@Override protected synchronized JointGroup create(Map<String, Object> dependencies) { JointGroup group = super.create(dependencies); if(group == null){ return null; } Robot robot = (Robot)dependencies.get(theRobot); setRobot(group, robot); return group; }
@Override protected void handleChange(String name, Object dependency, Map<String, Object> availableDependencies) { super.handleChange(name, dependency, availableDependencies); if(myService != null && theRobot.equals(name)){ setRobot(myService, (Robot)dependency); } }
private static ServiceLifecycleProvider getBindingManagerStreamLifecycle( Robot.Id robotId, String speechServiceId, String configFileId){ ConfiguredServiceParams< VisemeBindingManager, VisemeBindingManagerConfig, InputStream> params = new ConfiguredServiceParams( VisemeBindingManager.class, VisemeBindingManagerConfig.class, InputStream.class, null, null, configFileId, VisemeBindingManager.VERSION, VisemeBindingManagerConfigAvroStreamLoader.VERSION); Properties registrationProps = new Properties(); registrationProps.put(Robot.PROP_ID, robotId.getRobtIdString()); registrationProps.put(SpeechService.PROP_ID, speechServiceId); ConfiguredServiceLifecycle lifecycle = new ConfiguredServiceLifecycle(params, registrationProps); return lifecycle; } public static ManagedServiceGroup startVisemeFrameSourceStreamGroup(
@Override protected void cleanupService(Robot service) { try{ service.disconnect(); for(ManagedService s : myServoControllerServices){ try{ s.dispose(); }catch(Throwable t){ theLogger.log(Level.WARNING, "Error disposing controller service.", t); } } }catch(Exception ex){} super.cleanupService(service); }
private static ServiceLifecycleProvider getBindingManagerLifecycle( Robot.Id robotId, String speechServiceId, String configFileId){ ConfiguredServiceParams< VisemeBindingManager, VisemeBindingManagerConfig, File> params = new ConfiguredServiceParams( VisemeBindingManager.class, VisemeBindingManagerConfig.class, File.class, null, null, configFileId, VisemeBindingManager.VERSION, VisemeBindingManagerAvroConfigLoader.VERSION); Properties registrationProps = new Properties(); registrationProps.put(Robot.PROP_ID, robotId.getRobtIdString()); registrationProps.put(SpeechService.PROP_ID, speechServiceId); ConfiguredServiceLifecycle lifecycle = new ConfiguredServiceLifecycle(params, registrationProps); return lifecycle; }
@Override protected Robot create(Map dependencies){ Robot robot = super.create(dependencies); if(robot == null){ return null; } robot.connect(); return robot; } };
@Override protected Robot create(Map dependencies) { Robot r = super.create(dependencies); if(r == null){ return null;