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Figure 3-12. Library wrapper module configuration Here, you define the code name base. Normally this field is prefilled with the name of the JAR file. Provide the module with a name and a localizing bundle (see the Module Manifest section earlier in the chapter) to localize the manifest file. With a click of the Finish button, you create your new module project. When expanding the Source Packages folder in the Projects window, observe that there is only a Bundle.properties file and a manifest file. The library, which is encapsulated by the module, is found in the folder release/modules/ext, which is seen in the Files window. To understand how a library wrapper module works, take a look at the related manifest file. It s found in the Projects window, within the Important Files file. Note that the following information (in Listing 3-10) may not reflect exactly what is found in your specific manifest file. Certain information, such as the public packages, are only created when you build the project. To see the entire manifest file, create the module and then look at the manifest file within the created JAR file, found in the build/cluster/modules folder of your application. The exposed

Example 3-15. BasicArm.java package com.scottpreston.javarobot.chapter3; import com.scottpreston.javarobot.chapter2.JSerialPort; import com.scottpreston.javarobot.chapter2.SingleSerialPort; public class BasicArm { private MiniSsc ssc; // set shoulder and elbow parameters public static final int SHOULDER_PIN = 0; public static final int SHOULDER_MAX = SSCProtocol.MAX; public static final int SHOULDER_MIN = SSCProtocol.MIN; public static final int SHOULDER_REST = 55; public static final int ELBOW_PIN = 1; public static final int ELBOW_MAX = SSCProtocol.MAX; public static final int ELBOW_MIN = SSCProtocol.MIN; public static final int ELBOW_REST = 65; // instance variables of current position private int shoulderPos = SSCProtocol.NEUTRAL; private int elbowPos = SSCProtocol.NEUTRAL; //constructor taking JSerialPort as parameter public BasicArm(JSerialPort sPort) throws Exception { ssc = new MiniSsc(sPort); } // passthrough to ssc private void move(int pin, int pos) throws Exception { ssc.move(pin, pos); } // move the shoulder public void shoulder(int pos) throws Exception { if (pos < SHOULDER_MIN || pos > SHOULDER_MAX) { throw new Exception("Out of shoulder range."); } shoulderPos = pos; move(SHOULDER_PIN, pos); } // move the elbow public void elbow(int pos) throws Exception { if (pos < ELBOW_MIN || pos > ELBOW_MAX) { throw new Exception("Out of elbow range."); }

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A built-in function that is similar to exec is eval (for evaluate ). Just as exec executes a series of Python statements, eval evaluates a Python expression (written in a string) and returns the

packages are also seen in the Properties dialog of the library wrapper modules, under the API Versioning tab. There, you can easily hide packages you do not want to have exposed. Listing 3-10. Manifest file of a library wrapper module Manifest-Version: 1.0 Ant-Version: Apache Ant 1.7.0 Created-By: 1.6.0-b105 (Sun Microsystems Inc.) OpenIDE-Module: com.hboeck.mp3 OpenIDE-Module-Public-Packages: com.hboeck.mp3.*, com.hboeck.mp3.id3.*, ... OpenIDE-Module-Java-Dependencies: Java > 1.4 OpenIDE-Module-Specification-Version: 1.0 OpenIDE-Module-Implementation-Version: 070211 OpenIDE-Module-Localizing-Bundle: com/hboeck/mp3/Bundle.properties OpenIDE-Module-Requires: org.openide.modules.ModuleFormat1 Class-Path: ext/com-hboeck-mp3.jar Two very important things have been accomplished by the wizard. First, it marked all packages in the third-party library with the attribute OpenIDE-Module-Public-Packages, making all these packages publicly accessible. That s useful because it means the library can now be used by other modules. Second, the wizard marked the library it found in the ext/ folder with the Class-Path attribute, putting it on the module classpath. In this way, the classes in the library can be loaded by the module classloader. The library wrapper module is automatically assigned the Autoload type (see the Module Types section near the beginning of the chapter), so that it is only loaded when needed.

elbowPos = pos; move(ELBOW_PIN, pos); } public void rest() throws Exception { shoulder(SHOULDER_REST); elbow(ELBOW_REST); } public static void main(String[] args) { try { // get single serial port instance JSerialPort sPort = (JSerialPort) SingleSerialPort.getInstance(1); // create new BasicArm BasicArm arm = new BasicArm(sPort); // move to rest position arm.rest(); // move elbow to 150 arm.elbow(150); // move shoulder to 200 arm.shoulder(200); // close serial port sPort.close(); } catch (Exception e) { // print stack trace and exit e.printStackTrace(); System.exit(1); } } } The next class will formalize positions a little more than just byte 150 for the elbow and byte 200 for the shoulder.

value. (exec doesn t return anything because it is a statement itself.) For example, you can use the following to make a Python calculator: >>> eval(raw_input("Enter an arithmetic expression: ")) Enter an arithmetic expression: 6 + 18 * 2 42

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