robotFactory.hasSim());
                     response.setMultipleSim(robotFactory.hasMultipleSim());
                     response.setMarkerSim(robotFactory.hasMarkerSim());
+                    response.setPluginSim(robotFactory.getPluginSim());
                     response.setNn(true); // TODO: temporary fix
                     response.setNnActivations(robotFactory.getNNActivations());
                     response.setWebotsSim(robotFactory.hasWebotsSim());

diff --git a/...sts/_expected/robotSpecific/collectorResults/calliope2016/actor_dualmotor_without_pin.txt b/...sts/_expected/robotSpecific/collectorResults/calliope2016/actor_dualmotor_without_pin.txt
@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [, DIFFERENTIALDRIVE], UsedActor [m1, MOTOR], UsedActor [m2, MOTOR], UsedActor [S, SERVOMOTOR]]
 Methods: 
-[]
+[SET_BOTH_MOTORS, SET_MOTOR]
diff --git a/...tSpecific/collectorResults/calliope2016/actors_singlemotor_and_motionkit_without_pins.txt b/...tSpecific/collectorResults/calliope2016/actors_singlemotor_and_motionkit_without_pins.txt
@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [m1, MOTOR], UsedActor [S, SERVOMOTOR], UsedActor [C17, MOTIONKIT], UsedActor [C16, MOTIONKIT], UsedActor [, MOTIONKIT]]
 Methods: 
-[]
+[SET_MOTOR]
diff --git a/...s/crossCompilerTests/_expected/robotSpecific/collectorResults/calliope2016/motor_dual.txt b/...s/crossCompilerTests/_expected/robotSpecific/collectorResults/calliope2016/motor_dual.txt
@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [, DIFFERENTIALDRIVE], UsedActor [MR, MOTOR], UsedActor [ML, MOTOR]]
 Methods: 
-[]
+[SET_BOTH_MOTORS]
diff --git a/...crossCompilerTests/_expected/robotSpecific/collectorResults/calliope2016/motor_single.txt b/...crossCompilerTests/_expected/robotSpecific/collectorResults/calliope2016/motor_single.txt
@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [M, MOTOR]]
 Methods: 
-[]
+[SET_MOTOR]
diff --git a/...sts/_expected/robotSpecific/collectorResults/calliope2017/actor_dualmotor_without_pin.txt b/...sts/_expected/robotSpecific/collectorResults/calliope2017/actor_dualmotor_without_pin.txt
@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [, DIFFERENTIALDRIVE], UsedActor [m1, MOTOR], UsedActor [m2, MOTOR], UsedActor [S, SERVOMOTOR]]
 Methods: 
-[]
+[SET_BOTH_MOTORS, SET_MOTOR]
diff --git a/...tSpecific/collectorResults/calliope2017/actors_singlemotor_and_motionkit_without_pins.txt b/...tSpecific/collectorResults/calliope2017/actors_singlemotor_and_motionkit_without_pins.txt
@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [m1, MOTOR], UsedActor [S, SERVOMOTOR], UsedActor [C17, MOTIONKIT], UsedActor [C16, MOTIONKIT], UsedActor [, MOTIONKIT]]
 Methods: 
-[]
+[SET_MOTOR]
diff --git a/...s/crossCompilerTests/_expected/robotSpecific/collectorResults/calliope2017/motor_dual.txt b/...s/crossCompilerTests/_expected/robotSpecific/collectorResults/calliope2017/motor_dual.txt
@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [, DIFFERENTIALDRIVE], UsedActor [MR, MOTOR], UsedActor [ML, MOTOR]]
 Methods: 
-[]
+[SET_BOTH_MOTORS]
diff --git a/...crossCompilerTests/_expected/robotSpecific/collectorResults/calliope2017/motor_single.txt b/...crossCompilerTests/_expected/robotSpecific/collectorResults/calliope2017/motor_single.txt
@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [M, MOTOR]]
 Methods: 
-[]
+[SET_MOTOR]
diff --git a/...xpected/robotSpecific/collectorResults/calliope2017NoBlue/actor_dualmotor_without_pin.txt b/...xpected/robotSpecific/collectorResults/calliope2017NoBlue/actor_dualmotor_without_pin.txt
@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [, DIFFERENTIALDRIVE], UsedActor [m1, MOTOR], UsedActor [m2, MOTOR], UsedActor [S, SERVOMOTOR]]
 Methods: 
-[]
+[SET_BOTH_MOTORS, SET_MOTOR]
diff --git a/...fic/collectorResults/calliope2017NoBlue/actors_singlemotor_and_motionkit_without_pins.txt b/...fic/collectorResults/calliope2017NoBlue/actors_singlemotor_and_motionkit_without_pins.txt
@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [m1, MOTOR], UsedActor [S, SERVOMOTOR], UsedActor [C17, MOTIONKIT], UsedActor [C16, MOTIONKIT], UsedActor [, MOTIONKIT]]
 Methods: 
-[]
+[SET_MOTOR]
diff --git a/...sCompilerTests/_expected/robotSpecific/collectorResults/calliope2017NoBlue/motor_dual.txt b/...sCompilerTests/_expected/robotSpecific/collectorResults/calliope2017NoBlue/motor_dual.txt
@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [, DIFFERENTIALDRIVE], UsedActor [MR, MOTOR], UsedActor [ML, MOTOR]]
 Methods: 
-[]
+[SET_BOTH_MOTORS]
diff --git a/...ompilerTests/_expected/robotSpecific/collectorResults/calliope2017NoBlue/motor_single.txt b/...ompilerTests/_expected/robotSpecific/collectorResults/calliope2017NoBlue/motor_single.txt
@@ -3,4 +3,4 @@ Sensors:
 Actors: 
 [UsedActor [M, MOTOR]]
 Methods: 
-[]
+[SET_MOTOR]
diff --git a/...Tests/_expected/robotSpecific/targetLanguage/calliope2016/actor_dualmotor_without_pin.cpp b/...Tests/_expected/robotSpecific/targetLanguage/calliope2016/actor_dualmotor_without_pin.cpp
@@ -13,6 +13,7 @@ void ____move();
 void ____action();
 
 
+
 double ___n;
 
 int main()

diff --git a/...botSpecific/targetLanguage/calliope2016/actors_singlemotor_and_motionkit_without_pins.cpp b/...botSpecific/targetLanguage/calliope2016/actors_singlemotor_and_motionkit_without_pins.cpp
@@ -10,6 +10,7 @@ MicroBit _uBit;
 void ____move();
 
 
+
 double ___n;
 
 int main()
@@ -55,3 +56,4 @@ void ____move() {
     _uBit.io.P2.setServoValue(0);
     _uBit.io.P8.setAnalogValue(0);
 }
+
diff --git a/...ces/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2016/motor_dual.cpp b/...ces/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2016/motor_dual.cpp
@@ -10,6 +10,7 @@ MicroBit _uBit;
 
 
 
+
 int main()
 {
     _uBit.init();
@@ -45,3 +46,4 @@ int main()
     _uBit.soundmotor.motorBOff();
     release_fiber();
 }
+
diff --git a/...s/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2016/motor_single.cpp b/...s/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2016/motor_single.cpp
@@ -8,6 +8,7 @@
 MicroBit _uBit;
 
 
+
 double ___item;
 
 int main()
@@ -33,3 +34,4 @@ int main()
     _uBit.sleep(500);
     release_fiber();
 }
+
diff --git a/...Tests/_expected/robotSpecific/targetLanguage/calliope2017/actor_dualmotor_without_pin.cpp b/...Tests/_expected/robotSpecific/targetLanguage/calliope2017/actor_dualmotor_without_pin.cpp
@@ -13,6 +13,7 @@ void ____move();
 void ____action();
 
 
+
 double ___n;
 
 int main()
@@ -64,3 +65,4 @@ void ____move() {
 void ____action() {
     ____move();
 }
+
diff --git a/...botSpecific/targetLanguage/calliope2017/actors_singlemotor_and_motionkit_without_pins.cpp b/...botSpecific/targetLanguage/calliope2017/actors_singlemotor_and_motionkit_without_pins.cpp
@@ -10,6 +10,7 @@ MicroBit _uBit;
 void ____move();
 
 
+
 double ___n;
 
 int main()
@@ -55,3 +56,4 @@ void ____move() {
     _uBit.io.P2.setServoValue(0);
     _uBit.io.P8.setAnalogValue(0);
 }
+
diff --git a/...ces/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2017/motor_dual.cpp b/...ces/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2017/motor_dual.cpp
@@ -10,6 +10,7 @@ MicroBit _uBit;
 
 
 
+
 int main()
 {
     _uBit.init();
@@ -45,3 +46,4 @@ int main()
     _uBit.soundmotor.motorBOff();
     release_fiber();
 }
+
diff --git a/...s/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2017/motor_single.cpp b/...s/crossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2017/motor_single.cpp
@@ -8,6 +8,7 @@
 MicroBit _uBit;
 
 
+
 double ___item;
 
 int main()
@@ -33,3 +34,4 @@ int main()
     _uBit.sleep(500);
     release_fiber();
 }
+
diff --git a/..._expected/robotSpecific/targetLanguage/calliope2017NoBlue/actor_dualmotor_without_pin.cpp b/..._expected/robotSpecific/targetLanguage/calliope2017NoBlue/actor_dualmotor_without_pin.cpp
@@ -13,6 +13,7 @@ void ____move();
 void ____action();
 
 
+
 double ___n;
 
 int main()
@@ -64,3 +65,4 @@ void ____move() {
 void ____action() {
     ____move();
 }
+
diff --git a/...cific/targetLanguage/calliope2017NoBlue/actors_singlemotor_and_motionkit_without_pins.cpp b/...cific/targetLanguage/calliope2017NoBlue/actors_singlemotor_and_motionkit_without_pins.cpp
@@ -10,6 +10,7 @@ MicroBit _uBit;
 void ____move();
 
 
+
 double ___n;
 
 int main()
@@ -55,3 +56,4 @@ void ____move() {
     _uBit.io.P2.setServoValue(0);
     _uBit.io.P8.setAnalogValue(0);
 }
+
diff --git a/...ossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2017NoBlue/motor_dual.cpp b/...ossCompilerTests/_expected/robotSpecific/targetLanguage/calliope2017NoBlue/motor_dual.cpp
@@ -10,6 +10,7 @@ MicroBit _uBit;
 
 
 
+
 int main()
 {
     _uBit.init();
@@ -45,3 +46,4 @@ int main()
     _uBit.soundmotor.motorBOff();
     release_fiber();
 }
+
diff --git a/...sCompilerTests/_expected/robotSpecific/targetLanguage/calliope2017NoBlue/motor_single.cpp b/...sCompilerTests/_expected/robotSpecific/targetLanguage/calliope2017NoBlue/motor_single.cpp
@@ -8,6 +8,7 @@
 MicroBit _uBit;
 
 
+
 double ___item;
 
 int main()
@@ -33,3 +34,4 @@ int main()
     _uBit.sleep(500);
     release_fiber();
 }
+
diff --git a/...sources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensor.py b/...sources/crossCompilerTests/_expected/robotSpecific/targetLanguage/spikePybricks/sensor.py
@@ -57,6 +57,7 @@ def hsv2rgb(color):
     x = c * (1 - abs(((h/60.0) % 2) - 1))
     m = v - c
 
+    rgb = (0, 0, 0)
     if 0.0 <= h < 60:
         rgb = (c, x, 0)
     elif 0.0 <= h < 120:
Original file line number	Diff line number	Diff line change
Expand Up		@@ -13,6 +13,7 @@ void ____move();
		void ____action();



		double ___n;

		int main()
Expand Down