Changes of the initial setup (#5)

* Obstacle Avoiding Robot Example
* Entry point changes
* Add instructions for cmd use
* Add launch file for easy debugging with VS Code
* Sample Robots and Runtime configurations
* Readme updates

.gitignore

@@ -24,9 +24,8 @@ hs_err_pid*
 
 /src/resources/config/mqtt.properties
 /.settings/
-
+/target
 .idea
 .target
-
-/target
 settings.xml
+.DS_Store

.vscode/launch.json

@@ -0,0 +1,15 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "type": "java",
+            "name": "App",
+            "request": "launch",
+            "mainClass": "App",
+            "projectName": "java-robot"
+        }
+    ]
+}

README.md

@@ -1,18 +1,12 @@
-[![Java CI with Maven](https://github.com/Pera-Swarm/java-robot/actions/workflows/java-ci.yml/badge.svg)](https://github.com/Pera-Swarm/java-robot/actions/workflows/java-ci.yml)
+[![License: GPL v3](https://img.shields.io/badge/License-GPL%20v3-blue.svg)](http://www.gnu.org/licenses/gpl-3.0) [![Java CI with Maven](https://github.com/Pera-Swarm/java-robot/actions/workflows/java-ci.yml/badge.svg)](https://github.com/Pera-Swarm/java-robot/actions/workflows/java-ci.yml)
 
 # Java Robot 
 
-This is a boilerplate template for java virtual robotst, *Pera-Swarm*
-
-More details will be updated soon.
-
----
+This is a boilerplate template for java virtual robots, under *Pera-Swarm*
 
 ## Local Environment Setup
 
-If you need to run this repository on your local environment,
-please create a file named *'mqtt.properties'* in path, *'./src/resources/config/'*
-as follows and provide your MQTT broker's configurations.
+If you need to run this repository on your local environment, please create a file named *'mqtt.properties'* in path, *'./src/resources/config/'* as follows and provide your MQTT broker's configurations.
 
 You can select any channel, as same as your simulation server runs on.
 
@@ -39,4 +33,22 @@ channel="v1"
 
 ```bash 
 mvn -s ./settings.xml -B install --file pom.xml 
-```
+```
+
+## Run with commandline 
+
+- Compile the packages and assembly with all the dependencies, using `mvn compile assembly:single`
+
+```bash 
+mvn clean compile assembly:single -s settings.xml 
+```
+
+- Run the code implementation using `java -jar [jar_file_path] `
+
+```bash 
+java -jar target/java-robot-node-1.0-SNAPSHOT-jar-with-dependencies.jar 
+```
+
+## Detailed Guide
+
+- [pera-swarm.ce.pdn.ac.lk/docs/robots/virtual/v1/java/](https://pera-swarm.ce.pdn.ac.lk/docs/robots/virtual/v1/java/)

pom.xml

@@ -29,4 +29,35 @@
         </dependency>
     </dependencies>
 
-</project>
+    <build>
+        <plugins>
+            <plugin>
+                <groupId>org.apache.maven.plugins</groupId>
+                <artifactId>maven-jar-plugin</artifactId>
+                <version>3.1.0</version>
+                <configuration>
+                    <archive>
+                        <manifest>
+                            <addClasspath>true</addClasspath>
+                            <mainClass>App</mainClass>
+                        </manifest>
+                    </archive>
+                </configuration>
+            </plugin>
+
+            <plugin>
+                <artifactId>maven-assembly-plugin</artifactId>
+                <configuration>
+                    <archive>
+                        <manifest>
+                            <mainClass>App</mainClass>
+                        </manifest>
+                    </archive>
+                    <descriptorRefs>
+                        <descriptorRef>jar-with-dependencies</descriptorRef>
+                    </descriptorRefs>
+                </configuration>
+            </plugin>
+        </plugins>
+    </build>
+</project>

src/main/java/Swarm.java → src/main/java/App.java

@@ -1,15 +1,16 @@
 
 import swarm.configs.MQTTSettings;
-import swarm.robot.VirtualRobot;
-import Robots.*;
+import swarm.robot.Robot;
 
 import java.io.File;
 import java.io.FileNotFoundException;
 import java.io.FileReader;
 import java.io.IOException;
 import java.util.Properties;
 
-public class Swarm {
+import Robots.samples.SampleRobot;
+
+public class App {
 
     public static void main(String[] args) {
 
@@ -31,9 +32,25 @@ public static void main(String[] args) {
             MQTTSettings.channel = props.getProperty("channel", "v1");
             reader.close();
 
-            VirtualRobot robot = new MyTestRobot(10, -52, 32, 45);
+            // Start a single robot
+            Robot robot = new SampleRobot(10, 0, 0, 90);
             new Thread(robot).start();
 
+            // // Start a swarm of robots
+            // int[] robotList = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 };
+
+            // int startX = 0;
+            // int startY = 0;
+            // int startHeading = 90;
+
+            // Robot[] vr = new VirtualRobot[robotList.length];
+
+            // for (int i = 0; i < robotList.length; i++) {
+            // vr[i] = new SampleRobot(robotList[i], startX + 40 * i, startY + 50 * i,
+            // startHeading + 10 * i);
+            // new Thread(vr[i]).start();
+            // }
+
         } catch (FileNotFoundException ex) {
             // file does not exist
             System.out.println("File Not Found !!!");

src/main/java/Robots/samples/ObstacleAvoidRobot.java

@@ -0,0 +1,59 @@
+// This robot will move freely, avoiding obstacles 
+// Written by Nuwan Jaliyagoda 
+
+package Robots.samples;
+
+import swarm.robot.VirtualRobot;
+
+public class ObstacleAvoidRobot extends VirtualRobot {
+
+    // The minimum distance that robot tries to keep with the obstacles
+    private int distanceThreshold = 15;
+
+    // The default movement speed
+    private int defaultMoveSpeed = 100;
+
+    public ObstacleAvoidRobot(int id, double x, double y, double heading) {
+        super(id, x, y, heading);
+    }
+
+    public void setup() {
+        super.setup();
+    }
+
+    @Override
+    public void loop() throws Exception {
+        super.loop();
+
+        if (state == robotState.RUN) {
+            double dist = distSensor.getDistance();
+
+            if (dist < distanceThreshold) {
+                // Generate a random number in [-1000,1000] range
+                // if even, rotate CW, otherwise rotate CCW an angle depends on the random
+                // number
+                int random = -1000 + ((int) ((Math.random() * 2000)));
+                int sign = (random % 2 == 0) ? 1 : -1;
+
+                System.out.println("\t Wall detected, go back and rotate " + ((sign > 0) ? "CW" : "CCW"));
+
+                // Go back a little
+                motion.move(-100, -100, 900);
+
+                // rotate
+                int loopCount = 0;
+                while (distSensor.getDistance() < distanceThreshold && loopCount < 5) {
+                    // Maximum 5 tries to rotate and find a obstale free path
+                    motion.rotate((int) (defaultMoveSpeed * 0.75 * sign), 1000);
+                    loopCount++;
+                }
+
+                // rotate a little more
+                motion.rotate((int) (defaultMoveSpeed * 0.75 * sign), 500);
+
+            } else {
+                motion.move(defaultMoveSpeed, defaultMoveSpeed, 1000);
+            }
+        }
+    }
+}

src/main/java/Robots/MyTestRobot.java → src/main/java/Robots/samples/SampleRobot.java

@@ -1,10 +1,10 @@
-package Robots;
+package Robots.samples;
 
 import swarm.robot.VirtualRobot;
 
-public class MyTestRobot extends VirtualRobot {
+public class SampleRobot extends VirtualRobot {
 
-    public MyTestRobot(int id, double x, double y, double heading) {
+    public SampleRobot(int id, double x, double y, double heading) {
         super(id, x, y, heading);
     }
 
@@ -17,8 +17,14 @@ public void loop() throws Exception {
         super.loop();
 
         if (state == robotState.RUN) {
-            System.out.println("Test");
-            delay(1000);
+            System.out.println("Run");
+
+        } else if (state == robotState.WAIT) {
+            System.out.println("Waiting");
+
+        } else if (state == robotState.BEGIN) {
+            System.out.println("Begin");
+
         }
     }