#########################################
# JMonkeyEngine.py
# description: used as a general template
# categories: simulator
# more info @: http://myrobotlab.org/service/JMonkeyEngine
#########################################
 
# start the service
jmonkeyengine = runtime.start('jmonkeyengine','JMonkeyEngine')

##################################################################################
# Deeplearning4j.py
# description: A wrapper service for the Deeplearning4j framework.
# categories: ai
# more info @: http://myrobotlab.org/service/Deeplearning4j
##################################################################################
 
# start the deeplearning4j service
deeplearning4j = runtime.start('deeplearning4j','Deeplearning4j')
 
# load the VGG16 model from the zoo
deeplearning4j.loadVGG16()
 
# run an image file through the model and get the classifications / confidence
classifications = deeplearning4j.classifyImageFileVGG16("image0-1.png")
 
# print them out... it's a dictionary/map of label to confidence level (between 0-1)
for label in classifications:
  print(label + " : " + str(classifications.get(label)))

#########################################
# MotorPort.py
# categories: motor
# more info @: http://myrobotlab.org/service/MotorPort
# Used for motor controllers which define "Ports"
#########################################
# uncomment for virtual hardware
from org.myrobotlab.service import Serial
# virtual = True
 
# sabertooth serial port - if on windows might be COM4
# port = "COM14"
# port = "/dev/ttyUSB0"
# I use udev rules to always make it the same port
port = "/dev/ftdi0"
 
# controller index for the joystick
controllerIndex = 0
 
# start optional virtual serial service, used for test
if ("virtual" in globals() and virtual):
    # use static method Serial.connectVirtualUart to create
    # a virtual hardware uart for the serial service to
    # connect to
    uart = Serial.connectVirtualUart(port)
    uart.logRecv(True) # dump bytes sent from sabertooth
 
# TODO - list & print controllers
# TODO - list & print controllers
# TODO - list & print axis
 
# start the services
sabertooth = runtime.start("sabertooth","Sabertooth")
m1 = runtime.start("m1","MotorPort")
m2 = runtime.start("m2","MotorPort")
joy = runtime.start("joy","Joystick")
joy.setController(controllerIndex)
 
# configure services
m1.setPort("m1")
m2.setPort("m2")
 
# in some cases its necessary to "invert" a motor
m1.setInverted(True)
m2.setInverted(True)
 
# attach services
sabertooth.attach(m1)
sabertooth.attach(m2)
m1.attach(joy.getAxis("y"))
m2.attach(joy.getAxis("rz"))
 
# FIXME - sabertooth.attach(motor1) & sabertooth.attach(motor2)
# FIXME - motor1.attach(joystick) !
sabertooth.connect(port)
 
m1.stop();
m2.stop();
 
# call the function autoTest if you want code to
# run through a test vs joystick input
def autoTest():
    # speed up the motor
    for x in range(0,100):
      pwr = x * .01
      print('power ', pwr)
      m1.move(pwr)
      sleep(0.01)
 
    sleep(1)
 
    # slow down the motor
    for x in range(100, -1, -1):
      pwr = x * .01
      print('power ', pwr)
      m1.move(pwr)
      sleep(0.01)
 
    # move motor clockwise
    m1.move(0.3)
    sleep(1)
    m1.stop()
 
    # move motor counter-clockwise
    m1.move(-0.3)
    sleep(1)
    m1.stop()
 
sleep(3)
autoTest()

#########################################
# Security.py
# description: used as a general template
# categories: simulator
# more info @: http://myrobotlab.org/service/Security
#########################################
 
 
# start the service
security = runtime.start("security","Security")
 
# store & crypt secret infomations
# these lines are added only one time the program is run.. then they are deleted
# so that the "actual" keys are no longer in the script !  - and the encrypted keys
# exist on the file system (don't forget to delete these lines after you add your secrets)
security.addSecret("amazon.polly.user.key", "FIE38238733459852");
security.addSecret("amazon.polly.user.secret", "Ujffkds838234jf/kDKJkdlskjlfkj");
security.saveStore()
 
# get & decrypt secret infomations
security.loadStore()
print security.getSecret("amazon.polly.user.key")
print security.getSecret("amazon.polly.user.secret")