issue #3: prepare for raspberry pi integration

reworked package structure and classes for more generic wired/wireless robots
added calliope as generic wired robot for serial monitor usage only
removed launcher class
extracted help popup time to properties

pom.xml

@@ -286,7 +286,7 @@
                             <addClasspath>true</addClasspath>
                             <classpathPrefix>libs/</classpathPrefix>
                             <mainClass>
-                                de.fhg.iais.roberta.main.OpenRobertaConnectorLauncher
+                                de.fhg.iais.roberta.main.OpenRobertaConnector
                             </mainClass>
                         </manifest>
                     </archive>
@@ -312,7 +312,7 @@
                             <restartOnCrash>true</restartOnCrash>
                             <icon>src/main/resources/images/OR.ico</icon>
                             <classPath>
-                                <mainClass>de.fhg.iais.roberta.main.OpenRobertaConnectorLauncher</mainClass>
+                                <mainClass>de.fhg.iais.roberta.main.OpenRobertaConnector</mainClass>
                                 <jarLocation>libs/</jarLocation>
                                 <jarLocation>resources/</jarLocation>
                                 <addDependencies>true</addDependencies>

src/main/java/de/fhg/iais/roberta/connection/AutoConnector.java

@@ -0,0 +1,19 @@
+package de.fhg.iais.roberta.connection;
+
+/**
+ * Connector class for robots that do not need server connection.
+ * Automatically sets robots to connected.
+ */
+public class AutoConnector extends AbstractConnector<IRobot> {
+    public AutoConnector(IRobot robot) {
+        super(robot);
+    }
+
+    @Override
+    protected void runLoopBody() {
+        if ( this.state == State.DISCOVER ) {
+            this.fire(State.WAIT_FOR_CONNECT_BUTTON_PRESS);
+            this.fire(State.WAIT_FOR_CMD);
+        }
+    }
+}

src/main/java/de/fhg/iais/roberta/connection/arduino/Arduino.java → src/main/java/de/fhg/iais/roberta/connection/wired/AbstractWiredRobot.java

@@ -1,15 +1,21 @@
-package de.fhg.iais.roberta.connection.arduino;
+package de.fhg.iais.roberta.connection.wired;
 
 import java.util.Objects;
 
-import de.fhg.iais.roberta.connection.IConnector;
-import de.fhg.iais.roberta.connection.IRobot;
-
-public class Arduino implements IRobot {
-    private final ArduinoType type;
+/**
+ * Abstract class for a wired robot.
+ */
+public abstract class AbstractWiredRobot implements IWiredRobot {
+    private final WiredRobotType type;
     private final String port;
 
-    public Arduino(ArduinoType type, String port) {
+    /**
+     * Constructor for wired robots.
+     *
+     * @param type the robot type
+     * @param port the robot port
+     */
+    protected AbstractWiredRobot(WiredRobotType type, String port) {
         this.type = type;
         this.port = port;
     }
@@ -20,23 +26,15 @@ public String getName() {
     }
 
     @Override
-    public ConnectionType getConnectionType() {
-        return ConnectionType.WIRED;
+    public String getPort() {
+        return this.port;
     }
 
     @Override
-    public IConnector<? extends IRobot> createConnector() {
-        return new ArduinoConnector(this);
-    }
-
-    public ArduinoType getType() {
+    public WiredRobotType getType() {
         return this.type;
     }
 
-    public String getPort() {
-        return this.port;
-    }
-
     @Override
     public boolean equals(Object obj) {
         if ( this == obj ) {
@@ -45,8 +43,8 @@ public boolean equals(Object obj) {
         if ( (obj == null) || (this.getClass() != obj.getClass()) ) {
             return false;
         }
-        Arduino arduino = (Arduino) obj;
-        return (this.type == arduino.type) && Objects.equals(this.port, arduino.port);
+        IWiredRobot robot = (IWiredRobot) obj;
+        return (this.type == robot.getType()) && Objects.equals(this.port, robot.getPort());
     }
 
     @Override

src/main/java/de/fhg/iais/roberta/connection/wired/IWiredRobot.java

@@ -0,0 +1,27 @@
+package de.fhg.iais.roberta.connection.wired;
+
+import de.fhg.iais.roberta.connection.IRobot;
+
+/**
+ * Interface for wired robots.
+ */
+public interface IWiredRobot extends IRobot {
+    @Override
+    default ConnectionType getConnectionType() {
+        return ConnectionType.WIRED;
+    }
+
+    /**
+     * Returns the port of the wired robot.
+     *
+     * @return the port of the wired robot
+     */
+    String getPort();
+
+    /**
+     * Returns the type of the wired robot.
+     *
+     * @return the type of the wired robot
+     */
+    WiredRobotType getType();
+}

src/main/java/de/fhg/iais/roberta/connection/wired/RndisDetector.java

@@ -0,0 +1,76 @@
+package de.fhg.iais.roberta.connection.wired;
+
+import org.apache.http.entity.ContentType;
+import org.asynchttpclient.AsyncCompletionHandler;
+import org.asynchttpclient.AsyncHttpClient;
+import org.asynchttpclient.Dsl;
+import org.asynchttpclient.ListenableFuture;
+import org.asynchttpclient.Response;
+import org.json.JSONObject;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import java.io.IOException;
+import java.lang.reflect.InvocationTargetException;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.Map.Entry;
+import java.util.concurrent.ExecutionException;
+
+import de.fhg.iais.roberta.connection.IDetector;
+import de.fhg.iais.roberta.connection.IRobot;
+import de.fhg.iais.roberta.connection.wired.ev3.Ev3;
+import de.fhg.iais.roberta.util.PropertyHelper;
+
+import static de.fhg.iais.roberta.connection.IConnector.CMD_REGISTER;
+import static de.fhg.iais.roberta.connection.IConnector.KEY_CMD;
+
+public class RndisDetector implements IDetector {
+    private static final Logger LOG = LoggerFactory.getLogger(RndisDetector.class);
+
+    private static final Map<String, Class<? extends AbstractWiredRobot>> DEVICES = new HashMap<>(1);
+    static {
+        DEVICES.put(PropertyHelper.getInstance().getProperty("brickIp"), Ev3.class);
+    }
+
+    @Override
+    public List<IRobot> detectRobots() {
+        try (AsyncHttpClient client = Dsl.asyncHttpClient()) {
+            JSONObject request = new JSONObject();
+            request.put(KEY_CMD, CMD_REGISTER);
+
+            List<IRobot> robots = new ArrayList<>(5);
+            for ( Entry<String, Class<? extends AbstractWiredRobot>> entry : DEVICES.entrySet() ) {
+                ListenableFuture<String>
+                    name =
+                    client.preparePost("http://" + entry.getKey() + "/brickinfo")
+                          .addHeader("ContentType", ContentType.APPLICATION_JSON)
+                          .setBody(request.toString())
+                          .execute(new StringAsyncCompletionHandler());
+                robots.add(entry.getValue().getConstructor(String.class).newInstance(name.get()));
+            }
+            return robots;
+        } catch ( IOException e ) {
+            LOG.error("Could not close async client: {}", e.getMessage());
+        } catch ( InterruptedException e ) {
+            LOG.error("Robot request was interrupted: {}", e.getMessage());
+        } catch ( ExecutionException e ) {
+            LOG.info("Could not find RNDIS robot: {}", e.getMessage());
+        } catch ( InstantiationException | InvocationTargetException | NoSuchMethodException | IllegalAccessException e ) {
+            LOG.error("Robot not implemented: {}", e.getMessage());
+        }
+
+        return Collections.emptyList();
+    }
+
+    private static class StringAsyncCompletionHandler extends AsyncCompletionHandler<String> {
+        @Override
+        public String onCompleted(Response response) {
+            JSONObject jsonObject = new JSONObject(response.getResponseBody());
+            return jsonObject.getString("brickname");
+        }
+    }
+}