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the required methods. For example, override the closing() method to show a dialog confirming whether the application should really shut down, as shown in Listing 3-8. Listing 3-8. Dialog for shutting down an application import org.openide.DialogDisplayer; import org.openide.NotifyDescriptor; import org.openide.modules.ModuleInstall; public class Installer extends ModuleInstall { public boolean closing() { NotifyDescriptor d = new NotifyDescriptor.Confirmation( "Do you really want to exit the application ", "Exit", NotifyDescriptor.YES NO OPTION); if (DialogDisplayer.getDefault().notify(d) == NotifyDescriptor.YES OPTION) { return true; } else { return false; } } } Be aware that this module requires a dependency on the Dialogs API to be able to use the NetBeans dialog support. Defining dependencies was described previously in the Defining Dependencies section of this chapter, while information about the Dialogs API can be found in 8. To try this new functionality, invoke Run Run Main Project (F6). When the application shuts down, the dialog is shown and you can confirm whether or not the application should actually be shut down.

In this section, I created the following four classes: GroupMoveProtocol.java: Similar to the SSCProtocol but used for grouped moves of the LM32. LM32.java: The implementation class for the Lynxmotion SSC-32. ServoPosition.java: A servo position data structure to assist in implementing the GroupMoveProtocol in the MiniSSC. MiniSscGM: The implemented GroupMoveProtocol for the MiniSSC. In the next section, we ll discuss how to use the LM32 and the GroupMoveProtocol with a robotic arm.

The statement for executing a string is exec: >>> exec "print 'Hello, world!'" Hello, world! However, using this simple form of the exec statement is rarely a good thing; in most cases you want to supply it with a namespace, a place where it can put its variables. You want to do this so that the code doesn t corrupt your namespace (that is, change your variables). For example, let s say that the code uses the name sqrt:

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Modules normally need not worry about other modules. Nor should they need to know whether other modules exist. However, it might sometimes be necessary to create a list of all available modules. The module system provides a ModuleInfo class for each module, where all information about modules is stored. The ModuleInfo objects are available centrally via the Lookup, and can be obtained there as follows: Collection< extends ModuleInfo> modules = Lookup.getDefault().lookupAll(ModuleInfo.class); The class provides information such as module name, version, dependencies, current status (activated or deactivated), and the existence of service implementations for the current module. Use the getAttribute() method to obtain this information from the manifest file. To be informed of changes, register a PropertyChangeListener, which informs you of the activation and deactivation of modules in the system. You can also register a LookupListener that informs you of the installation and uninstallation of modules. For example, a listener could be defined as shown in Listing 3-9.

Moving your robot on the ground is just one type of motion. The second type is motion from a fixed position. To demonstrate this, I m going to use a robot arm. If you don t have a robot arm, you can purchase the components from Lynxmotion, Inc. at www.lynxmotion.com (see Figure 3-11) or make them yourself.

>>> from math import sqrt >>> exec "sqrt = 1" >>> sqrt(4) Traceback (most recent call last): File "<pyshell#18>", line 1, in sqrt(4) TypeError: object is not callable: 1 Well, why would you do something like that in the first place, you ask The exec statement is mainly useful when you build the code string on the fly. And if the string is built from parts that you get from other places, and possibly from the user, you can rarely be certain of exactly what it will contain. So to be safe, you give it a dictionary, which will work as a namespace for it.

Listing 3-9. Reacting to changes to the module system Lookup.Result<ModuleInfo> res = Lookup.getDefault().lookupResult(ModuleInfo.class); result.addLookupListener(new LookupListener() { public void resultChanged(LookupEvent lookupEvent) { Collection< extends ModuleInfo> c = res.allInstances(); System.out.println("Available modules: " + c.size()); } }); res.allItems(); // initialize the listener

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