Index: AiboPup/Makefile diff -c AiboPup/Makefile:1.14 AiboPup/Makefile:1.15 *** AiboPup/Makefile:1.14 Fri Jun 13 01:35:41 2003 --- AiboPup/Makefile Mon Jul 7 14:08:12 2003 *************** *** 5,12 **** TinyFTPD_COMP=TinyFTPD SoundPlay_COMP=SoundPlay Shared/Config.o Shared/ProcessID.o Events/EventRouter.o Events/EventTranslator.o Events/EventBase.o Shared/LoadSave.o Shared/get_time.o TARGETS=all clean ! PREFIX=/usr/local/OPEN_R_SDK ! LD=$(PREFIX)/bin/mipsel-linux-ld # list of components for all processes # NOT SORTED, process directories need to be made first (generated stub header files) --- 5,12 ---- TinyFTPD_COMP=TinyFTPD SoundPlay_COMP=SoundPlay Shared/Config.o Shared/ProcessID.o Events/EventRouter.o Events/EventTranslator.o Events/EventBase.o Shared/LoadSave.o Shared/get_time.o TARGETS=all clean ! OPENRSDK_ROOT?=/usr/local/OPEN_R_SDK ! LD=$(OPENRSDK_ROOT)/bin/mipsel-linux-ld # list of components for all processes # NOT SORTED, process directories need to be made first (generated stub header files) Index: AiboPup/Behaviors/Controller.cc diff -c AiboPup/Behaviors/Controller.cc:1.18 AiboPup/Behaviors/Controller.cc:1.20 *** AiboPup/Behaviors/Controller.cc:1.18 Thu Jun 12 14:06:07 2003 --- AiboPup/Behaviors/Controller.cc Sun Jul 6 21:00:07 2003 *************** *** 9,14 **** --- 9,15 ---- #include "Events/TextMsgEvent.h" #include "Shared/ERS210Info.h" #include "Shared/ERS220Info.h" + #include Controller * Controller::theOneController=NULL; *************** *** 155,160 **** --- 156,181 ---- return *this; } + void Controller::loadGUI(const std::string& type, const std::string& name, unsigned int port, const std::vector& args) { + std::stringstream ss; + ss << "load\n" << type << '\n' << name << '\n' << port << '\n'; + for(unsigned int i=0; igui_comm->write((const byte*)ss.str().c_str(),ss.str().size()); + } + + void Controller::closeGUI(const std::string& name) { + theOneController->gui_comm->printf("close\n%s\n",name.c_str()); + } + int Controller::gui_comm_callback(char *buf, int bytes) { std::string s(buf,bytes); // cout << "Controller Received: " << s << endl; *************** *** 347,354 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ --- 368,375 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ Index: AiboPup/Behaviors/Controller.h diff -c AiboPup/Behaviors/Controller.h:1.14 AiboPup/Behaviors/Controller.h:1.16 *** AiboPup/Behaviors/Controller.h:1.14 Thu Jun 12 23:23:05 2003 --- AiboPup/Behaviors/Controller.h Tue Jul 8 14:01:21 2003 *************** *** 42,61 **** * text:item-titlenumitems\n * text:item-descriptionnumitems' - refreshes the current menu\n * - 'status text' - sets the status bar to text (until the next refresh) * ! * The upstream is the responsibility of the Controls, but the ! * protocol is listed here to keep it together. When a control's * state changes, it's that control's responsiblity to refresh the UI * (LEDs, console, and GUI as appropriate). Thus, future extensions * to the upstream protocol are between the control which will use it * and the GUI. Future extensions to the downstream protocol would * involve changing Controller and the GUI. * ! * One additional upstream command for the 1.4 release is planned: ! * - 'load text:objectname int:port [arg1 [arg2 [...]]]' - which will tell the GUI to load the java class named objectname, and have it connect to port, passing it the argument list. ! * ! * This should allow pop-up windows with custom displays. Also, ! * the Controller may connect to serr in the future to pop-up an alert * anytime output to serr occurs. * * Note that all state is maintained on the robot - even if the GUI --- 42,73 ---- * text:item-titlenumitems\n * text:item-descriptionnumitems' - refreshes the current menu\n * - 'status text' - sets the status bar to text (until the next refresh) + * - 'load\n + * text:classname\n + * text:instancename + * int:port\n + * [arg1 [arg2 [...]]]' - tells the GUI to load the java class named classname, and have it connect to port, passing it the argument list. + * classname should contain a constructor of the form Classname(String host, int port, String args[]) + * the argument list is parsed as if it were on the console - unescaped or unquoted spaces will separate args into elements in the array + * - 'close\n + * text:instancename' - calls close() on an object previously created by a load message. + * The Java object is expected to contain a function void close(). + * + * bool types are expected to be numerical values, 0 for false, + * non-zero for true. * ! * load and close are intended to allow pop-up ! * windows for custom displays. ! * ! * The upstream is the responsibility of the individual Controls, but ! * the protocol is listed here to keep it together. When a control's * state changes, it's that control's responsiblity to refresh the UI * (LEDs, console, and GUI as appropriate). Thus, future extensions * to the upstream protocol are between the control which will use it * and the GUI. Future extensions to the downstream protocol would * involve changing Controller and the GUI. * ! * The Controller may connect to serr in the future to pop-up an alert * anytime output to serr occurs. * * Note that all state is maintained on the robot - even if the GUI *************** *** 103,108 **** --- 115,126 ---- virtual std::string getName() const { return "Controller"; } static std::string getClassDescription() { return "Provides interface for activating/deactivating controls (and through them, behaviors)"; } + + + + static void loadGUI(const std::string& type, const std::string& name, unsigned int port) {loadGUI(type,name,port,std::vector());} //!< attempts to open a Java object on the desktop + static void loadGUI(const std::string& type, const std::string& name, unsigned int port, const std::vector& args); //!< attempts to open a Java object on the desktop + static void closeGUI(const std::string& name); //!< calls close() on a Java object loaded with loadGUI() (on the desktop) static int gui_comm_callback(char *buf, int bytes); //!< called by wireless when there's new data from the GUI static int console_callback(char *buf, int bytes); //!< called by wireless when someone has entered new data on the tekkotsu console (NOT cin) *************** *** 179,188 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ #endif --- 197,206 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ #endif Index: AiboPup/Behaviors/Controls/HelpControl.cc diff -c AiboPup/Behaviors/Controls/HelpControl.cc:1.1 AiboPup/Behaviors/Controls/HelpControl.cc:1.3 *** AiboPup/Behaviors/Controls/HelpControl.cc:1.1 Fri Jun 13 02:05:40 2003 --- AiboPup/Behaviors/Controls/HelpControl.cc Tue Jul 8 20:10:57 2003 *************** *** 30,43 **** return; const std::vector& slots=r->getSlots(); const std::string pre=" "+prefix; ! int len=slots.size()==0?0:(int)(log(slots.size()-1)/log(10)); for(unsigned int i=0; igetName(); std::string desc=slots[i]->getDescription(); ! unsigned int len=term_width-(prefix.size()+nm.size()+2); if((int)len<0) len=0; if(len>desc.size()) --- 30,45 ---- return; const std::vector& slots=r->getSlots(); const std::string pre=" "+prefix; ! unsigned int numlen=1; ! if(slots.size()>1) ! numlen=(int)(log(slots.size()-1)/log(10))+1; for(unsigned int i=0; igetName(); std::string desc=slots[i]->getDescription(); ! unsigned int len=term_width-(prefix.size()+nm.size()+4+numlen); if((int)len<0) len=0; if(len>desc.size()) *************** *** 45,54 **** else while(len>0 && !isspace(desc[len-1])) len--; if(config->main.use_VT100) ! fmt="\33[1m%s%*d%s\33[0m: %s\n"; else ! fmt="%s%*d.%s: %s\n"; ! sout->printf(fmt,prefix.c_str(),len,i,nm.c_str(),desc.substr(0,len).c_str()); while(len0) { --- 47,56 ---- else while(len>0 && !isspace(desc[len-1])) len--; if(config->main.use_VT100) ! fmt="\33[1m%s%*d. %s\33[0m: %s\n"; else ! fmt="%s%*d. %s: %s\n"; ! sout->printf(fmt,prefix.c_str(),numlen,i,nm.c_str(),desc.substr(0,len).c_str()); while(len0) { *************** *** 77,85 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ --- 79,87 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ Index: AiboPup/Behaviors/Controls/ToggleHeadLightControl.h diff -c AiboPup/Behaviors/Controls/ToggleHeadLightControl.h:1.1 AiboPup/Behaviors/Controls/ToggleHeadLightControl.h:removed *** AiboPup/Behaviors/Controls/ToggleHeadLightControl.h:1.1 Fri Jun 13 01:50:16 2003 --- AiboPup/Behaviors/Controls/ToggleHeadLightControl.h Tue Jul 8 22:31:39 2003 *************** *** 1,39 **** - //-*-c++-*- - #ifndef INCLUDED_ToggleHeadLightControl_h_ - #define INCLUDED_ToggleHeadLightControl_h_ - - #include "NullControl.h" - #include "Shared/SharedObject.h" - #include "Motion/PostureMC.h" - #include "Shared/ERS220Info.h" - - //! opens or closes the head light on an ERS-220 - class ToggleHeadLightControl : public NullControl { - public: - //! constructor - ToggleHeadLightControl() : NullControl("ToggleHeadLightControl","Opens or closes the head light on an ERS-220") {} - - //! opens/closes the head light - virtual ControlBase * activate(MotionCommand::MC_ID disp_id, Socket * gui) { - if(state->robotDesign & WorldState::ERS220Mask) { - unsigned int light=ERS220Info::RetractableHeadLEDOffset; - SharedObject pose; - pose->setOutputCmd(light,!state->outputs[light]); - motman->addMotion(pose,true); - } - return NullControl::activate(disp_id,gui); - } - }; - - /*! @file - * @brief Defines ToggleHeadLightControl, which will open or close the head light on an ERS-220 - * @author ejt (Creator) - * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.2 $ - * $State: Exp $ - * $Date: 2003/07/09 02:34:49 $ - */ - - #endif --- 0 ---- Index: AiboPup/Behaviors/Demos/Aibo3DControllerBehavior.h diff -c AiboPup/Behaviors/Demos/Aibo3DControllerBehavior.h:1.3 AiboPup/Behaviors/Demos/Aibo3DControllerBehavior.h:1.5 *** AiboPup/Behaviors/Demos/Aibo3DControllerBehavior.h:1.3 Thu Jun 12 14:06:10 2003 --- AiboPup/Behaviors/Demos/Aibo3DControllerBehavior.h Sun Jul 6 21:00:07 2003 *************** *** 74,82 **** --- 74,90 ---- // Turn on wireless wireless->setReceiver(cmdsock->sock, aibo3dcontrollercmd_callback); wireless->listen(cmdsock->sock, config->main.aibo3d_port); + // open gui + std::vector tmp; + tmp.push_back("Aibo3D Load Instructions"); + tmp.push_back("To load Aibo3D, you will need to install java3d\nand then run Tekkotsu/tools/aibo3d/"); + tmp.back()+=getGUIType(); + Controller::loadGUI("ControllerMsg","LoadAibo3d",getPort(),tmp); + //Controller::loadGUI(getGUIType(),getGUIType(),getPort()); } virtual void DoStop() { + Controller::closeGUI(getGUIType()); // Close socket; turn wireless off wireless->close(cmdsock); // Disable remote control *************** *** 85,96 **** BehaviorBase::DoStop(); } ! virtual void processEvent(const EventBase &) { ! // who needs events ! } ! virtual std::string getName() const { return "Aibo3DController"; } //!< returns name of behavior ! static std::string getClassDescription() { return "Listens to aibo3d control commands coming in from the command port."; } }; --- 93,107 ---- BehaviorBase::DoStop(); } ! virtual std::string getGUIType() const { return "Aibo3DPick"; } ! virtual unsigned int getPort() const { return config->main.aibo3d_port; } ! virtual std::string getName() const { return "Aibo3D Controller"; } //!< returns name of behavior ! static std::string getClassDescription() { ! char tmp[20]; ! sprintf(tmp,"%d",config->main.aibo3d_port); ! return std::string("Listens to aibo3d control commands coming in from port ")+tmp; ! } }; *************** *** 99,103 **** --- 110,125 ---- return aibo3dControllerBehavior->registerData(buf, bytes); return 0; } + + /*! @file + * @brief Defines Aibo3DControllerBehavior, which listens to commands from the Aibo3D gui and shows current state + * @author alokl (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.2 $ + * $State: Exp $ + * $Date: 2003/07/09 02:34:49 $ + */ #endif Index: AiboPup/Behaviors/Demos/Aibo3DMonitorBehavior.h diff -c /dev/null AiboPup/Behaviors/Demos/Aibo3DMonitorBehavior.h:1.2 *** /dev/null Tue Jul 8 22:31:39 2003 --- AiboPup/Behaviors/Demos/Aibo3DMonitorBehavior.h Sun Jul 6 21:00:07 2003 *************** *** 0 **** --- 1,32 ---- + //-*-c++-*- + #ifndef INCLUDED_Aibo3DMonitorBehavior_h_ + #define INCLUDED_Aibo3DMonitorBehavior_h_ + + //! Sends current pose to Aibo3D GUI, ignores incoming commands + class Aibo3DMonitorBehavior : public Aibo3DControllerBehavior { + public: + Aibo3DMonitorBehavior() : Aibo3DControllerBehavior() {} + + virtual std::string getGUIType() const { return "Aibo3D"; } + virtual unsigned int getPort() const { return config->main.aibo3d_port; } + + virtual std::string getName() const { return "Aibo3D Monitor"; } //!< returns name of behavior + static std::string getClassDescription() { + char tmp[20]; + sprintf(tmp,"%d",config->main.aibo3d_port); + return std::string("Sends current pose on port ")+tmp; + } + }; + + /*! @file + * @brief Defines Aibo3DMonitorBehavior, which sends current pose to Aibo3D GUI, ignores incoming commands + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.2 $ + * $State: Exp $ + * $Date: 2003/07/09 02:34:49 $ + */ + + #endif Index: AiboPup/Behaviors/Demos/EStopControllerBehavior.cc diff -c /dev/null AiboPup/Behaviors/Demos/EStopControllerBehavior.cc:1.2 *** /dev/null Tue Jul 8 22:31:39 2003 --- AiboPup/Behaviors/Demos/EStopControllerBehavior.cc Tue Jul 8 20:10:57 2003 *************** *** 0 **** --- 1,75 ---- + #include "EStopControllerBehavior.h" + #include "Motion/EmergencyStopMC.h" + #include "Motion/MMAccessor.h" + + EStopControllerBehavior* EStopControllerBehavior::theOne = NULL; + + void EStopControllerBehavior::DoStart() { + // Behavior startup + BehaviorBase::DoStart(); + // We listen to the estop + erouter->addListener(this, EventBase::estopEGID); + // Turn on wireless + wireless->setReceiver(cmdsock->sock, callback); + wireless->listen(cmdsock->sock, config->main.estopControl_port); + } + + void EStopControllerBehavior::DoStop() { + // Turn off timers + erouter->forgetListener(this); + // Close socket; turn wireless off + wireless->close(cmdsock); + // Total behavior stop + BehaviorBase::DoStop(); + } + + void EStopControllerBehavior::runCommand(std::string s) { + if(s==std::string("start")) { + MMAccessor estop(estop_id); + estop->setStopped(false); + } else if(s==std::string("stop")) { + MMAccessor estop(estop_id); + estop->setStopped(true); + } else if(s==std::string("refresh")) { + MMAccessor estop(estop_id); + if(estop.checkin(estop->getStopped())) + cmdsock->printf("on\n"); + else + cmdsock->printf("off\n"); + } else { + serr->printf("EStopControllerBehavior::runCommand() - bad message: '%s'",s.c_str()); + } + } + + void EStopControllerBehavior::processEvent(const EventBase & e) { + if(e.getTypeID()==EventBase::activateETID) { + cmdsock->printf("on\n"); + } else if(e.getTypeID()==EventBase::deactivateETID) { + cmdsock->printf("off\n"); + } + } + + // The command packet reassembly mechanism + int EStopControllerBehavior::callback(char *buf, int bytes) { + static std::string cmd; + for(int i=0; irunCommand(cmd); + cmd.clear(); + } else + cmd+=buf[i]; + } + return 0; + } + + /*! @file + * @brief Implements EStopControllerBehavior, listens to commands coming in from the command port for remotely controlling toggling the estop + * @author tss (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.2 $ + * $State: Exp $ + * $Date: 2003/07/09 02:34:49 $ + */ + Index: AiboPup/Behaviors/Demos/EStopControllerBehavior.h diff -c /dev/null AiboPup/Behaviors/Demos/EStopControllerBehavior.h:1.1 *** /dev/null Tue Jul 8 22:31:39 2003 --- AiboPup/Behaviors/Demos/EStopControllerBehavior.h Mon Jul 7 03:08:27 2003 *************** *** 0 **** --- 1,74 ---- + //-*-c++-*- + #ifndef INCLUDED_EStopControllerBehavior_h_ + #define INCLUDED_EStopControllerBehavior_h_ + + #include + #include "Wireless/Wireless.h" + #include "Behaviors/BehaviorBase.h" + #include "Motion/MotionManager.h" + #include "Events/EventRouter.h" + #include "Events/EventBase.h" + #include "Shared/Config.h" + + //! Listens to control commands coming in from the command port for remotely controlling the head + class EStopControllerBehavior : public BehaviorBase { + + public: + //! Points to the one EStopControllerBehavior object that the input + //! command stream is talking to. A kludge. Dunno how you're gonna + //! make sure you're not using this uninitialized. + static EStopControllerBehavior * theOne; + static int callback(char *buf, int bytes); //!< called by wireless when there's new data + + public: + //! constructor + EStopControllerBehavior(MotionManager::MC_ID estop) + : BehaviorBase(), + cmdsock(wireless->socket(SocketNS::SOCK_STREAM, 256, 256)), + estop_id(estop) + { + theOne=this; + } + //! destructor + virtual ~EStopControllerBehavior() { } + + virtual void DoStart(); + + virtual void DoStop(); + + virtual void processEvent(const EventBase &); + + virtual std::string getName() const { return "EStop Remote Control"; } + static std::string getClassDescription() { + char tmp[20]; + sprintf(tmp,"%d",config->main.estopControl_port); + return std::string("Listens to estop commands coming in from port ")+tmp; + } + + virtual void runCommand(std::string s); + + protected: + //! The input command stream socket + Socket *cmdsock; + + //! The estop to control + MotionManager::MC_ID estop_id; + + private: + EStopControllerBehavior(const EStopControllerBehavior&); //!< don't call + EStopControllerBehavior operator=(const EStopControllerBehavior&); //!< don't call + + }; + + /*! @file + * @brief Describes EStopControllerBehavior, listens to control commands coming in from the command port for remotely toggling the estop + * @author tss (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.2 $ + * $State: Exp $ + * $Date: 2003/07/09 02:34:49 $ + */ + + #endif Index: AiboPup/Behaviors/Demos/HeadPointControllerBehavior.cc diff -c /dev/null AiboPup/Behaviors/Demos/HeadPointControllerBehavior.cc:1.1 *** /dev/null Tue Jul 8 22:31:39 2003 --- AiboPup/Behaviors/Demos/HeadPointControllerBehavior.cc Sun Jul 6 21:00:08 2003 *************** *** 0 **** --- 1,125 ---- + #include "HeadPointControllerBehavior.h" + #include "Behaviors/Controller.h" + #include "Motion/MMAccessor.h" + + HeadPointControllerBehavior* HeadPointControllerBehavior::theOne = NULL; + + void HeadPointControllerBehavior::runCommand(unsigned char *command) { + // First, turn off the stop-if-no-heartbeat timer + erouter->removeTimer(this); + + // Extract the command parameter + float param; + unsigned char *paramp = (unsigned char *) ¶m; + + paramp[0] = command[1]; + paramp[1] = command[2]; + paramp[2] = command[3]; + paramp[3] = command[4]; + + // Find out what type of command this is + switch(command[0]) { + case CMD_tilt: + t = param*outputRanges[HeadOffset+TiltOffset][MaxRange]; + break; + case CMD_pan: + p = param*outputRanges[HeadOffset+PanOffset][MaxRange]; + break; + case CMD_roll: + r = param*outputRanges[HeadOffset+RollOffset][MaxRange]; + break; + default: + cout << "MECHA: unknown command " << command[0] << endl; + } + + // If the command was a new motion command, apply the + // new motion parameters: + switch(command[0]) { + case CMD_tilt: + case CMD_pan: + case CMD_roll: + { + MMAccessor head(head_id); + head->setJoints(t,p,r); + } + } + + // Reset the stop-if-no-heartbeat timer -- if we don't + // hear from the mothership in three seconds, stop immediately. + erouter->addTimer(this, 0, 3000, false); + } + + void HeadPointControllerBehavior::DoStart() { + // Behavior startup + BehaviorBase::DoStart(); + // We listen to timers + erouter->addListener(this, EventBase::timerEGID); + // Enable head control + head_id = motman->addMotion(SharedObject()); + // Turn on wireless + wireless->setReceiver(cmdsock->sock, mechacmd_callback); + wireless->listen(cmdsock->sock, config->main.headControl_port); + // Open the WalkGUI on the desktop + Controller::loadGUI("HeadPointGUI","HeadPointGUI",config->main.headControl_port); + } + + void HeadPointControllerBehavior::DoStop() { + // Close the GUI + Controller::closeGUI("HeadPointGUI"); + // Turn off timers + erouter->forgetListener(this); + // Close socket; turn wireless off + wireless->close(cmdsock); + // Disable head pointer + motman->removeMotion(head_id); + // Total behavior stop + BehaviorBase::DoStop(); + } + + // The command packet reassembly mechanism + int HeadPointControllerBehavior::mechacmd_callback(char *buf, int bytes) { + static char cb_buf[5]; + static int cb_buf_filled; + + // If there's an incomplete command in the command buffer, fill + // up as much of the command buffer as we can and then execute it + // if possible + if(cb_buf_filled) { + while((cb_buf_filled < 5) && bytes) { + cb_buf[cb_buf_filled++] = *buf++; // copy incoming buffer byte + --bytes; // decrement remaining byte ct. + } + // did we fill it? if so, execute! and mark buffer empty. + if(cb_buf_filled == 5) { + if(HeadPointControllerBehavior::theOne) HeadPointControllerBehavior::theOne->runCommand((unsigned char*) cb_buf); + cb_buf_filled = 0; + } + } + + // now execute all complete bytes in the incoming buffer + while(bytes >= 5) { + if(HeadPointControllerBehavior::theOne) HeadPointControllerBehavior::theOne->runCommand((unsigned char *) buf); + bytes -= 5; + buf += 5; + } + + // finally, store all remaining bytes in the command buffer + while(bytes) { + cb_buf[cb_buf_filled++] = *buf++; + --bytes; + } + + return 0; + } + + /*! @file + * @brief Implements HeadPointControllerBehavior, listens to control commands coming in from the command port for remotely controlling the head + * @author tss (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.2 $ + * $State: Exp $ + * $Date: 2003/07/09 02:34:49 $ + */ + Index: AiboPup/Behaviors/Demos/HeadPointControllerBehavior.h diff -c /dev/null AiboPup/Behaviors/Demos/HeadPointControllerBehavior.h:1.1 *** /dev/null Tue Jul 8 22:31:39 2003 --- AiboPup/Behaviors/Demos/HeadPointControllerBehavior.h Sun Jul 6 21:00:08 2003 *************** *** 0 **** --- 1,92 ---- + //-*-c++-*- + #ifndef INCLUDED_HeadPointControllerBehavior_h_ + #define INCLUDED_HeadPointControllerBehavior_h_ + + #include + #include "Wireless/Wireless.h" + #include "Behaviors/BehaviorBase.h" + #include "Motion/MotionManager.h" + #include "Motion/HeadPointerMC.h" + #include "Events/EventRouter.h" + #include "Events/EventBase.h" + #include "Shared/Config.h" + + //! Listens to control commands coming in from the command port for remotely controlling the head + class HeadPointControllerBehavior : public BehaviorBase { + + public: + //! Points to the one HeadPointControllerBehavior object that the input + //! command stream is talking to. A kludge. Dunno how you're gonna + //! make sure you're not using this uninitialized. + static HeadPointControllerBehavior * theOne; + static int mechacmd_callback(char *buf, int bytes); //!< called by wireless when there's new data + + protected: + MotionManager::MC_ID head_id; //!< the HeadPointerMC to use + + private: + //!@name Command Bytes + static const char CMD_tilt = 't'; //!< handy symbol for matching incoming communication + static const char CMD_pan = 'p'; + static const char CMD_roll = 'r'; + //@} + + float t; //!< head parameter + float p; //!< head parameter + float r; //!< head parameter + + //! The last HPCB object that was theOne, so we can restore it + //! to prominence when we die. This is a nice gesture, but it doesn't + //! really make sense since we're all using the same port. But just + //! in case something changes and we don't do that, this mechanism + //! is in place. + HeadPointControllerBehavior *theLastOne; + + //! The input command stream socket + Socket *cmdsock; + + //! Executes a command. Called by mechacmd_callback. + void runCommand(unsigned char *command); + + HeadPointControllerBehavior(const HeadPointControllerBehavior&); //!< don't call + HeadPointControllerBehavior operator=(const HeadPointControllerBehavior&); //!< don't call + + public: + //! constructor + HeadPointControllerBehavior() : + BehaviorBase(), + head_id(MotionManager::invalid_MC_ID), + t(0), p(0), r(0), + theLastOne(theOne), + cmdsock(wireless->socket(SocketNS::SOCK_STREAM, 2048, 2048)) + { theOne = this; } + //! destructor + virtual ~HeadPointControllerBehavior() { theOne = theLastOne; } + + virtual void DoStart(); + + virtual void DoStop(); + + //! The only event we could possibly receive is the stop-if-no-heartbeat timer. + virtual void processEvent(const EventBase &) {} + + virtual std::string getName() const { return "Head Remote Control"; } + static std::string getClassDescription() { + char tmp[20]; + sprintf(tmp,"%d",config->main.headControl_port); + return std::string("Listens to head control commands coming in from port ")+tmp; + } + }; + + /*! @file + * @brief Describes HeadPointControllerBehavior, listens to control commands coming in from the command port for remotely controlling the head + * @author tss (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.2 $ + * $State: Exp $ + * $Date: 2003/07/09 02:34:49 $ + */ + + #endif Index: AiboPup/Behaviors/Demos/MechaControllerBehavior.cc diff -c AiboPup/Behaviors/Demos/MechaControllerBehavior.cc:1.2 AiboPup/Behaviors/Demos/MechaControllerBehavior.cc:removed *** AiboPup/Behaviors/Demos/MechaControllerBehavior.cc:1.2 Thu Jun 12 19:41:39 2003 --- AiboPup/Behaviors/Demos/MechaControllerBehavior.cc Tue Jul 8 22:31:39 2003 *************** *** 1,159 **** - #include "MechaControllerBehavior.h" - - MechaControllerBehavior* MechaControllerBehavior::theOneMCB = NULL; - - void MechaControllerBehavior::runCommand(unsigned char *command) { - // First, turn off the stop-if-no-heartbeat timer - erouter->removeTimer(this); - - // Extract the command parameter - float param; - unsigned char *paramp = (unsigned char *) ¶m; - - paramp[0] = command[1]; - paramp[1] = command[2]; - paramp[2] = command[3]; - paramp[3] = command[4]; - - // Find out what type of command this is - switch(command[0]) { - case CMD_fwd: - dx = param; - break; - case CMD_roto: - da = param; - break; - case CMD_side: - dy = param; - break; - case CMD_opt0: - { - HeadPointerMC *head = - (HeadPointerMC*)motman->checkoutMotion(head_id); - head->setJoints(0,0,0); - motman->checkinMotion(head_id); - break; - } - case CMD_opt1: - case CMD_opt2: - case CMD_opt3: - case CMD_opt4: - cout << "MECHA: hey, reprogram this button!" << endl; - break; - case CMD_opt5: - sndman->PlayFile("howl.wav"); - break; - case CMD_opt6: - sndman->PlayFile("yap.wav"); - break; - case CMD_opt7: - sndman->PlayFile("whimper.wav"); - break; - case CMD_opt8: - sndman->PlayFile("growl.wav"); - break; - case CMD_opt9: - sndman->PlayFile("barkmed.wav"); - break; - // The options button commands. - default: - cout << "MECHA: unknown command " << command[0] << endl; - } - - // If the command was a new motion command, apply the - // new motion parameters: - switch(command[0]) { - case CMD_fwd: - case CMD_roto: - case CMD_side: - { - WalkMC *walker = - (WalkMC*)motman->checkoutMotion(walker_id); - walker->setTargetVelocity(dx,dy,da); - motman->checkinMotion(walker_id); - } - } - - // Reset the stop-if-no-heartbeat timer -- if we don't - // hear from the mothership in three seconds, stop immediately. - erouter->addTimer(this, 0, 3000, false); - } - - void MechaControllerBehavior::DoStart() { - // Behavior startup - BehaviorBase::DoStart(); - // We listen to timers - erouter->addListener(this, EventBase::timerEGID); - // Enable walker - walker_id = motman->addMotion(SharedObject()); - // Enable head control - head_id = motman->addMotion(SharedObject()); - // Turn on wireless - wireless->setReceiver(cmdsock->sock, mechacmd_callback); - wireless->listen(cmdsock->sock, config->main.mecha_port); - } - - void MechaControllerBehavior::DoStop() { - // Turn off timers - erouter->forgetListener(this); - // Close socket; turn wireless off - wireless->close(cmdsock); - // Stop moving - WalkMC *walker = (WalkMC*)motman->checkoutMotion(walker_id); - walker->setTargetVelocity(0,0,0); - motman->checkinMotion(walker_id); - // Disable walker - motman->removeMotion(walker_id); - // Disable head pointer - motman->removeMotion(head_id); - // Total behavior stop - BehaviorBase::DoStop(); - } - - // The command packet reassembly mechanism - int MechaControllerBehavior::mechacmd_callback(char *buf, int bytes) { - static char cb_buf[5]; - static int cb_buf_filled; - - // If there's an incomplete command in the command buffer, fill - // up as much of the command buffer as we can and then execute it - // if possible - if(cb_buf_filled) { - while((cb_buf_filled < 5) && bytes) { - cb_buf[cb_buf_filled++] = *buf++; // copy incoming buffer byte - --bytes; // decrement remaining byte ct. - } - // did we fill it? if so, execute! and mark buffer empty. - if(cb_buf_filled == 5) { - if(MechaControllerBehavior::theOneMCB) MechaControllerBehavior::theOneMCB->runCommand((unsigned char*) cb_buf); - cb_buf_filled = 0; - } - } - - // now execute all complete bytes in the incoming buffer - while(bytes >= 5) { - if(MechaControllerBehavior::theOneMCB) MechaControllerBehavior::theOneMCB->runCommand((unsigned char *) buf); - bytes -= 5; - buf += 5; - } - - // finally, store all remaining bytes in the command buffer - while(bytes) { - cb_buf[cb_buf_filled++] = *buf++; - --bytes; - } - - return 0; - } - - /*! @file - * @brief Implements MechaControllerBehavior, listens to mecha control commands coming in from the command port for remotely controlling the walk - * @author tss (Creator) - * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.2 $ - * $State: Exp $ - * $Date: 2003/07/09 02:34:49 $ - */ - --- 0 ---- Index: AiboPup/Behaviors/Demos/MechaControllerBehavior.h diff -c AiboPup/Behaviors/Demos/MechaControllerBehavior.h:1.5 AiboPup/Behaviors/Demos/MechaControllerBehavior.h:removed *** AiboPup/Behaviors/Demos/MechaControllerBehavior.h:1.5 Thu Jun 12 19:41:40 2003 --- AiboPup/Behaviors/Demos/MechaControllerBehavior.h Tue Jul 8 22:31:39 2003 *************** *** 1,106 **** - //-*-c++-*- - #ifndef INCLUDED_MechaControllerBehavior_h_ - #define INCLUDED_MechaControllerBehavior_h_ - - #include - #include "Wireless/Wireless.h" - #include "Behaviors/BehaviorBase.h" - #include "Motion/MotionManager.h" - #include "Motion/WalkMC.h" - #include "Motion/HeadPointerMC.h" - #include "Events/EventRouter.h" - #include "Events/EventBase.h" - #include "SoundPlay/SoundManager.h" - #include "Shared/Config.h" - - //! Listens to mecha control commands coming in from the command port for remotely controlling the walk - class MechaControllerBehavior : public BehaviorBase { - - public: - //! Points to the one MechaControllerBehavior object that the input - //! command stream is talking to. A kludge. Dunno how you're gonna - //! make sure you're not using this uninitialized. - static MechaControllerBehavior * theOneMCB; - static int mechacmd_callback(char *buf, int bytes); //!< called by wireless when there's new data - - protected: - MotionManager::MC_ID walker_id; //!< the WalkMC to use - MotionManager::MC_ID head_id; //!< the HeadPointerMC to use - - private: - //!@name Command Bytes - static const char CMD_fwd = 'f'; //!< handy symbol for matching incoming communication - static const char CMD_roto = 'r'; - static const char CMD_side = 's'; - static const char CMD_opt0 = '0'; - static const char CMD_opt1 = '1'; - static const char CMD_opt2 = '2'; - static const char CMD_opt3 = '3'; - static const char CMD_opt4 = '4'; - static const char CMD_opt5 = '5'; - static const char CMD_opt6 = '6'; - static const char CMD_opt7 = '7'; - static const char CMD_opt8 = '8'; - static const char CMD_opt9 = '9'; - //@} - - float dx; //!< Motion parameter - float dy; //!< Motion parameter - float da; //!< Motion parameter - - //! The last MCB object that was theOneMCB, so we can restore it - //! to prominence when we die. This is a nice gesture, but it doesn't - //! really make sense since we're all using the same port. But just - //! in case something changes and we don't do that, this mechanism - //! is in place. - MechaControllerBehavior *theLastOneMCB; - - //! The input command stream socket - Socket *cmdsock; - - //! Executes a command. Called by mechacmd_callback. - void runCommand(unsigned char *command); - - MechaControllerBehavior(const MechaControllerBehavior&); //!< don't call - MechaControllerBehavior operator=(const MechaControllerBehavior&); //!< don't call - - public: - //! constructor - MechaControllerBehavior() : - BehaviorBase(), - walker_id(MotionManager::invalid_MC_ID), - head_id(MotionManager::invalid_MC_ID), - dx(0), dy(0), da(0), - theLastOneMCB(theOneMCB), - cmdsock(wireless->socket(SocketNS::SOCK_STREAM, 2048, 2048)) - { theOneMCB = this; } - //! destructor - virtual ~MechaControllerBehavior() { theOneMCB = theLastOneMCB; } - - virtual void DoStart(); - - virtual void DoStop(); - - //! The only event we could possibly receive is the stop-if-no-heartbeat timer. - virtual void processEvent(const EventBase &) { - WalkMC *walker = (WalkMC*)motman->checkoutMotion(walker_id); - walker->setTargetVelocity(0,0,0); - motman->checkinMotion(walker_id); - } - - virtual std::string getName() const { return "MechaController"; } - static std::string getClassDescription() { return "Listens to mecha control commands coming in from the command port."; } - }; - - /*! @file - * @brief Describes MechaControllerBehavior, listens to mecha control commands coming in from the command port for remotely controlling the walk - * @author tss (Creator) - * - * $Author: ejt $ - * $Name: HEAD $ - * $Revision: 1.2 $ - * $State: Exp $ - * $Date: 2003/07/09 02:34:49 $ - */ - - #endif --- 0 ---- Index: AiboPup/Behaviors/Demos/ToggleHeadLightBehavior.h diff -c /dev/null AiboPup/Behaviors/Demos/ToggleHeadLightBehavior.h:1.1 *** /dev/null Tue Jul 8 22:31:39 2003 --- AiboPup/Behaviors/Demos/ToggleHeadLightBehavior.h Sat Jun 28 14:03:57 2003 *************** *** 0 **** --- 1,49 ---- + //-*-c++-*- + #ifndef INCLUDED_ToggleHeadLightBehavior_h_ + #define INCLUDED_ToggleHeadLightBehavior_h_ + + #include "Shared/SharedObject.h" + #include "Motion/PostureMC.h" + #include "Shared/ERS220Info.h" + + //! opens or closes the head light on an ERS-220 + class ToggleHeadLightBehavior : public BehaviorBase { + public: + //! constructor + ToggleHeadLightBehavior() : BehaviorBase(), light_id(MotionManager::invalid_MC_ID) {} + + //! opens the head light + virtual void DoStart() { + BehaviorBase::DoStart(); + if(state->robotDesign & WorldState::ERS220Mask) { + SharedObject pose; + pose->setOutputCmd(ERS220Info::RetractableHeadLEDOffset,true); + light_id=motman->addMotion(pose,false); + } + } + + //! resets the head light + virtual void DoStop() { + motman->removeMotion(light_id); + } + + static std::string getClassDescription() { return "Opens or closes the head light on an ERS-220"; } + + std::string getName() const { return "ToggleHeadLightBehavior"; } + + protected: + MotionManager::MC_ID light_id; + }; + + /*! @file + * @brief Defines ToggleHeadLightBehavior, which will open or close the head light on an ERS-220 + * @author ejt (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.2 $ + * $State: Exp $ + * $Date: 2003/07/09 02:34:49 $ + */ + + #endif Index: AiboPup/Behaviors/Demos/WalkControllerBehavior.cc diff -c /dev/null AiboPup/Behaviors/Demos/WalkControllerBehavior.cc:1.1 *** /dev/null Tue Jul 8 22:31:39 2003 --- AiboPup/Behaviors/Demos/WalkControllerBehavior.cc Sun Jul 6 21:00:08 2003 *************** *** 0 **** --- 1,154 ---- + #include "WalkControllerBehavior.h" + #include "Behaviors/Controller.h" + + WalkControllerBehavior* WalkControllerBehavior::theOne = NULL; + + void WalkControllerBehavior::runCommand(unsigned char *command) { + // First, turn off the stop-if-no-heartbeat timer + erouter->removeTimer(this); + + // Extract the command parameter + float param; + unsigned char *paramp = (unsigned char *) ¶m; + + paramp[0] = command[1]; + paramp[1] = command[2]; + paramp[2] = command[3]; + paramp[3] = command[4]; + + // Find out what type of command this is + switch(command[0]) { + case CMD_fwd: + dx = param; + break; + case CMD_roto: + da = param; + break; + case CMD_side: + dy = param; + break; + case CMD_opt0: + { + /* HeadPointerMC *head = + (HeadPointerMC*)motman->checkoutMotion(head_id); + head->setJoints(0,0,0); + motman->checkinMotion(head_id);*/ + break; + } + case CMD_opt1: + case CMD_opt2: + case CMD_opt3: + case CMD_opt4: + cout << "MECHA: hey, reprogram this button!" << endl; + break; + case CMD_opt5: + sndman->PlayFile("howl.wav"); + break; + case CMD_opt6: + sndman->PlayFile("yap.wav"); + break; + case CMD_opt7: + sndman->PlayFile("whimper.wav"); + break; + case CMD_opt8: + sndman->PlayFile("growl.wav"); + break; + case CMD_opt9: + sndman->PlayFile("barkmed.wav"); + break; + // The options button commands. + default: + cout << "MECHA: unknown command " << command[0] << endl; + } + + // If the command was a new motion command, apply the + // new motion parameters: + switch(command[0]) { + case CMD_fwd: + case CMD_roto: + case CMD_side: + { + MMAccessor walker(walker_id); + walker->setTargetVelocity(dx,dy,da); + } + } + + // Reset the stop-if-no-heartbeat timer -- if we don't + // hear from the mothership in three seconds, stop immediately. + erouter->addTimer(this, 0, 3000, false); + } + + void WalkControllerBehavior::DoStart() { + // Behavior startup + BehaviorBase::DoStart(); + // We listen to timers + erouter->addListener(this, EventBase::timerEGID); + // Enable walker + walker_id = motman->addMotion(SharedObject()); + // Turn on wireless + wireless->setReceiver(cmdsock->sock, mechacmd_callback); + wireless->listen(cmdsock->sock, config->main.walkControl_port); + // Open the WalkGUI on the desktop + Controller::loadGUI("WalkGUI","WalkGUI",config->main.walkControl_port); + } + + void WalkControllerBehavior::DoStop() { + // Close the GUI + Controller::closeGUI("WalkGUI"); + // Turn off timers + erouter->forgetListener(this); + // Close socket; turn wireless off + wireless->close(cmdsock); + // Disable walker + motman->removeMotion(walker_id); + // Total behavior stop + BehaviorBase::DoStop(); + } + + // The command packet reassembly mechanism + int WalkControllerBehavior::mechacmd_callback(char *buf, int bytes) { + static char cb_buf[5]; + static int cb_buf_filled; + + // If there's an incomplete command in the command buffer, fill + // up as much of the command buffer as we can and then execute it + // if possible + if(cb_buf_filled) { + while((cb_buf_filled < 5) && bytes) { + cb_buf[cb_buf_filled++] = *buf++; // copy incoming buffer byte + --bytes; // decrement remaining byte ct. + } + // did we fill it? if so, execute! and mark buffer empty. + if(cb_buf_filled == 5) { + if(WalkControllerBehavior::theOne) WalkControllerBehavior::theOne->runCommand((unsigned char*) cb_buf); + cb_buf_filled = 0; + } + } + + // now execute all complete bytes in the incoming buffer + while(bytes >= 5) { + if(WalkControllerBehavior::theOne) WalkControllerBehavior::theOne->runCommand((unsigned char *) buf); + bytes -= 5; + buf += 5; + } + + // finally, store all remaining bytes in the command buffer + while(bytes) { + cb_buf[cb_buf_filled++] = *buf++; + --bytes; + } + + return 0; + } + + /*! @file + * @brief Implements WalkControllerBehavior, listens to mecha control commands coming in from the command port for remotely controlling the walk + * @author tss (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.2 $ + * $State: Exp $ + * $Date: 2003/07/09 02:34:49 $ + */ + Index: AiboPup/Behaviors/Demos/WalkControllerBehavior.h diff -c /dev/null AiboPup/Behaviors/Demos/WalkControllerBehavior.h:1.1 *** /dev/null Tue Jul 8 22:31:39 2003 --- AiboPup/Behaviors/Demos/WalkControllerBehavior.h Sun Jul 6 21:00:08 2003 *************** *** 0 **** --- 1,107 ---- + //-*-c++-*- + #ifndef INCLUDED_WalkControllerBehavior_h_ + #define INCLUDED_WalkControllerBehavior_h_ + + #include + #include "Wireless/Wireless.h" + #include "Behaviors/BehaviorBase.h" + #include "Motion/MotionManager.h" + #include "Motion/WalkMC.h" + #include "Motion/MMAccessor.h" + #include "Events/EventRouter.h" + #include "Events/EventBase.h" + #include "SoundPlay/SoundManager.h" + #include "Shared/Config.h" + + //! Listens to control commands coming in from the command port for remotely controlling the walk + class WalkControllerBehavior : public BehaviorBase { + + public: + //! Points to the one WalkControllerBehavior object that the input + //! command stream is talking to. A kludge. Dunno how you're gonna + //! make sure you're not using this uninitialized. + static WalkControllerBehavior * theOne; + static int mechacmd_callback(char *buf, int bytes); //!< called by wireless when there's new data + + protected: + MotionManager::MC_ID walker_id; //!< the WalkMC to use + + private: + //!@name Command Bytes + static const char CMD_fwd = 'f'; //!< handy symbol for matching incoming communication + static const char CMD_roto = 'r'; + static const char CMD_side = 's'; + static const char CMD_opt0 = '0'; + static const char CMD_opt1 = '1'; + static const char CMD_opt2 = '2'; + static const char CMD_opt3 = '3'; + static const char CMD_opt4 = '4'; + static const char CMD_opt5 = '5'; + static const char CMD_opt6 = '6'; + static const char CMD_opt7 = '7'; + static const char CMD_opt8 = '8'; + static const char CMD_opt9 = '9'; + //@} + + float dx; //!< Motion parameter + float dy; //!< Motion parameter + float da; //!< Motion parameter + + //! The last WCB object that was theOne, so we can restore it + //! to prominence when we die. This is a nice gesture, but it doesn't + //! really make sense since we're all using the same port. But just + //! in case something changes and we don't do that, this mechanism + //! is in place. + WalkControllerBehavior *theLastOne; + + //! The input command stream socket + Socket *cmdsock; + + //! Executes a command. Called by mechacmd_callback. + void runCommand(unsigned char *command); + + WalkControllerBehavior(const WalkControllerBehavior&); //!< don't call + WalkControllerBehavior operator=(const WalkControllerBehavior&); //!< don't call + + public: + //! constructor + WalkControllerBehavior() : + BehaviorBase(), + walker_id(MotionManager::invalid_MC_ID), + dx(0), dy(0), da(0), + theLastOne(theOne), + cmdsock(wireless->socket(SocketNS::SOCK_STREAM, 2048, 2048)) + { theOne = this; } + //! destructor + virtual ~WalkControllerBehavior() { theOne = theLastOne; } + + virtual void DoStart(); + + virtual void DoStop(); + + //! The only event we could possibly receive is the stop-if-no-heartbeat timer. + virtual void processEvent(const EventBase &) { + MMAccessor walker(walker_id); + walker->setTargetVelocity(0,0,0); + } + + virtual std::string getName() const { return "Walk Remote Control"; } + static std::string getClassDescription() { + char tmp[20]; + sprintf(tmp,"%d",config->main.walkControl_port); + return std::string("Listens to walk control commands coming in from port ")+tmp; + } + }; + + /*! @file + * @brief Describes WalkControllerBehavior, listens to control commands coming in from the command port for remotely controlling the walk + * @author tss (Creator) + * + * $Author: ejt $ + * $Name: HEAD $ + * $Revision: 1.2 $ + * $State: Exp $ + * $Date: 2003/07/09 02:34:49 $ + */ + + #endif Index: AiboPup/Motion/HeadPointerMC.h diff -c AiboPup/Motion/HeadPointerMC.h:1.4 AiboPup/Motion/HeadPointerMC.h:1.5 *** AiboPup/Motion/HeadPointerMC.h:1.4 Tue Mar 4 00:46:05 2003 --- AiboPup/Motion/HeadPointerMC.h Sun Jul 6 21:00:08 2003 *************** *** 7,13 **** #include "Shared/RobotInfo.h" //! This class gives some quick and easy functions to point the head at things - /*! @note This class does not autoprune by default, which is contrary to the default of most other MotionCommands. */ class HeadPointerMC : public MotionCommand { public: //! constructor, defaults to active, BodyRelative, all joints at 0 --- 7,12 ---- *************** *** 67,76 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ #endif --- 66,75 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ #endif Index: AiboPup/Motion/TailWagMC.h diff -c AiboPup/Motion/TailWagMC.h:1.3 AiboPup/Motion/TailWagMC.h:1.4 *** AiboPup/Motion/TailWagMC.h:1.3 Thu Jun 12 19:41:40 2003 --- AiboPup/Motion/TailWagMC.h Tue Jul 8 20:10:57 2003 *************** *** 18,24 **** virtual int updateOutputs() { if(active && state->robotDesign&WorldState::ERS210Mask) { for(unsigned int i=0; isetOutput(this,ERS210Info::TailOffset+PanOffset,pans); motman->setOutput(this,ERS210Info::TailOffset+TiltOffset,tilt); return 1; --- 18,24 ---- virtual int updateOutputs() { if(active && state->robotDesign&WorldState::ERS210Mask) { for(unsigned int i=0; isetOutput(this,ERS210Info::TailOffset+PanOffset,pans); motman->setOutput(this,ERS210Info::TailOffset+TiltOffset,tilt); return 1; *************** *** 51,60 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ #endif --- 51,60 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ #endif Index: AiboPup/Shared/Config.cc diff -c AiboPup/Shared/Config.cc:1.12 AiboPup/Shared/Config.cc:1.14 *** AiboPup/Shared/Config.cc:1.12 Thu Jun 12 19:41:40 2003 --- AiboPup/Shared/Config.cc Mon Jul 7 00:32:47 2003 *************** *** 99,106 **** main.wsjoints_port=atoi(value); } else if (strncasecmp(key,"wspids_port",29)==0) { main.wspids_port=atoi(value); ! } else if (strncasecmp(key,"mecha_port",29)==0) { ! main.mecha_port=atoi(value); } else if (strncasecmp(key,"aibo3d_port",29)==0) { main.aibo3d_port=atoi(value); } else if (strncasecmp(key,"use_VT100",29)==0) { --- 99,110 ---- main.wsjoints_port=atoi(value); } else if (strncasecmp(key,"wspids_port",29)==0) { main.wspids_port=atoi(value); ! } else if (strncasecmp(key,"headControl_port",29)==0) { ! main.headControl_port=atoi(value); ! } else if (strncasecmp(key,"walkControl_port",29)==0) { ! main.walkControl_port=atoi(value); ! } else if (strncasecmp(key,"estopControl_port",29)==0) { ! main.estopControl_port=atoi(value); } else if (strncasecmp(key,"aibo3d_port",29)==0) { main.aibo3d_port=atoi(value); } else if (strncasecmp(key,"use_VT100",29)==0) { *************** *** 187,195 **** * @author alokl (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ --- 191,199 ---- * @author alokl (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ Index: AiboPup/Shared/Config.h diff -c AiboPup/Shared/Config.h:1.14 AiboPup/Shared/Config.h:1.16 *** AiboPup/Shared/Config.h:1.14 Thu Jun 12 14:06:11 2003 --- AiboPup/Shared/Config.h Mon Jul 7 00:32:47 2003 *************** *** 61,75 **** int verbose_level; //!< controls verbosity of info int wsjoints_port; //!< port to send joint positions on int wspids_port; //!< port to send pid info on ! int mecha_port; //!< port for receiving mecha commands int aibo3d_port; //!< port for send/receive of joint positions from Aibo 3D GUI bool use_VT100; //!< if true, enables VT100 console codes (currently only in Controller menus - 1.3) //!constructor main_config() : console_port(0), stderr_port(0), error_level(0), debug_level(0), ! verbose_level(0),wsjoints_port(0),wspids_port(0),mecha_port(0), ! aibo3d_port(0), use_VT100(true) { } } main; --- 61,77 ---- int verbose_level; //!< controls verbosity of info int wsjoints_port; //!< port to send joint positions on int wspids_port; //!< port to send pid info on ! int headControl_port; //!< port for receiving head commands ! int walkControl_port; //!< port for receiving walk commands ! int estopControl_port; //!< port for receiving walk commands int aibo3d_port; //!< port for send/receive of joint positions from Aibo 3D GUI bool use_VT100; //!< if true, enables VT100 console codes (currently only in Controller menus - 1.3) //!constructor main_config() : console_port(0), stderr_port(0), error_level(0), debug_level(0), ! verbose_level(0),wsjoints_port(0),wspids_port(0),headControl_port(0), ! walkControl_port(0),estopControl_port(0),aibo3d_port(0), use_VT100(true) { } } main; *************** *** 152,161 **** * @author alokl (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ #endif --- 154,163 ---- * @author alokl (Creator) * * $Author: ejt $ ! * $Name: HEAD $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2003/07/09 02:34:49 $ */ #endif Index: AiboPup/TinyFTPD/Makefile diff -c AiboPup/TinyFTPD/Makefile:1.2 AiboPup/TinyFTPD/Makefile:1.3 *** AiboPup/TinyFTPD/Makefile:1.2 Sat Mar 1 15:53:41 2003 --- AiboPup/TinyFTPD/Makefile Mon Jul 7 14:08:12 2003 *************** *** 9,30 **** # implied warranties of fitness for a particular purpose. # ! PREFIX=/usr/local/OPEN_R_SDK INSTALLDIR=../ms ! CXX=$(PREFIX)/bin/mipsel-linux-g++ ! LD=$(PREFIX)/bin/mipsel-linux-ld ! STRIP=$(PREFIX)/bin/mipsel-linux-strip ! MKBIN=$(PREFIX)/OPEN_R/bin/mkbin ! STUBGEN=$(PREFIX)/OPEN_R/bin/stubgen2 ! MKBINFLAGS=-p $(PREFIX) ! LIBS=-L$(PREFIX)/OPEN_R/lib -lObjectComm -lOPENR -lInternet -lantMCOOP CXXFLAGS= \ -O2 \ -g \ -I. \ ! -I$(PREFIX)/OPEN_R/include/R4000 \ ! -I$(PREFIX)/OPEN_R/include/MCOOP \ ! -I$(PREFIX)/OPEN_R/include # # When OPENR_DEBUG is defined, OSYSDEBUG() is available. --- 9,30 ---- # implied warranties of fitness for a particular purpose. # ! OPENRSDK_ROOT?=/usr/local/OPEN_R_SDK INSTALLDIR=../ms ! CXX=$(OPENRSDK_ROOT)/bin/mipsel-linux-g++ ! LD=$(OPENRSDK_ROOT)/bin/mipsel-linux-ld ! STRIP=$(OPENRSDK_ROOT)/bin/mipsel-linux-strip ! MKBIN=$(OPENRSDK_ROOT)/OPEN_R/bin/mkbin ! STUBGEN=$(OPENRSDK_ROOT)/OPEN_R/bin/stubgen2 ! MKBINFLAGS=-p $(OPENRSDK_ROOT) ! LIBS=-L$(OPENRSDK_ROOT)/OPEN_R/lib -lObjectComm -lOPENR -lInternet -lantMCOOP CXXFLAGS= \ -O2 \ -g \ -I. \ ! -I$(OPENRSDK_ROOT)/OPEN_R/include/R4000 \ ! -I$(OPENRSDK_ROOT)/OPEN_R/include/MCOOP \ ! -I$(OPENRSDK_ROOT)/OPEN_R/include # # When OPENR_DEBUG is defined, OSYSDEBUG() is available. Index: AiboPup/docs/doxygencfg diff -c AiboPup/docs/doxygencfg:1.11 AiboPup/docs/doxygencfg:1.13 *** AiboPup/docs/doxygencfg:1.11 Wed Apr 30 22:53:38 2003 --- AiboPup/docs/doxygencfg Tue Jul 8 17:33:12 2003 *************** *** 23,29 **** # This could be handy for archiving the generated documentation or # if some version control system is used. ! PROJECT_NUMBER = 1.2 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) # base path where the generated documentation will be put. --- 23,29 ---- # This could be handy for archiving the generated documentation or # if some version control system is used. ! PROJECT_NUMBER = 1.4 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) # base path where the generated documentation will be put. Index: AiboPup/docs/profilerun_1.4.txt diff -c /dev/null AiboPup/docs/profilerun_1.4.txt:1.2 *** /dev/null Tue Jul 8 22:31:49 2003 --- AiboPup/docs/profilerun_1.4.txt Tue Jul 8 20:00:24 2003 *************** *** 0 **** --- 1,63 ---- + Setup: + Default build for ERS-2xx + Pink ball in view (8.5in from snout) + Press power button, start timer + Telnet to system console (port 59000) + Launch StareAtBallBehavior (leave E-Stop ON) + Navigate to Status Reports -> Profiler + Wait until 5 minutes from initial press of power button. + Recorded profiler run shown below + + ~~~ Main: ~~~ + Profiling information since: 17.873253 to 297.798167 + ReadySendJoints(): + 2173 calls + 0.427711 ms avg + 0.394695 ms exp.avg + 0.000387 ms avg child time (0.000000%) + 0.128443 ms avg inter (7.785550 fps) + 0.127914 ms exp.avg (7.817783 fps) + Exec: 0 0 2106 64 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 1 1 0 0 0 1 0 0 0 2152 15 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 + GotSensorFrame(): + 8674 calls + 0.530607 ms avg + 0.449692 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 0.032127 ms avg inter (31.126039 fps) + 0.031453 ms exp.avg (31.793121 fps) + Exec: 0 0 7999 627 43 4 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 3 6 1704 5164 1794 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 + GotImage(): + 6923 calls + 10.691804 ms avg + 10.515949 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 0.040262 ms avg inter (24.837369 fps) + 0.039959 ms exp.avg (25.025801 fps) + Exec: 0 0 0 0 0 4241 2656 25 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 0 0 3 3 6915 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 + PowerEvent(): + 27 calls + 54.375148 ms avg + 21.879442 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 10.274228 ms avg inter (0.097331 fps) + 14.626130 ms exp.avg (0.068371 fps) + Exec: 0 0 23 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 0 0 0 0 0 0 0 1 0 3 0 0 0 0 0 0 3 6 0 0 0 1 0 2 0 2 0 8 + Bucket distribution (in ms): + 0<0.00802, <0.133, <0.686, <2.2, <5.43, <11.4, <21.2, <36.4, <58.7, <90, <132, <188, <260, <352, <465, <604, <772, <973, <1.21e+03, <1.49e+03, <1.82e+03, <2.19e+03, <2.63e+03, <3.12e+03, <3.68e+03, <4.31e+03, <5.03e+03, <5.82e+03, <6.71e+03, <7.7e+03, <8.79e+03, <1e+04, + ~~~ Motion: ~~~ + Profiling information since: 17.873382 to 297.814179 + ReadySendJoints(): + 8664 calls + 2.678917 ms avg + 2.826717 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 0.032173 ms avg inter (31.082423 fps) + 0.032117 ms exp.avg (31.136164 fps) + Exec: 0 0 0 5690 2934 11 1 2 0 19 7 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 0 2 3 8624 1 23 8 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Bucket distribution (in ms): + 0<0.00802, <0.133, <0.686, <2.2, <5.43, <11.4, <21.2, <36.4, <58.7, <90, <132, <188, <260, <352, <465, <604, <772, <973, <1.21e+03, <1.49e+03, <1.82e+03, <2.19e+03, <2.63e+03, <3.12e+03, <3.68e+03, <4.31e+03, <5.03e+03, <5.82e+03, <6.71e+03, <7.7e+03, <8.79e+03, <1e+04, Index: AiboPup/docs/profilerun_supercore_1.4.txt diff -c /dev/null AiboPup/docs/profilerun_supercore_1.4.txt:1.2 *** /dev/null Tue Jul 8 22:31:49 2003 --- AiboPup/docs/profilerun_supercore_1.4.txt Tue Jul 8 20:00:24 2003 *************** *** 0 **** --- 1,63 ---- + Setup: + Default build for ERS-2xx + Pink ball in view (8.5in from snout) + Press power button, start timer + Telnet to system console (port 59000) + Launch StareAtBallBehavior (leave E-Stop ON) + Navigate to Status Reports -> Profiler + Wait until 5 minutes from initial press of power button. + Recorded profiler run shown below + + ~~~ Main: ~~~ + Profiling information since: 16.514395 to 298.147164 + ReadySendJoints(): + 2188 calls + 0.217932 ms avg + 0.213683 ms exp.avg + 0.001279 ms avg child time (0.500000%) + 0.128304 ms avg inter (7.794019 fps) + 0.128021 ms exp.avg (7.811245 fps) + Exec: 0 0 2186 0 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 1 0 0 0 1 0 0 1 0 2182 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 + GotSensorFrame(): + 8739 calls + 0.329321 ms avg + 0.342395 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 0.032102 ms avg inter (31.151004 fps) + 0.031826 ms exp.avg (31.421064 fps) + Exec: 0 0 8640 93 5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 0 1 1 8698 37 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 + GotImage(): + 6972 calls + 4.063311 ms avg + 4.000539 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 0.040237 ms avg inter (24.852686 fps) + 0.040477 ms exp.avg (24.705526 fps) + Exec: 0 0 0 0 6924 48 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 0 0 1 2 6967 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 + PowerEvent(): + 51 calls + 21.837059 ms avg + 0.561889 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 4.992561 ms avg inter (0.200298 fps) + 6.131495 ms exp.avg (0.163092 fps) + Exec: 0 0 44 6 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 0 0 0 0 0 0 0 0 0 0 9 0 0 0 0 1 0 5 15 0 0 1 2 0 6 0 1 0 10 + Bucket distribution (in ms): + 0<0.00802, <0.133, <0.686, <2.2, <5.43, <11.4, <21.2, <36.4, <58.7, <90, <132, <188, <260, <352, <465, <604, <772, <973, <1.21e+03, <1.49e+03, <1.82e+03, <2.19e+03, <2.63e+03, <3.12e+03, <3.68e+03, <4.31e+03, <5.03e+03, <5.82e+03, <6.71e+03, <7.7e+03, <8.79e+03, <1e+04, + ~~~ Motion: ~~~ + Profiling information since: 16.514479 to 298.151038 + ReadySendJoints(): + 8742 calls + 1.298250 ms avg + 1.066623 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 0.032088 ms avg inter (31.164436 fps) + 0.031972 ms exp.avg (31.277559 fps) + Exec: 0 0 4 8702 9 0 1 0 6 20 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Inter: 0 0 0 3 1 0 3 8700 9 23 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + Bucket distribution (in ms): + 0<0.00802, <0.133, <0.686, <2.2, <5.43, <11.4, <21.2, <36.4, <58.7, <90, <132, <188, <260, <352, <465, <604, <772, <973, <1.21e+03, <1.49e+03, <1.82e+03, <2.19e+03, <2.63e+03, <3.12e+03, <3.68e+03, <4.31e+03, <5.03e+03, <5.82e+03, <6.71e+03, <7.7e+03, <8.79e+03, <1e+04, Index: AiboPup/project/Makefile diff -c AiboPup/project/Makefile:1.23 AiboPup/project/Makefile:1.24 *** AiboPup/project/Makefile:1.23 Fri Jun 13 01:35:44 2003 --- AiboPup/project/Makefile Mon Jul 7 14:08:13 2003 *************** *** 80,101 **** PROC_BINS:=$(addprefix $(BUILDDIR)/,$(addsuffix $(BINSUFFIX),$(PROCESSES))) INSTALL_BINS:=$(addprefix $(INSTALLDIR)/,$(addsuffix $(BINSUFFIX),$(PROCESSES))) ! PREFIX=/usr/local/OPEN_R_SDK ! CXX=$(PREFIX)/bin/mipsel-linux-g++ ! LD=$(PREFIX)/bin/mipsel-linux-ld ! STRIP=$(PREFIX)/bin/mipsel-linux-strip ! MKBIN=$(PREFIX)/OPEN_R/bin/mkbin ! STUBGEN=$(PREFIX)/OPEN_R/bin/stubgen2 FILTERSYSWARN=$(TEKKOTSU_ROOT)/tools/filtersyswarn/filtersyswarn ! MKBINFLAGS=-p $(PREFIX) LIBS=-lObjectComm -lOPENR -lInternet -lantMCOOP CXXFLAGS= \ -g -O2 \ -Wall -W -Wshadow -Wlarger-than-8192 -Wpointer-arith -Wcast-qual \ -Woverloaded-virtual -Weffc++ -Winline -Wdeprecated \ -I. -I$(TEKKOTSU_ROOT) \ ! -isystem $(PREFIX)/OPEN_R/include/MCOOP \ ! -isystem $(PREFIX)/OPEN_R/include/R4000 -isystem $(PREFIX)/OPEN_R/include \ -DPLATFORM_APERIOS -DDEBUG -DOPENR_DEBUG -D$(TEKKOTSU_TARGET_MODEL) $(GLOBAL_MAP) \ all: compile --- 80,101 ---- PROC_BINS:=$(addprefix $(BUILDDIR)/,$(addsuffix $(BINSUFFIX),$(PROCESSES))) INSTALL_BINS:=$(addprefix $(INSTALLDIR)/,$(addsuffix $(BINSUFFIX),$(PROCESSES))) ! OPENRSDK_ROOT?=/usr/local/OPEN_R_SDK ! CXX=$(OPENRSDK_ROOT)/bin/mipsel-linux-g++ ! LD=$(OPENRSDK_ROOT)/bin/mipsel-linux-ld ! STRIP=$(OPENRSDK_ROOT)/bin/mipsel-linux-strip ! MKBIN=$(OPENRSDK_ROOT)/OPEN_R/bin/mkbin ! STUBGEN=$(OPENRSDK_ROOT)/OPEN_R/bin/stubgen2 FILTERSYSWARN=$(TEKKOTSU_ROOT)/tools/filtersyswarn/filtersyswarn ! MKBINFLAGS=-p $(OPENRSDK_ROOT) LIBS=-lObjectComm -lOPENR -lInternet -lantMCOOP CXXFLAGS= \ -g -O2 \ -Wall -W -Wshadow -Wlarger-than-8192 -Wpointer-arith -Wcast-qual \ -Woverloaded-virtual -Weffc++ -Winline -Wdeprecated \ -I. -I$(TEKKOTSU_ROOT) \ ! -isystem $(OPENRSDK_ROOT)/OPEN_R/include/MCOOP \ ! -isystem $(OPENRSDK_ROOT)/OPEN_R/include/R4000 -isystem $(OPENRSDK_ROOT)/OPEN_R/include \ -DPLATFORM_APERIOS -DDEBUG -DOPENR_DEBUG -D$(TEKKOTSU_TARGET_MODEL) $(GLOBAL_MAP) \ all: compile *************** *** 109,120 **** compile: reportTarget Tekkotsu $(OBJS) $(PROC_BINS) $(INSTALL_BINS) @image="$(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))" ; \ if [ \! -d $$image ] ; then \ ! if [ \! -d $(PREFIX)/OPEN_R/MS/WCONSOLE/nomemprot ] ; then \ echo "Could not find OPEN-R system binaries" ; \ exit 1 ; \ fi ; \ echo "Copying system files..." ; \ ! cp -r $(PREFIX)/OPEN_R/MS/WCONSOLE/nomemprot $$image ; \ chmod -R u+w $$image ; \ $(CONVERTCASE) -r $$image ; \ rm -f $$image/open-r/mw/conf/connect.cfg $$image/open-r/mw/conf/object.cfg $$image/open-r/system/conf/wlandflt.txt ; \ --- 109,120 ---- compile: reportTarget Tekkotsu $(OBJS) $(PROC_BINS) $(INSTALL_BINS) @image="$(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))" ; \ if [ \! -d $$image ] ; then \ ! if [ \! -d $(OPENRSDK_ROOT)/OPEN_R/MS/WCONSOLE/nomemprot ] ; then \ echo "Could not find OPEN-R system binaries" ; \ exit 1 ; \ fi ; \ echo "Copying system files..." ; \ ! cp -r $(OPENRSDK_ROOT)/OPEN_R/MS/WCONSOLE/nomemprot $$image ; \ chmod -R u+w $$image ; \ $(CONVERTCASE) -r $$image ; \ rm -f $$image/open-r/mw/conf/connect.cfg $$image/open-r/mw/conf/object.cfg $$image/open-r/system/conf/wlandflt.txt ; \ *************** *** 195,201 **** newstick: $(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT) ! cp -r $(PREFIX)/OPEN_R/MS/WCONSOLE/nomemprot/* $(MEMSTICK_ROOT) $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT) $(FILTERSYSWARN): --- 195,201 ---- newstick: $(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT) ! cp -r $(OPENRSDK_ROOT)/OPEN_R/MS/WCONSOLE/nomemprot/* $(MEMSTICK_ROOT) $(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT) $(FILTERSYSWARN): Index: AiboPup/project/StartupBehavior.cc diff -c AiboPup/project/StartupBehavior.cc:1.31 AiboPup/project/StartupBehavior.cc:1.36 *** AiboPup/project/StartupBehavior.cc:1.31 Fri Jun 13 01:57:06 2003 --- AiboPup/project/StartupBehavior.cc Tue Jul 8 18:29:11 2003 *************** *** 21,27 **** #include "Behaviors/Controls/SavePostureControl.h" #include "Behaviors/Controls/SaveWalkControl.h" #include "Behaviors/Controls/ShutdownControl.h" - #include "Behaviors/Controls/ToggleHeadLightControl.h" #include "Behaviors/Controls/ValueEditControl.h" #include "Behaviors/Controls/ValueSetControl.h" --- 21,26 ---- *************** *** 40,47 **** #include "Behaviors/Demos/WorldModel2Behavior.h" #include "Behaviors/Demos/DumbWM2Behavior.h" #include "Behaviors/Demos/SoundTestBehavior.h" ! #include "Behaviors/Demos/MechaControllerBehavior.h" #include "Behaviors/Demos/Aibo3DControllerBehavior.h" #include "Motion/MotionCommand.h" #include "Motion/PostureMC.h" --- 39,50 ---- #include "Behaviors/Demos/WorldModel2Behavior.h" #include "Behaviors/Demos/DumbWM2Behavior.h" #include "Behaviors/Demos/SoundTestBehavior.h" ! #include "Behaviors/Demos/ToggleHeadLightBehavior.h" ! #include "Behaviors/Demos/WalkControllerBehavior.h" ! #include "Behaviors/Demos/HeadPointControllerBehavior.h" #include "Behaviors/Demos/Aibo3DControllerBehavior.h" + #include "Behaviors/Demos/Aibo3DMonitorBehavior.h" + #include "Behaviors/Demos/EStopControllerBehavior.h" #include "Motion/MotionCommand.h" #include "Motion/PostureMC.h" *************** *** 164,181 **** mcsetup.top()->pushSlot(new BehaviorSwitchControl("WorldModel2Behavior",bg,false)); mcsetup.pop(); } ! mcsetup.top()->pushSlot(new ControlBase("Background Behaviors","Background daemons, servers, and monitors")); { mcsetup.push(mcsetup.top()->getSlots().back()); mcsetup.top()->pushSlot((new BehaviorSwitchControl("AutoGetupBehavior",false))->start()); mcsetup.top()->pushSlot((new BehaviorSwitchControl("BatteryMonitorBehavior",false))->start()); mcsetup.top()->pushSlot(new BehaviorSwitchControl("EvtRptBehavior",false)); mcsetup.top()->pushSlot(new BehaviorSwitchControl("DumbWM2Behavior",false)); ! mcsetup.top()->pushSlot((new BehaviorSwitchControl("MechaController",false))->start()); ! mcsetup.top()->pushSlot((new BehaviorSwitchControl("Aibo3DController",false))->start()); mcsetup.top()->pushSlot(new BehaviorSwitchControl("HeadLevelBehavior",false)); if(state->robotDesign & WorldState::ERS220Mask) ! mcsetup.top()->pushSlot(new ToggleHeadLightControl()); mcsetup.pop(); } mcsetup.top()->pushSlot(new ControlBase("Status Reports","Displays information about the runtime environment on the console")); --- 167,197 ---- mcsetup.top()->pushSlot(new BehaviorSwitchControl("WorldModel2Behavior",bg,false)); mcsetup.pop(); } ! mcsetup.top()->pushSlot(new ControlBase("Background Behaviors","Background daemons and monitors")); { mcsetup.push(mcsetup.top()->getSlots().back()); mcsetup.top()->pushSlot((new BehaviorSwitchControl("AutoGetupBehavior",false))->start()); mcsetup.top()->pushSlot((new BehaviorSwitchControl("BatteryMonitorBehavior",false))->start()); mcsetup.top()->pushSlot(new BehaviorSwitchControl("EvtRptBehavior",false)); mcsetup.top()->pushSlot(new BehaviorSwitchControl("DumbWM2Behavior",false)); ! BehaviorSwitchControlBase::BehaviorGroup * aibo3D_bg = new BehaviorSwitchControlBase::BehaviorGroup(); ! mcsetup.top()->pushSlot((new BehaviorSwitchControl("Aibo3DController",aibo3D_bg,false))); ! mcsetup.top()->pushSlot((new BehaviorSwitchControl("Aibo3DMonitor",aibo3D_bg,false))); mcsetup.top()->pushSlot(new BehaviorSwitchControl("HeadLevelBehavior",false)); if(state->robotDesign & WorldState::ERS220Mask) ! mcsetup.top()->pushSlot(new BehaviorSwitchControl("ToggleHeadLightBehavior",false)); ! mcsetup.pop(); ! } ! mcsetup.top()->pushSlot(new ControlBase("TekkotsuMon","Servers for GUIs")); ! { ! mcsetup.push(mcsetup.top()->getSlots().back()); ! mcsetup.top()->pushSlot((new BehaviorSwitchControl("Head Remote Control",false))); ! mcsetup.top()->pushSlot((new BehaviorSwitchControl("Walk Remote Control",false))); ! BehaviorSwitchControlBase::BehaviorGroup * aibo3D_bg = new BehaviorSwitchControlBase::BehaviorGroup(); ! mcsetup.top()->pushSlot((new BehaviorSwitchControl("Aibo3D Controller",aibo3D_bg,false))); ! mcsetup.top()->pushSlot((new BehaviorSwitchControl("Aibo3D Monitor",aibo3D_bg,false))); ! EStopControllerBehavior * ESCB=new EStopControllerBehavior(stop_id); ! mcsetup.top()->pushSlot((new BehaviorSwitchControl >("EStop Remote Control",ESCB))->start()); mcsetup.pop(); } mcsetup.top()->pushSlot(new ControlBase("Status Reports","Displays information about the runtime environment on the console")); Index: AiboPup/project/ms/config/tekkotsu.cfg diff -c AiboPup/project/ms/config/tekkotsu.cfg:1.15 AiboPup/project/ms/config/tekkotsu.cfg:1.17 *** AiboPup/project/ms/config/tekkotsu.cfg:1.15 Mon Jun 9 04:05:15 2003 --- AiboPup/project/ms/config/tekkotsu.cfg Mon Jul 7 00:32:47 2003 *************** *** 28,35 **** verbose_level=0 wsjoints_port=10031 wspids_port=10032 ! mecha_port=10050 aibo3d_port=10051 use_VT100=true [Behaviors] --- 28,37 ---- verbose_level=0 wsjoints_port=10031 wspids_port=10032 ! walkControl_port=10050 aibo3d_port=10051 + headControl_port=10052 + estopControl_port=10053 use_VT100=true [Behaviors] Index: AiboPup/project/ms/open-r/mw/conf/passwd diff -c AiboPup/project/ms/open-r/mw/conf/passwd:1.1 AiboPup/project/ms/open-r/mw/conf/passwd:1.3 *** AiboPup/project/ms/open-r/mw/conf/passwd:1.1 Sat Mar 1 16:08:29 2003 --- AiboPup/project/ms/open-r/mw/conf/passwd Tue Jul 8 14:01:21 2003 *************** *** 1,2 **** --- 1,5 ---- #user pass /MS/ #guest * /MS/OPEN-R/MW/ + config config /MS/CONFIG/ + data data /MS/DATA/ + Index: AiboPup/project/ms/open-r/system/conf/wlandflt.txt diff -c AiboPup/project/ms/open-r/system/conf/wlandflt.txt:1.9 AiboPup/project/ms/open-r/system/conf/wlandflt.txt:1.12 *** AiboPup/project/ms/open-r/system/conf/wlandflt.txt:1.9 Thu Jun 12 23:23:05 2003 --- AiboPup/project/ms/open-r/system/conf/wlandflt.txt Sun Jul 6 21:00:09 2003 *************** *** 1,5 **** ! HOSTNAME=AIBO ! ETHER_IP=192.168.0.6 ETHER_NETMASK=255.255.255.0 IP_GATEWAY=192.168.0.1 ESSID=AIBONET --- 1,5 ---- ! HOSTNAME=lycra ! ETHER_IP=192.168.0.5 ETHER_NETMASK=255.255.255.0 IP_GATEWAY=192.168.0.1 ESSID=AIBONET Index: AiboPup/tools/umntmem diff -c AiboPup/tools/umntmem:1.4 AiboPup/tools/umntmem:1.5 *** AiboPup/tools/umntmem:1.4 Tue Apr 29 23:55:58 2003 --- AiboPup/tools/umntmem Sat Jun 28 14:03:57 2003 *************** *** 7,13 **** case "`uname`" in CYGWIN*) ! echo "Don't forget to stop your memory stick before removing it."; exit 0; ;; Darwin) --- 7,13 ---- case "`uname`" in CYGWIN*) ! echo "Don't forget to stop your memory stick before removing it. (Unless you have XP)"; exit 0; ;; Darwin) Index: AiboPup/tools/aibo3d/Aibo3D.java diff -c AiboPup/tools/aibo3d/Aibo3D.java:1.2 AiboPup/tools/aibo3d/Aibo3D.java:1.3 *** AiboPup/tools/aibo3d/Aibo3D.java:1.2 Fri Jun 13 01:15:31 2003 --- AiboPup/tools/aibo3d/Aibo3D.java Sat Jun 28 14:03:57 2003 *************** *** 25,36 **** int port=10031; if(args.length>1) port=Integer.parseInt(args[1]); ! new Aibo3D(args[0],port); } ! public Aibo3D(String host, int port) { super("Aibo 3D"); ! setSize(600,400); setup3DCanvas(); loadLW3D("aibo3d.lws"); --- 25,36 ---- int port=10031; if(args.length>1) port=Integer.parseInt(args[1]); ! new Aibo3D(args[0],port,null); } ! public Aibo3D(String host, int port, String args[]) { super("Aibo 3D"); ! setSize(500,500); setup3DCanvas(); loadLW3D("aibo3d.lws"); *************** *** 62,67 **** --- 62,71 ---- // testLimits(forward.thigh_bl,50); } + + void close() { + dispose(); + } void testLimits(AiboJoint j) { float step; Index: AiboPup/tools/aibo3d/Aibo3DPick.java diff -c AiboPup/tools/aibo3d/Aibo3DPick.java:1.4 AiboPup/tools/aibo3d/Aibo3DPick.java:1.6 *** AiboPup/tools/aibo3d/Aibo3DPick.java:1.4 Fri Jun 13 01:15:31 2003 --- AiboPup/tools/aibo3d/Aibo3DPick.java Thu Jul 3 06:01:49 2003 *************** *** 23,29 **** BranchGroup branchGroup; SimpleUniverse universe; BranchGroup root; - // com.tornadolabs.j3dtree.Java3dTree java3dTree; public static void main(String args[]) { if(args.length<1) { --- 23,28 ---- *************** *** 34,43 **** int port=10051; if(args.length>1) port=Integer.parseInt(args[1]); ! new Aibo3DPick(args[0],port); } ! public Aibo3DPick(String host, int port) { super("Aibo 3D"); setSize(600,400); --- 33,42 ---- int port=10051; if(args.length>1) port=Integer.parseInt(args[1]); ! new Aibo3DPick(args[0],port,null); } ! public Aibo3DPick(String host, int port, String args[]) { super("Aibo 3D"); setSize(600,400); *************** *** 46,58 **** forward=new Aibo3DForward(scene); showScene(); - // java3dTree = new com.tornadolabs.j3dtree.Java3dTree(); - // java3dTree.recursiveApplyCapability(root); - // java3dTree.updateNodes(universe); picker.createPicker(); mirrorServer(host,port); } void mirrorListener(String host, int port) { WorldStateJointsListener wsj= new WorldStateJointsListener(host,port); --- 45,58 ---- forward=new Aibo3DForward(scene); showScene(); picker.createPicker(); mirrorServer(host,port); } + void close() { + dispose(); + } + void mirrorListener(String host, int port) { WorldStateJointsListener wsj= new WorldStateJointsListener(host,port); *************** *** 177,182 **** --- 177,183 ---- // recursively set the user data here // so we can find our objects when they are picked + java.util.Enumeration enumValues = namedObjects.elements( ); java.util.Enumeration enumKeys = namedObjects.keys( ); if( enumValues != null ) *************** *** 215,223 **** --- 216,275 ---- root.addChild(transformGroup); } + moveLights(scene.getSceneGroup(), root); + // recursivePrintGroup(root); + return root; } + + void moveLights(Group from, Group to) { + from.setCapability(Group.ALLOW_CHILDREN_READ); + + java.util.Enumeration enumKids = from.getAllChildren(); + while( enumKids.hasMoreElements( ) != false ) { + Object o = enumKids.nextElement(); + if (o instanceof Group) { + moveLights((Group)o, to); + } else if (o instanceof DirectionalLight || o instanceof PointLight) { + from.setCapability(Group.ALLOW_CHILDREN_WRITE); + to.setCapability(Group.ALLOW_CHILDREN_READ); + to.setCapability(Group.ALLOW_CHILDREN_WRITE); + from.removeChild((Node)o); + to.addChild((Node)o); + } + } + + } + + void recursivePrintGroup(Object sgo) { + recursivePrintGroup(sgo,""); + } + + void recursivePrintGroup(Object sgo, String indent) { + if( sgo instanceof SceneGraphObject != false ) + { + SceneGraphObject sg = (SceneGraphObject) sgo; + + // recursively process group + if( sg instanceof Group ) + { + Group g = (Group) sg; + g.setCapability(Group.ALLOW_CHILDREN_READ); + + // recurse on child nodes + java.util.Enumeration enumKids = g.getAllChildren( ); + + while( enumKids.hasMoreElements( ) != false ) + recursivePrintGroup( enumKids.nextElement( ), indent+" "); + } + else if ( sg instanceof Node || sg instanceof NodeComponent) + { + System.out.println(indent+sg); + } + } + } + void recursiveSetUserData( Object value, Object key ) { if( value instanceof SceneGraphObject != false ) Index: AiboPup/tools/aibo3d/aibo3d-old.lws diff -c AiboPup/tools/aibo3d/aibo3d-old.lws:1.1 AiboPup/tools/aibo3d/aibo3d-old.lws:removed *** AiboPup/tools/aibo3d/aibo3d-old.lws:1.1 Thu May 29 16:02:11 2003 --- AiboPup/tools/aibo3d/aibo3d-old.lws Tue Jul 8 22:31:52 2003 *************** *** 1,385 **** - LWSC - 1 - - FirstFrame 1 - LastFrame 60 - FrameStep 1 - PreviewFirstFrame 1 - PreviewLastFrame 60 - PreviewFrameStep 1 - FramesPerSecond 30.000000 - - LoadObject objects/body2.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 0.177 0.014 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ShadowOptions 7 - - LoadObject objects/ear-l.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0.02704999 0.06610002 0.006099998 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LockedChannels 6 - ParentObject 7 - ShadowOptions 7 - - LoadObject objects/ear-r.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - -0.02705 0.06610002 0.006149998 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LockedChannels 7 - ParentObject 7 - ShadowOptions 7 - - LoadObject objects/foot-b-l.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 -0.07345001 0.02495 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ParentObject 17 - ShadowOptions 7 - - LoadObject objects/foot-b-r.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 -0.0735 0.025 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LockedChannels 1 - ParentObject 18 - ShadowOptions 7 - - LoadObject objects/foot-f-r.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 -0.0649 -0.0293 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LockedChannels 1 - ParentObject 22 - ShadowOptions 7 - - LoadObject objects/head.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 0.02689999 -0.0004500076 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ParentObject 25 - ShadowOptions 7 - - LoadObject objects/jaw.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 -0.00475 -0.02945 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ParentObject 7 - ShadowOptions 7 - - LoadObject objects/LED_g01.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 0 0 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ParentObject 7 - ShadowOptions 7 - - LoadObject objects/LED_g02.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 0 0 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ParentObject 7 - ShadowOptions 7 - - LoadObject objects/LED_g03.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 0 0 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ParentObject 7 - ShadowOptions 7 - - LoadObject objects/LED_r01.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 0 0 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ParentObject 7 - ShadowOptions 7 - - LoadObject objects/LED_r02.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 0 0 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ParentObject 7 - ShadowOptions 7 - - LoadObject objects/LED_r03.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 0 0 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ParentObject 7 - ShadowOptions 7 - - LoadObject objects/LED_r04.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 0 0 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ParentObject 7 - ShadowOptions 7 - - LoadObject objects/LED_tail.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 0 0 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ParentObject 26 - ShadowOptions 7 - - LoadObject objects/leg-b-low-l.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - -0.001850001 -0.09015001 0.0225 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LockedChannels 6 - ParentObject 19 - ShadowOptions 7 - - LoadObject objects/leg-b-low-r.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0.00205 -0.09019998 0.0225 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LockedChannels 6 - ParentObject 20 - ShadowOptions 7 - - LoadObject objects/leg-b-up-l.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0.07045 0.0033 0.06394999 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LockedChannels 6 - ParentObject 1 - ShadowOptions 7 - - LoadObject objects/leg-b-up-r.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - -0.07064998 0.003349999 0.06394999 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LockedChannels 6 - ParentObject 1 - ShadowOptions 7 - - LoadObject objects/leg-f-low-l.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - -0.00165 -0.09469999 -0.01165 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LockedChannels 6 - ParentObject 23 - ShadowOptions 7 - - LoadObject objects/leg-f-low-r.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0.00105 -0.0948 -0.0116 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LockedChannels 6 - ParentObject 24 - ShadowOptions 7 - - LoadObject objects/leg-f-up-l.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0.07045001 -0.0007499999 -0.07510001 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LockedChannels 6 - ParentObject 1 - ShadowOptions 7 - - LoadObject objects/leg-f-up-r.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - -0.07044999 -0.0006499998 -0.07515001 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LockedChannels 6 - ParentObject 1 - ShadowOptions 7 - - LoadObject objects/neck.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 0.0627 -0.10004999 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ParentObject 1 - ShadowOptions 7 - - LoadObject objects/tail2.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 0.05715 0.08279999 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - ParentObject 1 - ShadowOptions 7 - - LoadObject objects/foot-f-l.lwo - ShowObject 8 7 - ObjectMotion (unnamed) - 9 - 1 - 0 -0.06485 -0.02929999 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LockedChannels 1 - ParentObject 21 - ShadowOptions 7 - - AmbientColor 255 255 255 - AmbIntensity 0.250000 - - AddLight - LightName Light - ShowLight 1 7 - LightMotion (unnamed) - 9 - 1 - -2 2 -2 45 35 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - LightColor 255 255 255 - LgtIntensity 1.000000 - LightType 0 - ShadowType 1 - - ShowCamera 1 7 - CameraMotion (unnamed) - 9 - 1 - -0.6381658 0.5205013 -0.6771318 0 0 0 1 1 1 - 0 0 0 0 0 - EndBehavior 1 - TargetObject 1 - ZoomFactor 3.200000 - Resolution 1 - PixelAspectRatio 2 - SegmentMemory 2200000 - Antialiasing 0 - AdaptiveSampling 1 - AdaptiveThreshold 16 - FilmSize 2 - FieldRendering 0 - MotionBlur 0 - DepthOfField 0 - - SolidBackdrop 1 - BackdropColor 0 0 0 - ZenithColor 0 40 80 - SkyColor 120 180 240 - GroundColor 50 40 30 - NadirColor 100 80 60 - FogType 0 - DitherIntensity 1 - AnimatedDither 0 - - RenderMode 2 - RayTraceEffects 0 - ClipRayColors 0 - DataOverlayLabel - FullSceneParamEval 0 - - ViewMode 5 - ViewAimpoint -0.006362 0.165064 -0.119767 - ViewDirection 0.300197 -0.314159 0.000000 - ViewZoomFactor 0.526749 - GridNumber 40 - GridSize 0.010000 - ShowMotionPath 1 - ShowBGImage 0 - ShowFogRadius 0 - ShowRedraw 0 - ShowSafeAreas 0 - ShowFieldChart 0 --- 0 ---- Index: AiboPup/tools/aibo3d/aibo3d.lws diff -c AiboPup/tools/aibo3d/aibo3d.lws:1.1 AiboPup/tools/aibo3d/aibo3d.lws:1.3 *** AiboPup/tools/aibo3d/aibo3d.lws:1.1 Thu May 29 16:02:12 2003 --- AiboPup/tools/aibo3d/aibo3d.lws Thu Jul 3 06:01:26 2003 *************** *** 320,326 **** ShadowOptions 7 AmbientColor 255 255 255 ! AmbIntensity 0.250000 AddLight LightName Light --- 320,326 ---- ShadowOptions 7 AmbientColor 255 255 255 ! AmbIntensity 0.50000 AddLight LightName Light *************** *** 332,338 **** 0 0 0 0 0 EndBehavior 1 LightColor 255 255 255 ! LgtIntensity 1.000000 LightType 0 ShadowType 1 --- 332,338 ---- 0 0 0 0 0 EndBehavior 1 LightColor 255 255 255 ! LgtIntensity 0.700000 LightType 0 ShadowType 1 *************** *** 357,363 **** DepthOfField 0 SolidBackdrop 1 ! BackdropColor 0 0 0 ZenithColor 0 40 80 SkyColor 120 180 240 GroundColor 50 40 30 --- 357,363 ---- DepthOfField 0 SolidBackdrop 1 ! BackdropColor 80 80 180 ZenithColor 0 40 80 SkyColor 120 180 240 GroundColor 50 40 30 Index: AiboPup/tools/bandit-sim/bandit.java diff -c /dev/null AiboPup/tools/bandit-sim/bandit.java:1.1 *** /dev/null Tue Jul 8 22:31:53 2003 --- AiboPup/tools/bandit-sim/bandit.java Sun Jun 22 13:11:53 2003 *************** *** 0 **** --- 1,333 ---- + /* + * @(#)SwingShapeMover.java 1.2 98/07/31 + */ + + + import java.awt.*; + import java.awt.event.*; + import java.awt.image.*; + import javax.swing.*; + import java.util.Random; + import javax.sound.sampled.*; + import java.io.File; + import java.io.IOException; + + /* + * This applet allows the user to move a texture painted rectangle around the applet + * window. The rectangle flickers and draws slowly because this applet does not use + * double buffering. + */ + + public class bandit extends JApplet { + static protected JLabel label; + DPanel d; + + public void init(){ + getContentPane().setLayout(new BorderLayout()); + + getContentPane().setBackground(Color.black); + + label = new JLabel("Press keys to play..."); + label.setBackground(Color.black); + label.setForeground(Color.white); + + d = new DPanel(label); + d.setBackground(Color.black); + getContentPane().add(d); + + getContentPane().add("South", label); + + TextField tmp = new TextField(3); + tmp.setBackground(Color.black); + getContentPane().add("North",tmp); + + tmp.addKeyListener(d); + tmp.requestFocus(); + + (new MoveBall(d)).start(); + } + + public static void main(String s[]) { + JFrame f = new JFrame("k-Armed Bandit"); + f.addWindowListener(new WindowAdapter() { + public void windowClosing(WindowEvent e) {System.exit(0);} + }); + JApplet applet = new bandit(); + f.getContentPane().add("Center", applet); + applet.init(); + f.pack(); + f.setSize(new Dimension(700,500)); + f.show(); + } + + } + + class MoveBall extends Thread { + DPanel panel; + long last; + Random rand; + double perterb; + public MoveBall(DPanel dp) { + panel=dp; + last=System.currentTimeMillis(); + rand = new Random(last); + perterb=20; + } + public void run() { + while(true) { + long now=System.currentTimeMillis(); + double diff=(now-last)/1000.0; + last=now; + double d=panel.dx*diff; + panel.x=panel.x+(d>panel.maxd?panel.maxd:d); + d=panel.dy*diff; + panel.y=panel.y+(d>panel.maxd?panel.maxd:d); + if(panel.x+panel.r>panel.getSize().width) { + panel.dx=-Math.abs(panel.dx); + panel.x=panel.getSize().width-panel.r; + panel.dy=panel.dy+(rand.nextDouble()-.5)*perterb; + } else if(panel.x-panel.r<0) { + panel.dx=Math.abs(panel.dx); + panel.x=panel.r; + panel.dy=panel.dy+(rand.nextDouble()-.5)*perterb; + } + if(panel.y+panel.r>panel.getSize().height) { + panel.dy=-Math.abs(panel.dy); + panel.y=panel.getSize().height-panel.r; + panel.dx=panel.dx+(rand.nextDouble()-.5)*perterb; + } else if(panel.y-panel.r<0) { + panel.dy=Math.abs(panel.dy); + panel.y=panel.r; + panel.dx=panel.dx+(rand.nextDouble()-.5)*perterb; + } + panel.repaint(); + try { + sleep(1000/30); + } catch(Exception e) {} + } + } + } + + class ShowReward extends Thread { + DPanel panel; + public ShowReward(DPanel dp) { + panel=dp; + } + public void run() { + panel.reward=true; + try { + sleep(1500); + } catch(Exception e) { + interrupted(); + } + panel.reward=false; + panel.showreward=null; + } + } + + class DPanel extends JPanel implements KeyListener { + BufferedImage redball; + BufferedImage pinkball; + protected double dx,dy; + protected double x,y,r; + protected double maxd; + double probLeft,probRight; + long lastkeypress; + Random rand; + protected boolean reward; + protected ShowReward showreward; + int trial; + Clip rsnd; + Clip lsnd; + + JLabel label; + + public DPanel(JLabel l) { + label=l; + dx=200; + dy=80; + x=130; + y=150; + r=150; + maxd=30; + probLeft=.2; + probRight=.7; + lastkeypress=0; + rand = new Random(System.currentTimeMillis()); + reward=false; + showreward=new ShowReward(this); + trial=0; + DataLine.Info info; + + redball = new BufferedImage((int)(r*2+maxd*2), (int)(r*2+maxd*2), BufferedImage.TYPE_INT_RGB); + Graphics2D big = redball.createGraphics(); + big.setColor(new Color(220,44,0)); + big.fillOval((int)maxd, (int)maxd, (int)(r*2), (int)(r*2)); + pinkball = new BufferedImage((int)(r*2+maxd*2), (int)(r*2+maxd*2), BufferedImage.TYPE_INT_RGB); + big = pinkball.createGraphics(); + big.setColor(new Color(255,0,0)); + big.fillOval((int)maxd, (int)maxd, (int)(r*2), (int)(r*2)); + + try { + info = new DataLine.Info(Clip.class, AudioSystem.getAudioFileFormat(new File("reward.aif")).getFormat()); + } catch(Exception e) { + System.out.println("Sound file not found: "+e); + return; + } + if (!AudioSystem.isLineSupported(info)) { System.out.println("Sound is screwy"); } + try { + rsnd = (Clip)AudioSystem.getLine(info); + rsnd.open(AudioSystem.getAudioInputStream(new File("reward.aif"))); + } catch (Exception ex) { + System.out.println("Couldn't load reward sound"+ex); + } + try { + info = new DataLine.Info(Clip.class, AudioSystem.getAudioFileFormat(new File("loss.aif")).getFormat()); + } catch(Exception e) { + System.out.println("Sound file not found: "+e); + return; + } + if (!AudioSystem.isLineSupported(info)) { System.out.println("Sound is screwy"); } + try { + lsnd = (Clip)AudioSystem.getLine(info); + lsnd.open(AudioSystem.getAudioInputStream(new File("loss.aif"))); + } catch (Exception ex) { + System.out.println("Couldn't load loss sound"+ex); + } + + } + public void paintComponent(Graphics g){ + super.paintComponent(g); + Graphics2D g2 = (Graphics2D)g; + if(reward) + g2.drawImage(pinkball,null,(int)(x-maxd-r),(int)(y-maxd-r)); + else + g2.drawImage(redball,null,(int)(x-maxd-r),(int)(y-maxd-r)); + } + public void keyPressed(KeyEvent e) { + char c=e.getKeyChar(); + float x=getKeyboardPos(c); + if(x<0) { + if(c>='0' && c<='9') { + probLeft=(((char)c)-'0')/10.0; + } else { + switch(c) { + case '!': + probRight=.1; break; + case '@': + probRight=.2; break; + case '#': + probRight=.3; break; + case '$': + probRight=.4; break; + case '%': + probRight=.5; break; + case '^': + probRight=.6; break; + case '&': + probRight=.7; break; + case '*': + probRight=.8; break; + case '(': + probRight=.9; break; + case ')': + probRight=0; break; + } + } + label.setText("P(R|Left)="+probLeft+" P(R|Right)="+probRight+" Trial="+trial); + } else if(e.getWhen()-1500>lastkeypress){ + double prob=(x>.5)?probRight:probLeft; + double choice=rand.nextDouble(); + System.out.println(prob+" "+choice); + String text; + trial++; + if(choice0?comm._status:"Connected."); } menuScroll.getViewport().setViewPosition(p); isUpdating=false; comm._updatedFlag=false; } public void paint(Graphics g) { if(comm!=null && comm._updatedFlag) updated(); super.paint(g); } public void actionPerformed(ActionEvent evt) { if(evt.getSource()==cancelBut) { //System.out.println("cancel button clicked"); comm.sendReturn(); } else if(evt.getSource()==refreshBut) { //System.out.println("refresh button clicked"); comm.sendRefresh(); } else if(evt.getSource()==inputField) { //System.out.println("input: "+inputField.getText()); int[] sel=menu.getSelectedIndices(); if(sel.length==0 || inputField.getText().charAt(0)=='!') comm.sendInput(inputField.getText()); else comm.sendInput("!input "+inputField.getText()); /*else if(sel.length==1) { comm.sendSelectionPath(comm.buildSelectionPath(sel[0])); comm.sendInput(inputField.getText()); } else for(int i=0; i1) { Vector selectionPaths=new Vector(); for(int i=0; i1) port=Integer.parseInt(s[1]); ControllerGUI f = new ControllerGUI(s[0],port); f.addWindowListener(new WindowAdapter() { public void windowClosing(WindowEvent e) {System.exit(0);} }); } } /* public class MySelectionModel extends DefaultListSelectionModel { Vector curmenu; ControllerGUI gui; public boolean isUpdate; public MySelectionModel(ControllerGUI gui) { this.gui=gui; } public void updated(Vector curmenu) { this.curmenu=curmenu; Vector sel=getSelection(); super.clearSelection(); // super.removeSelectionInterval(0,curmenu.size()); for(int i=0; i0; } public void clearSelection() { if(!isUpdate) gui.comm.sendSelection(new Vector()); } public int getMinSelectionIndex() { for(int i=0; i-1; i--) if(((ControllerListener.MenuEntry)curmenu.get(i)).selected) return i; return -1; } public void addSelectionInterval(int index0, int index1) { int min=index0index1?index0:index1; if(min<0) min=0; if(max>curmenu.size()) max=curmenu.size()-1; Vector ans=new Vector(); for(int i=0; iindex1?index0:index1; if(min<0) min=0; if(max>curmenu.size()) max=curmenu.size()-1; Vector ans=new Vector(); for(int i=0; iindex1?index0:index1; if(min<0) min=0; if(max>curmenu.size()) max=curmenu.size()-1; Vector ans=new Vector(); for(int i=min; i<=max; i++) ans.add(new Integer(i)); if(!isUpdate) gui.comm.sendSelection(ans); } private Vector getSelection() { Vector ans=new Vector(); for(int i=0; i0?comm._status:"Connected."); } menuScroll.getViewport().setViewPosition(p); isUpdating=false; comm._updatedFlag=false; } public void paint(Graphics g) { if(comm!=null && comm._updatedFlag) updated(); super.paint(g); } public void actionPerformed(ActionEvent evt) { if(evt.getSource()==cancelBut) { //System.out.println("cancel button clicked"); comm.sendReturn(); } else if(evt.getSource()==refreshBut) { //System.out.println("refresh button clicked"); comm.sendRefresh(); } else if(evt.getSource()==inputField) { //System.out.println("input: "+inputField.getText()); int[] sel=menu.getSelectedIndices(); if(sel.length==0 || inputField.getText().charAt(0)=='!') comm.sendInput(inputField.getText()); else comm.sendInput("!input "+inputField.getText()); /*else if(sel.length==1) { comm.sendSelectionPath(comm.buildSelectionPath(sel[0])); comm.sendInput(inputField.getText()); } else for(int i=0; i1) { Vector selectionPaths=new Vector(); for(int i=0; i1) port=Integer.parseInt(s[1]); ControllerGUI f = new ControllerGUI(s[0],port); f.addWindowListener(new WindowAdapter() { public void windowClosing(WindowEvent e) {System.exit(0);} }); } } /* public class MySelectionModel extends DefaultListSelectionModel { Vector curmenu; ControllerGUI gui; public boolean isUpdate; public MySelectionModel(ControllerGUI gui) { this.gui=gui; } public void updated(Vector curmenu) { this.curmenu=curmenu; Vector sel=getSelection(); super.clearSelection(); // super.removeSelectionInterval(0,curmenu.size()); for(int i=0; i0; } public void clearSelection() { if(!isUpdate) gui.comm.sendSelection(new Vector()); } public int getMinSelectionIndex() { for(int i=0; i-1; i--) if(((ControllerListener.MenuEntry)curmenu.get(i)).selected) return i; return -1; } public void addSelectionInterval(int index0, int index1) { int min=index0index1?index0:index1; if(min<0) min=0; if(max>curmenu.size()) max=curmenu.size()-1; Vector ans=new Vector(); for(int i=0; iindex1?index0:index1; if(min<0) min=0; if(max>curmenu.size()) max=curmenu.size()-1; Vector ans=new Vector(); for(int i=0; iindex1?index0:index1; if(min<0) min=0; if(max>curmenu.size()) max=curmenu.size()-1; Vector ans=new Vector(); for(int i=min; i<=max; i++) ans.add(new Integer(i)); if(!isUpdate) gui.comm.sendSelection(ans); } private Vector getSelection() { Vector ans=new Vector(); for(int i=0; i0) + v.add(cur.toString()); + return makeArray(v); + } + if(isSingleQuote || isDoubleQuote) + cur.append('\n'); + i=-1; + } else + cur.append(args.charAt(++i)); + break; + case '"': + if(isSingleQuote) + cur.append(c); + else + isDoubleQuote=!isDoubleQuote; + break; + case '\'': + if(isDoubleQuote) + cur.append(c); + else + isSingleQuote=!isSingleQuote; + break; + default: + cur.append(c); + break; + } + } + } while(isDoubleQuote || isSingleQuote); + if(cur.length()>0) + v.add(cur.toString()); + return makeArray(v); + } + + protected String[] makeArray(Vector v) { + String[] ans=new String[v.size()]; + for(int i=0; i"); + JOptionPane.showMessageDialog(null,args[1],args[0],JOptionPane.INFORMATION_MESSAGE); + } + } Index: AiboPup/tools/mon/DogConfig.java diff -c /dev/null AiboPup/tools/mon/DogConfig.java:1.1 *** /dev/null Tue Jul 8 22:31:53 2003 --- AiboPup/tools/mon/DogConfig.java Tue Jul 1 05:00:18 2003 *************** *** 0 **** --- 1,169 ---- + import java.util.*; + import java.io.*; + + public class DogConfig { + List IPs; + String IP; + Hashtable config; + + public static void main(String args[]) { + try { ClassPathModifier.addFile("ftp.jar"); } + catch (Exception ex) { System.out.println(ex); System.exit(1); } + + DogConfig config=new DogConfig(args); + } + + void usage() { + System.out.println("java DogConfig [Internet address [Internet address ...]]"); + } + + public DogConfig(String args[]) { + for (int i=0; i=0) { + IPs.add(insertpos,IP); + writeConfig(); + } + } + + if (IP==null) { + // pop up dialog box asking for IP address + } + } + + boolean tryIP(String ip) { + DogConfigFTP dog_ftp=new DogConfigFTP(ip, 21, "config", "config"); + System.out.print("Trying "+ip+" ... "); + System.out.flush(); + if (dog_ftp.test()) { + System.out.println("found"); + try { + readAiboConfig(dog_ftp.getFile("tekkotsu.cfg")); + return true; + } catch (Exception ex) { + System.out.println("ftp error: "+ ex); + } + } else { + System.out.println("not found"); + } + return false; + } + + public DogConfig() { + this(new String[0]); + } + + public String getIP() { + return IP; + } + + void readAiboConfig(String conf) { + String[] lines=conf.split("[\r\n]"); + config=new Hashtable(); + Hashtable current=config; + + for (int i=0; i "+cline); + } else { + String key=cline.substring(0,ind); + String value=cline.substring(ind+1,clength); + current.put(key, value); + } + } + } + } + } + + public String getValue(String section, String key) { + Hashtable sectionhash=(Hashtable)config.get(section); + if (sectionhash!=null) + return (String)sectionhash.get(key); + return null; + } + + void readConfig() { + IPs=new ArrayList(10); + try { + BufferedReader in = new BufferedReader + ( new FileReader (".aibo_ip") ); + String curLine=in.readLine(); + while (curLine!=null) { + IPs.add(curLine); + curLine=in.readLine(); + } + in.close(); + } catch (FileNotFoundException ex) { + // we just start off with 0 IPs + // also creating a new file, so add an intro comment + IPs.add("# Ordered list of IPs to be used by Tekkotsu tools\n"); + } catch (IOException ex) { + // we read what we could + } + // no real need for parsing and verifying correctness of IPs + } + + void writeConfig() { + try { + PrintWriter out = new PrintWriter ( new BufferedWriter ( + new FileWriter (".aibo_ip") )); + for (ListIterator iter = IPs.listIterator(); iter.hasNext(); ) { + out.println(iter.next()); + } + out.close(); + } catch (IOException ex) { + // can't do much about it + } + } + } Index: AiboPup/tools/mon/DogConfigFTP.java diff -c /dev/null AiboPup/tools/mon/DogConfigFTP.java:1.1 *** /dev/null Tue Jul 8 22:31:53 2003 --- AiboPup/tools/mon/DogConfigFTP.java Tue Jul 1 05:00:18 2003 *************** *** 0 **** --- 1,67 ---- + import com.enterprisedt.net.ftp.*; + import java.util.*; + import java.net.*; + import java.io.*; + + public class DogConfigFTP { + String _ip; + int _port; + String _user; + String _pass; + + public DogConfigFTP(String ip) { + this(ip, 21); + } + + public DogConfigFTP(String ip, int port) { + _ip=ip; + _port=port; + _user="anonymous"; + _pass="blah@tekkotsu.org"; + } + + public DogConfigFTP(String ip, int port, String user, String pass) { + this(ip, port); + _user=user; + _pass=pass; + } + + public boolean test() { + return test(500); + } + + public boolean test(int millis) { + Socket _ftpSocket=new Socket(); + try { + _ftpSocket.connect(new InetSocketAddress(_ip, _port), millis); + } catch (Exception ex) { } + if (_ftpSocket.isConnected()) { + try { _ftpSocket.close(); } catch (Exception ex) { } + return true; + } else { + return false; + } + } + + public String getFile(String remotename) throws FTPException, IOException { + FTPClient ftp=new FTPClient(_ip, _port); + ftp.login(_user, _pass); + ftp.setConnectMode(FTPConnectMode.ACTIVE); + ftp.setType(FTPTransferType.ASCII); + String ret=new String(ftp.get(remotename)); + ftp.quit(); + return ret; + } + + public String getFile(String user, String pass, String remotename) + throws FTPException, IOException { + _user=user; + _pass=pass; + return getFile(remotename); + } + + public static void main(String args[]) { + System.out.println("This is an internal class - run DogConfig instead"); + System.exit(0); + } + } Index: AiboPup/tools/mon/EStopGUI.java diff -c /dev/null AiboPup/tools/mon/EStopGUI.java:1.5 *** /dev/null Tue Jul 8 22:31:53 2003 --- AiboPup/tools/mon/EStopGUI.java Tue Jul 8 20:10:57 2003 *************** *** 0 **** --- 1,117 ---- + import javax.swing.*; + import java.awt.*; + import java.awt.event.WindowAdapter; + import java.awt.event.WindowEvent; + import java.awt.event.ActionListener; + import java.awt.event.ActionEvent; + + public class EStopGUI extends JFrame implements ActionListener, EStopListener.UpdatedListener { + static int defPort=10053; + JLabel status; + JButton reconnectBut; + EStopPanel estop; + final static ImageIcon carrows = new ImageIcon("images/chasingarrows.png"); + + static public void main(String s[]) { + int port=defPort; + if(s.length<1) + usage(); + if(s.length>1) + port=Integer.parseInt(s[1]); + String[] args=new String[s.length-1]; + for(int i=0; i1) + port=Integer.parseInt(s[1]); + String[] args=new String[s.length-1]; + for(int i=0; ih?h:w; + int ex=(w>h?w:h)-cons; + double scale=cons/(double)(res+stroke[mode].getLineWidth()); + if(w>h) + g.translate(ex/2.0,0); + else + g.translate(0,ex/2.0); + g.translate(stroke[mode].getLineWidth()/2*scale,stroke[mode].getLineWidth()/2*scale); + g.scale(scale,scale); + if(fill[mode]!=null) { + g.setPaint(fill[mode]); + g.fill(shape[mode]); + } + if(line[mode]!=null) { + g.setPaint(line[mode]); + g.setStroke(stroke[mode]); + g.draw(shape[mode]); + } + if(textFill[mode]!=null && cons/textSize[mode]>7) { + g.setPaint(textFill[mode]); + g.setFont(new Font("Arial",Font.BOLD,(int)(res/textSize[mode]))); + FontMetrics fm=g.getFontMetrics(); + float fw=(float)fm.getStringBounds(text[mode],g).getWidth(); + float fa=fm.getLineMetrics(text[mode],g).getAscent(); + float fd=fm.getLineMetrics(text[mode],g).getDescent(); + g.drawString(text[mode],(res-fw)/2.0f,(res-fd+fa)/2.0f); + } + } + } Index: AiboPup/tools/mon/HeadPointGUI.java diff -c /dev/null AiboPup/tools/mon/HeadPointGUI.java:1.1 *** /dev/null Tue Jul 8 22:31:53 2003 --- AiboPup/tools/mon/HeadPointGUI.java Sun Jul 6 21:02:25 2003 *************** *** 0 **** --- 1,333 ---- + import javax.swing.*; + import java.awt.*; + import java.awt.geom.*; + import java.awt.event.*; + import javax.swing.event.*; + + public class HeadPointGUI extends JFrame implements PointPick.PointPickedListener, ChangeListener, ActionListener, MouseListener, HeadPointListener.HeadPointUpdatedListener { + static int defPort=10052; + PointPick pp; + JSlider tslide; + JSlider pslide; + JSlider rslide; + JButton stopBut; + JRadioButton horizRollBut; + JRadioButton horizPanBut; + boolean horizButFake=false; + JCheckBox resetOnRelease; + JLabel status; + JButton reconnectBut; + HeadPointListener comm; + static int slidermax=10000; + final static ImageIcon carrows = new ImageIcon("images/chasingarrows.png"); + + static public void main(String s[]) { + int port=defPort; + if(s.length<1) + usage(); + if(s.length>1) + port=Integer.parseInt(s[1]); + String[] args=new String[s.length-1]; + for(int i=0; i> 24) & 0xff); sequence[4] = i.byteValue(); + i = new Integer((pbits >> 16) & 0xff); sequence[3] = i.byteValue(); + i = new Integer((pbits >> 8) & 0xff); sequence[2] = i.byteValue(); + i = new Integer(pbits & 0xff); sequence[1] = i.byteValue(); + // Now write the whole command. + try { + out.write(sequence, 0, 5); + } catch(Exception e) { close(); return; } + } + + // Some state inquiry functions + public boolean hasData() { return false; } + public boolean isConnected() { return _isConnected; } + + // Constructors + public HeadPointListener() { super(); } + public HeadPointListener(int port) { super(port); } + public HeadPointListener(String host, int port) { super(host, port); } + } Index: AiboPup/tools/mon/ImageSequenceWriterThread.java diff -c /dev/null AiboPup/tools/mon/ImageSequenceWriterThread.java:1.3 *** /dev/null Tue Jul 8 22:31:54 2003 --- AiboPup/tools/mon/ImageSequenceWriterThread.java Fri Jun 27 02:03:57 2003 *************** *** 0 **** --- 1,141 ---- + import java.awt.event.*; + import javax.swing.*; + import java.lang.String; + import java.util.LinkedList; + import java.awt.*; + import javax.imageio.ImageIO; + import java.awt.image.BufferedImage; + import java.awt.image.IndexColorModel; + import java.awt.image.DataBuffer; + import java.util.Date; + import java.io.PrintWriter; + import java.io.FileOutputStream; + + public class ImageSequenceWriterThread extends Thread implements VisionUpdatedListener { + String dir; + String pre; + String post; + String fmt; + LinkedList imgBufs=new LinkedList(); + int dig; + LinkedList q=new LinkedList(); + int count=0; + VisionListener listen; + boolean stopping=false; + JButton but; + + public ImageSequenceWriterThread(VisionListener l, JButton reenableBut) { + super("ImageSequenceWriter"); + int initbufsize=500; + but=reenableBut; + listen=l; + l.addListener(this); + BufferedImage i=l.getImage(); + if(i.getColorModel().getTransferType()!=DataBuffer.TYPE_BYTE) + for(int j=0;j0) + i2=(BufferedImage)imgBufs.removeFirst(); + else { + if(i.getColorModel().getTransferType()!=BufferedImage.TYPE_BYTE_INDEXED) + i2=new BufferedImage(i.getWidth(),i.getHeight(),i.getType()); + else + i2=new BufferedImage(i.getWidth(),i.getHeight(),i.getType(),(IndexColorModel)i.getColorModel()); + } + i.copyData(i2.getRaster()); + synchronized(q) { + q.addLast(i2); + q.addLast(t); + } + } + + public void run() { + String tmp=null; + PrintWriter log; + try { + log=new PrintWriter(new FileOutputStream(dir+pre+post+".txt")); + } catch(Exception ex) { ex.printStackTrace(); return; } + Date start=null; + try { + while(true) { + while(q.size()>0) { + if(interrupted()) { + if(!stopping) { + stopping=true; + if(but!=null) { + but.setEnabled(false); + tmp=but.getText(); + but.setText("Writing..."); + } + listen.removeListener(this); + } else { //second interrupt... die! + break; + } + } + BufferedImage i; + Date t; + synchronized(q) { + i=(BufferedImage)q.removeFirst(); + t=(Date)q.removeFirst(); + } + if(start==null) + start=t; + long dt=t.getTime()-start.getTime(); + String name=getFileName(dt); + log.println(name+"\t"+dt); + ImageIO.write(i,fmt,new FileOutputStream(dir+name)); + imgBufs.addLast(i); + count++; + } + if(stopping) + break; + sleep(1000/25); + } + } catch(Exception ex) {} + log.close(); + if(but!=null && tmp!=null) { + but.setEnabled(true); + if(but.getText().compareTo("Writing...")==0) + but.setText(tmp); + } + } + + protected String getFileName(long dt) { + String ans=pre; + long c=count; + int digits=dig; + if(digits==0) { + c=dt; + digits=6; + } + for(int s=(int)Math.pow(10,digits-1); s>=1; s/=10) { + ans+=c/s; + c-=(c/s)*s; + } + ans+=post+"."+fmt; + return ans; + } + } Index: AiboPup/tools/mon/Listener.java diff -c AiboPup/tools/mon/Listener.java:1.5 AiboPup/tools/mon/Listener.java:1.7 *** AiboPup/tools/mon/Listener.java:1.5 Mon Jun 9 20:53:49 2003 --- AiboPup/tools/mon/Listener.java Thu Jun 26 04:47:33 2003 *************** *** 5,157 **** import java.io.IOException; public abstract class Listener implements Runnable { ! public Listener() { _port=-1; _isConnected=false; } ! public Listener(int port) { this(); setPort(port); } ! public Listener(String host, int port) { this(); setHostPort(host, port); } ! ! public void setPort(int port) { ! _isServer=true; ! _port=port; ! startThread(); ! } ! ! public void setHostPort(String host, int port) { ! _isServer=false; ! _host=host; ! _port=port; ! startThread(); ! } ! ! public void startThread() { ! _listenerThread=new Thread(this); ! _listenerThread.start(); ! } ! ! public void run() { ! if (_port >= 0) { ! if (_isServer) ! runServer(); ! else ! runConnect(); ! } else { ! System.out.println("can't start Listener without [host],port"); ! } ! } public void kill() { destroy=true; _isConnected=false; ! _listenerThread.interrupt(); close(); } ! void frameTimer() { ! _frametimer_numframes++; ! if (System.currentTimeMillis()-_frametimer_timer>1000) { ! System.out.println("updated at "+_frametimer_numframes+"hz"); ! _frametimer_numframes=0; ! _frametimer_timer=System.currentTimeMillis(); ! } ! } ! ! double readDouble(InputStream in) throws IOException { ! return Double.longBitsToDouble(readLong(in)); ! } ! ! void writeDouble(OutputStream out, double x) throws IOException { ! writeLong(out,Double.doubleToLongBits(x)); ! } ! ! long readLong(InputStream in) throws IOException { ! int read=0; ! int last=0; ! byte[] buf=new byte[8]; ! while (read<8 && last>=0) { last=in.read(buf,read,8-read); read+=last; } ! if(last<0) ! _isConnected=false; ! return (b2l(buf[7])<<56) | (b2l(buf[6])<<48) | ! (b2l(buf[5])<<40) | (b2l(buf[4])<<32) | ! (b2l(buf[3])<<24) | (b2l(buf[2])<<16) | ! (b2l(buf[1])<< 8) | b2l(buf[0]); ! } ! ! void writeLong(OutputStream out, long x) throws IOException { ! int bytelen=8; ! byte[] buf=new byte[bytelen]; ! for(int i=0; i>(8*i)) & 0xff)).byteValue(); ! out.write(buf,0,bytelen); ! } ! ! float readFloat(InputStream in) throws IOException { ! return Float.intBitsToFloat(readInt(in)); ! } ! ! void writeFloat(OutputStream out, float x) throws IOException { ! writeInt(out,Float.floatToIntBits(x)); ! } ! ! int readInt(InputStream in) throws IOException { ! int read=0; ! int last=0; ! byte[] buf=new byte[4]; ! while (read<4 && last>=0) { last=in.read(buf,read,4-read); read+=last; } ! if(last<0) ! _isConnected=false; ! return (b2i(buf[3])<<24) | (b2i(buf[2])<<16) | ! (b2i(buf[1])<< 8) | b2i(buf[0]); ! } ! ! void writeInt(OutputStream out, int x) throws IOException { ! int bytelen=4; ! byte[] buf=new byte[bytelen]; ! for(int i=0; i>(8*i)) & 0xff)).byteValue(); ! out.write(buf,0,bytelen); ! } ! ! void readBytes(byte[] buf, InputStream in, int bytes) throws IOException { ! int read=0; ! int last=0; ! while (read=0) { last=in.read(buf, read, bytes-read); read+=last;} ! if(last<0) ! _isConnected=false; ! } ! ! String readLine(InputStream in) throws java.io.IOException{ ! StringBuffer sbuf=new StringBuffer(); ! int x=in.read(); ! if(x==-1) { ! _isConnected=false; ! return sbuf.toString(); ! } ! char c=(char)x; ! while(c!='\n') { ! sbuf.append(c); ! x=in.read(); ! if(x==-1) { ! _isConnected=false; ! return sbuf.toString(); ! } ! c=(char)x; ! } ! return sbuf.toString(); ! } ! ! int b2i(byte b) { return (b>=0)?(int)b:((int)b)+256; } ! long b2l(byte b) { return (b>=0)?(long)b:((long)b)+256; } ! ! abstract void runServer(); ! abstract void runConnect(); ! abstract public void close(); ! ! boolean _isServer; ! int _port; ! String _host; ! boolean _isConnected; ! volatile Thread _listenerThread; volatile boolean destroy=false; ! int _frametimer_numframes=0; ! long _frametimer_timer=System.currentTimeMillis(); } --- 5,162 ---- import java.io.IOException; public abstract class Listener implements Runnable { ! public Listener() { _port=-1; _isConnected=false; } ! public Listener(int port) { this(); setPort(port); } ! public Listener(String host, int port) { this(); setHostPort(host, port); } ! ! public void setPort(int port) { ! _isServer=true; ! _port=port; ! startThread(); ! } ! ! public void setHostPort(String host, int port) { ! _isServer=false; ! _host=host; ! _port=port; ! startThread(); ! } ! ! public void startThread() { ! destroy=false; ! _listenerThread=new Thread(this); ! _listenerThread.start(); ! } ! ! public void run() { ! if (_port >= 0) { ! if (_isServer) ! runServer(); ! else ! runConnect(); ! } else { ! System.out.println("can't start Listener without [host],port"); ! } ! } public void kill() { destroy=true; _isConnected=false; ! if(_listenerThread!=null) ! _listenerThread.interrupt(); close(); } ! void frameTimer() { ! _frametimer_numframes++; ! if (System.currentTimeMillis()-_frametimer_timer>1000) { ! System.out.println("updated at "+_frametimer_numframes+"hz"); ! _frametimer_numframes=0; ! _frametimer_timer=System.currentTimeMillis(); ! } ! } ! ! double readDouble(InputStream in) throws IOException { ! return Double.longBitsToDouble(readLong(in)); ! } ! ! void writeDouble(OutputStream out, double x) throws IOException { ! writeLong(out,Double.doubleToLongBits(x)); ! } ! ! long readLong(InputStream in) throws IOException { ! int read=0; ! int last=0; ! byte[] buf=new byte[8]; ! while (read<8 && last>=0) { last=in.read(buf,read,8-read); read+=last; } ! if(last<0) ! _isConnected=false; ! return (b2l(buf[7])<<56) | (b2l(buf[6])<<48) | ! (b2l(buf[5])<<40) | (b2l(buf[4])<<32) | ! (b2l(buf[3])<<24) | (b2l(buf[2])<<16) | ! (b2l(buf[1])<< 8) | b2l(buf[0]); ! } ! ! void writeLong(OutputStream out, long x) throws IOException { ! int bytelen=8; ! byte[] buf=new byte[bytelen]; ! for(int i=0; i>(8*i)) & 0xff)).byteValue(); ! out.write(buf,0,bytelen); ! } ! ! float readFloat(InputStream in) throws IOException { ! return Float.intBitsToFloat(readInt(in)); ! } ! ! void writeFloat(OutputStream out, float x) throws IOException { ! writeInt(out,Float.floatToIntBits(x)); ! } ! ! int readInt(InputStream in) throws IOException { ! int read=0; ! int last=0; ! byte[] buf=new byte[4]; ! while (read<4 && last>=0) { last=in.read(buf,read,4-read); read+=last; } ! if(last<0) ! _isConnected=false; ! return (b2i(buf[3])<<24) | (b2i(buf[2])<<16) | ! (b2i(buf[1])<< 8) | b2i(buf[0]); ! } ! ! void writeInt(OutputStream out, int x) throws IOException { ! int bytelen=4; ! byte[] buf=new byte[bytelen]; ! for(int i=0; i>(8*i)) & 0xff)).byteValue(); ! out.write(buf,0,bytelen); ! } ! ! void readBytes(byte[] buf, InputStream in, int bytes) throws IOException { ! int read=0; ! int last=0; ! while (read=0) { ! last=in.read(buf, read, bytes-read); ! read+=last; ! } ! if(last<0) ! _isConnected=false; ! } ! ! String readLine(InputStream in) throws java.io.IOException{ ! StringBuffer sbuf=new StringBuffer(); ! int x=in.read(); ! if(x==-1) { ! _isConnected=false; ! return sbuf.toString(); ! } ! char c=(char)x; ! while(c!='\n') { ! sbuf.append(c); ! x=in.read(); ! if(x==-1) { ! _isConnected=false; ! return sbuf.toString(); ! } ! c=(char)x; ! } ! return sbuf.toString(); ! } ! ! int b2i(byte b) { return (b>=0)?(int)b:((int)b)+256; } ! long b2l(byte b) { return (b>=0)?(long)b:((long)b)+256; } ! ! abstract void runServer(); ! abstract void runConnect(); ! abstract public void close(); ! ! boolean _isServer; ! int _port; ! String _host; ! boolean _isConnected; ! volatile Thread _listenerThread; volatile boolean destroy=false; ! int _frametimer_numframes=0; ! long _frametimer_timer=System.currentTimeMillis(); } Index: AiboPup/tools/mon/Makefile diff -c AiboPup/tools/mon/Makefile:1.3 AiboPup/tools/mon/Makefile:1.7 *** AiboPup/tools/mon/Makefile:1.3 Thu Jun 12 23:57:55 2003 --- AiboPup/tools/mon/Makefile Tue Jul 1 05:00:18 2003 *************** *** 4,24 **** CXX=javac CURDIR:=$(shell pwd | sed 's/.*\///') ! CXXFLAGS=-deprecation .PHONY: all clean msg all: msg $(OBJS) msg: ! @echo " ** These tools require the JDK 1.4 or higher. 1.3 should work, but isn't **" ! @echo " ** tested. These files are _not_ necessary for development. If errors **" ! @echo " ** occur, you can remove the tools/mon/Makefile and continue without it. **" %.class: %.java $(if $(shell which $(CXX)), \ @echo "Compiling $< into $@..."; $(CXX) $(CXXFLAGS) $<, \ ! @printf "\n\n ***** WARNING: You don't have java... skipping TekkotsuMon *****\n\n\n" \ ) clean: --- 4,27 ---- CXX=javac CURDIR:=$(shell pwd | sed 's/.*\///') ! ! # SEP is to use ';' on windows and ':' on unix because windows is mentally deficient ! SEP:=$(shell if [ "`uname`" = "CYGWIN" -o "`uname`" \> "CYGWIN" -a "`uname`" \< "CYGWIO" ] ; then echo ";" ; else echo ":" ; fi ) ! CXXFLAGS=-deprecation -classpath ".$(SEP)./ftp.jar$(SEP)../aibo3d" .PHONY: all clean msg all: msg $(OBJS) msg: ! @echo " ** These tools require the JDK 1.4 or higher. These files **" ! @echo " ** are _not_ necessary for development. If errors occur, you **" ! @echo " ** can remove the tools/mon/Makefile and continue without it. **" %.class: %.java $(if $(shell which $(CXX)), \ @echo "Compiling $< into $@..."; $(CXX) $(CXXFLAGS) $<, \ ! @printf " ***** WARNING: You don't have java... skipping TekkotsuMon *****\n" \ ) clean: Index: AiboPup/tools/mon/MechaController.java diff -c AiboPup/tools/mon/MechaController.java:1.2 AiboPup/tools/mon/MechaController.java:1.4 *** AiboPup/tools/mon/MechaController.java:1.2 Tue Apr 15 16:02:43 2003 --- AiboPup/tools/mon/MechaController.java Sun Jul 6 21:00:10 2003 *************** *** 3,41 **** import java.lang.String; import java.lang.System; import java.io.OutputStream; import java.net.Socket; // The class itself. Brilliant that even though it does the talking, ! // it extends TCP*Listener*. Note: TCPListener has not been modified ! // to send data--that's been taken care of here. Later we need a ! // centralized means of converting and sending data. ! public class MechaController extends TCPListener { // The command output stream OutputStream out; Socket mysock; // Connect to control socket void connected(Socket socket) { mysock = socket; try { out = mysock.getOutputStream(); ! } catch(Exception e) { return; } ! _isConnected = true; ! // Nothing else to do here } // Disconnect from control socket public void close() { ! try { mysock.close(); } catch(Exception e) {} ! _isConnected = false; super.close(); } // Send a mecha command public void sendCommand(String command, double param) { // Extract command byte byte cmdbytes[] = command.getBytes(); // Construct the command sequence byte sequence[] = new byte[5]; --- 3,92 ---- import java.lang.String; import java.lang.System; import java.io.OutputStream; + import java.io.InputStream; import java.net.Socket; + import javax.swing.Timer; + import java.awt.event.ActionEvent; + import java.awt.event.ActionListener; + import java.util.Vector; + import java.net.SocketException; // The class itself. Brilliant that even though it does the talking, ! // it extends TCP*Listener*. ! public class MechaController extends TCPListener implements ActionListener { // The command output stream OutputStream out; Socket mysock; + Timer t=new Timer(1000,this); + double forward=0; + double strafe=0; + double rotate=0; + Vector listeners=new Vector(); + + public interface MechaUpdatedListener { + public void mechaUpdated(MechaController mc); + } + + void addMechaUpdatedListener(MechaUpdatedListener mcl) { listeners.add(mcl); } + void removeMechaUpdatedListener(MechaUpdatedListener mcl) { listeners.remove(mcl); } + void fireMechaUpdated() { + for(int i=0;i0; f-=.25f) { + tmp2=new PPTic(f,s,Color.LIGHT_GRAY,null); + tmp2.setLayout(new BorderLayout()); + tmp.add(tmp2,BorderLayout.CENTER); + tics.add(tmp2); + tmp=tmp2; + } + tmp2=new PPTic(.0175f,s,null,Color.LIGHT_GRAY); + tmp2.setLayout(new BorderLayout()); + tmp.add(tmp2,BorderLayout.CENTER); + tics.add(tmp2); + tmp=tmp2; + + enableEvents(AWTEvent.MOUSE_MOTION_EVENT_MASK+AWTEvent.MOUSE_EVENT_MASK); + + setCircular(circ); + } + + public void setCircular(boolean circ) { + if(isCirc!=circ) { + for(int i=0; ih) + w=h; + if(h>w) + h=w; + ((PPTic)tics.get(0)).setBounds(0,0,w,h); + mdot.setBounds((int)((w*(1+this.x)-dotsize)/2),(int)((h*(1-this.y)-dotsize)/2),(int)dotsize,(int)dotsize); + super.setBounds(x,y,w,h); + } + + public void processMouseEvent(MouseEvent e) { + if(isEnabled()) { + if(e.getID()==MouseEvent.MOUSE_PRESSED) { + Point2D.Float mp=screenToModel(e.getPoint()); + Point sp=modelToScreen(mp); + sp.translate((int)(-tracksize/2),(int)(-tracksize/2)); + track.setLocation(sp); + track.setVisible(true); + doSetPoint(mp); + firePointPicked(mp,e); + } else if(e.getID()==MouseEvent.MOUSE_RELEASED) { + if((e.getModifiersEx()&(MouseEvent.BUTTON1_DOWN_MASK|MouseEvent.BUTTON2_DOWN_MASK|MouseEvent.BUTTON3_DOWN_MASK))==0) + track.setVisible(false); + } + } + super.processMouseEvent(e); + } + + public void processMouseMotionEvent(MouseEvent e) { + if(isEnabled()) { + if(e.getID()==MouseEvent.MOUSE_DRAGGED) { + Point2D.Float mp=screenToModel(e.getPoint()); + Point sp=modelToScreen(mp); + sp.translate((int)(-tracksize/2),(int)(-tracksize/2)); + track.setLocation(sp); + doSetPoint(mp); + firePointPicked(mp,e); + } + } + super.processMouseMotionEvent(e); + } + + public Point2D.Float getPoint() { return new Point2D.Float(x,y); } + public float getXValue() { return x; } + public float getYValue() { return y; } + + public void setPoint(float x, float y) { + doSetPoint(x,y); + firePointPicked(new Point2D.Float(x,y),null); + } + + protected Point2D.Float screenToModel(Point p) { + return screenToModel(p.x,p.y); + } + protected Point2D.Float screenToModel(int x, int y) { + float fx=x/(float)getWidth()*2-1; + float fy=1-y/(float)getHeight()*2; + if(isCirc) { + if(fx*fx+fy*fy>1) { + double a=Math.atan2(fy,fx); + fx=(float)Math.cos(a); + fy=(float)Math.sin(a); + } + } else { + if(fx>1) + fx=1; + if(fx<-1) + fx=-1; + if(fy>1) + fy=1; + if(fy<-1) + fy=-1; + } + return new Point2D.Float(fx,fy); + } + protected Point modelToScreen(Point2D.Float p) { + return modelToScreen(p.x,p.y); + } + protected Point modelToScreen(float x, float y) { + return new Point((int)(getWidth()*(1+x)/2),(int)(getHeight()*(1-y)/2)); + } + + public void doSetPoint(Point2D.Float p) { + doSetPoint(p.x,p.y); + } + public void doSetPoint(float x, float y) { + this.x=x; + this.y=y; + Point p=modelToScreen(x,y); + p.translate((int)(-dotsize/2),(int)(-dotsize/2)); + mdot.setLocation(p); + } + } Index: AiboPup/tools/mon/SquareRightLayout.java diff -c /dev/null AiboPup/tools/mon/SquareRightLayout.java:1.1 *** /dev/null Tue Jul 8 22:31:54 2003 --- AiboPup/tools/mon/SquareRightLayout.java Sat Jun 21 17:49:55 2003 *************** *** 0 **** --- 1,42 ---- + import java.awt.*; + + public class SquareRightLayout implements LayoutManager { + Component right; + Component square; + static String SQUARE="square"; + static String RIGHT="right"; + public void addLayoutComponent(String name, Component comp) { + if(name.compareTo(SQUARE)==0) + square=comp; + else if(name.compareTo(RIGHT)==0) + right=comp; + } + public void layoutContainer(Container parent) { + square.setBounds(0,0,parent.getHeight(),parent.getHeight()); + right.setBounds(parent.getHeight(),0,parent.getWidth()-parent.getHeight(),parent.getHeight()); + } + public Dimension minimumLayoutSize(Container parent) { + Dimension sq=square.getMinimumSize(); + Dimension rt=right.getMinimumSize(); + int minsq=sq.width>sq.height?sq.width:sq.height; + if(minsqrt.height?minsq:rt.height + return new Dimension(minsq+rt.width,minsq); + } + public Dimension preferredLayoutSize(Container parent) { + Dimension sq=square.getPreferredSize(); + Dimension rt=right.getPreferredSize(); + int prefsq=sq.width>sq.height?sq.width:sq.height; + if(prefsqrt.height?minsq:rt.height + return new Dimension(prefsq+rt.width,prefsq); + } + public void removeLayoutComponent(Component comp) { + if(square==comp) + square=null; + else if(right==comp) + right=null; + } + } Index: AiboPup/tools/mon/TCPListener.java diff -c AiboPup/tools/mon/TCPListener.java:1.6 AiboPup/tools/mon/TCPListener.java:1.10 *** AiboPup/tools/mon/TCPListener.java:1.6 Mon Jun 9 20:53:49 2003 --- AiboPup/tools/mon/TCPListener.java Sun Jul 6 21:00:10 2003 *************** *** 2,60 **** import java.net.Socket; public abstract class TCPListener extends Listener { ! abstract void connected(Socket socket); ! void runServer() { ! Thread me = Thread.currentThread(); ! try { _serverSocket=new ServerSocket(_port); } ! catch (Exception ex) { ! System.out.println("port "+_port+": "+ex); ! return; ! } ! ! while (me == _listenerThread && !destroy) { ! try { ! _socket=_serverSocket.accept(); ! connected(_socket); ! } catch (Exception ex) { } ! } ! } ! ! void runConnect() { ! int attempts=0; ! Thread me = Thread.currentThread(); ! System.err.println("TCPListener port "+_port+" - Connecting..."); ! while (me==_listenerThread && !destroy) { ! try { ! _socket=new Socket(_host,_port); ! attempts=0; ! connected(_socket); ! System.err.println("TCPListener port "+_port+" - Disconnected, attempting to reestablish..."); ! } catch (Exception ex) {} ! attempts++; if(destroy) { ! System.out.println("Connection closed."); break; } ! if(attempts%10==0) ! System.err.println("TCPListener port "+_port+" - Waiting for connection... ("+attempts+" attempts)"); ! try { ! Thread.sleep(500); ! } catch (Exception ex) {} ! } ! } ! ! public void close() { ! _listenerThread=null; ! try { _socket.close(); } catch (Exception ex) { } ! if (_isServer) ! try { _serverSocket.close(); } catch (Exception ex) { } ! } ! ! public TCPListener() { super(); } ! public TCPListener(int port) { super(port); } ! public TCPListener(String host, int port) { super(host,port); } ! Socket _socket; ! ServerSocket _serverSocket; } --- 2,69 ---- import java.net.Socket; public abstract class TCPListener extends Listener { ! abstract void connected(Socket socket); ! void runServer() { ! Thread me = Thread.currentThread(); ! try { _serverSocket=new ServerSocket(_port); } ! catch (Exception ex) { ! System.out.println("port "+_port+": "+ex); ! return; ! } ! ! while (me == _listenerThread && !destroy) { ! try { ! _socket=_serverSocket.accept(); ! connected(_socket); ! } catch (Exception ex) { } ! } ! } ! ! void runConnect() { ! int attempts=0; ! Thread me = Thread.currentThread(); ! while (me==_listenerThread && !destroy) { ! if(attempts==0) { ! // if(attempts!=0) ! // System.err.println(""); ! System.err.print("TCPListener port "+_port+" - Connecting.."); ! } ! try { ! System.err.print("."); ! _socket=new Socket(_host,_port); ! System.err.println(" connected."); ! attempts=0; ! _isConnected=true; ! } catch (Exception ex) {} ! if(_isConnected) { ! connected(_socket); ! if(!destroy) ! System.err.println("TCPListener port "+_port+" - Disconnected, attempting to reestablish..."); ! } ! attempts++; if(destroy) { ! System.err.println("TCPListener port "+_port+" - Connection closed."); break; } ! try { ! Thread.sleep(500); ! } catch (Exception ex) {} ! } ! } ! ! public void close() { ! _listenerThread=null; ! _isConnected=false; ! try { _socket.close(); } catch (Exception ex) { } ! if (_isServer) ! try { _serverSocket.close(); } catch (Exception ex) { } ! } ! ! public TCPListener() { super(); } ! public TCPListener(int port) { super(port); } ! public TCPListener(String host, int port) { super(host,port); } ! Socket _socket; ! ServerSocket _serverSocket; } Index: AiboPup/tools/mon/VisionGUI.java diff -c /dev/null AiboPup/tools/mon/VisionGUI.java:1.9 *** /dev/null Tue Jul 8 22:31:54 2003 --- AiboPup/tools/mon/VisionGUI.java Fri Jun 27 02:03:57 2003 *************** *** 0 **** --- 1,374 ---- + import java.awt.event.*; + import javax.swing.*; + import java.lang.String; + import java.util.LinkedList; + import java.awt.*; + import javax.imageio.ImageIO; + import java.awt.image.BufferedImage; + import java.awt.image.IndexColorModel; + import java.util.Date; + import java.io.PrintWriter; + import java.io.FileOutputStream; + + public class VisionGUI extends JFrame implements ActionListener, VisionUpdatedListener { + VisionPanel vision; + JCheckBox aspectBut; + JButton freezeBut; + JButton saveImageBut; + JLabel status; + JButton reconnectBut; + float mspf=0; + float mspfGamma=.9f; + long lastFrameTime=0; + boolean isRaw=false; + boolean isRLE=false; + boolean connected=false; + boolean isFreezeFrame=false; + final static ImageIcon carrows = new ImageIcon("images/chasingarrows.png"); + ImageSequenceWriterThread imgWrite=null; + String state="Connecting..."; + + public class StatusUpdateThread extends Thread { + VisionGUI gui; + public StatusUpdateThread(VisionGUI gui) { super("StatusUpdate"); this.gui=gui; setDaemon(true);} + public void run() { + VisionListener l=gui.vision.getListener(); + while(true) { + String status=gui.state; + String recording=recordReport(); + String fps=fpsReport(); + if(fps.length()>0) + status+=" - "+fps; + if(recording.length()>0) + status+="; "+recording; + gui.status.setText(status); + try { + sleep(100); + } catch(Exception ex) {break;} + } + } + public String recordReport() { + if(gui.imgWrite!=null && (!gui.imgWrite.stopping || gui.imgWrite.isAlive())) { + String ans; + if(!gui.imgWrite.stopping) { + ans="Rec: "; + if(imgWrite.imgBufs.size()!=0) + ans+="Free="+imgWrite.imgBufs.size(); + } else + ans="Writing"; + ans+=" Queue="+imgWrite.q.size(); + return ans; + } else + return ""; + } + public String fpsReport() { + if(connected) { + int rnd=(int)(10000/gui.mspf); + return rnd/10.0f+" fps"; + } else + return ""; + } + } + + public static void main(String s[]) { + int port=-1; + if(s.length<2) + usage(); + if(s[1].toUpperCase().compareTo("RLE")==0) + port=VisionRleListener.defPort; + else if(s[1].toUpperCase().compareTo("RAW")==0) + port=VisionRawListener.defPort; + else { + System.err.println("VisionGUI: Unrecognized format: "+s[1]); + usage(); + } + if(s.length>2) + port=Integer.parseInt(s[1]); + String[] args=new String[1]; + args[0]=s[1]; + VisionGUI gui=new VisionGUI(s[0],port,args); + gui.addWindowListener(new WindowAdapter() { + public void windowClosing(WindowEvent e) { System.exit(0); } }); + gui.show(); + } + + public static void usage() { + System.out.println("Usage: java VisionGUI host (RLE|raw) [port]"); + System.out.println(" if port is not specified, it defaults to:"); + System.out.println(" "+VisionRawListener.defPort+" for raw"); + System.out.println(" "+VisionRleListener.defPort+" for RLE."); + System.exit(2); + } + + public void actionPerformed(ActionEvent e) { + if(e.getActionCommand().compareTo("YUV")==0) { + VisionRaw v=(VisionRaw)vision; + if(v!=null) + v.setConvertRGB(false); + } else if(e.getActionCommand().compareTo("RGB")==0) { + VisionRaw v=(VisionRaw)vision; + if(v!=null) + v.setConvertRGB(true); + } else if(e.getActionCommand().compareTo("freeze")==0) { + isFreezeFrame=!isFreezeFrame; + if(!isFreezeFrame) { + state="Reconnecting..."; + vision.open(); + } else { + state="Disconnecting..."; + vision.close(); + } + } else if(e.getActionCommand().compareTo("aspect")==0) { + vision.setLockAspectRatio(((JCheckBox)e.getSource()).isSelected()); + } else if(e.getActionCommand().compareTo("seq")==0) { + imgWrite=new ImageSequenceWriterThread(vision.getListener(), saveImageBut); + saveImageBut.setText("Stop Saving Sequence"); + saveImageBut.setToolTipText("Click to stop buffering new frames - already captured frames will continue to be written (unless you close the window)"); + saveImageBut.setActionCommand("stopseq"); + Component cur=this; + while(cur.getParent()!=null) { + cur=cur.getParent(); + System.out.println("VisionGUI Weird: "+cur); + } + FileDialog f=new FileDialog((Frame)cur,"Save Image Sequence",FileDialog.SAVE); + f.show(); + if(f.getFile()==null || f.getFile().compareTo("")==0) { + saveImageBut.doClick(); + return; + } + String base; + String format; + if(f.getFile().lastIndexOf('.')==-1) { + format="png"; + base=f.getFile(); + } else { + int i=f.getFile().lastIndexOf("."); + format=f.getFile().substring(i+1); + base=f.getFile().substring(0,i); + } + int first=base.indexOf('#'); + int last=base.lastIndexOf('#'); + boolean appendTime=(first==-1); + imgWrite.setDirectory(f.getDirectory()); + f.dispose(); + if(first!=-1) + imgWrite.setName(base.substring(0,first),last-first+1,base.substring(last+1),format); + else + imgWrite.setName(base,0,"",format); + imgWrite.start(); + } else if(e.getActionCommand().compareTo("stopseq")==0) { + saveImageBut.setText("Save Image Sequence"); + saveImageBut.setToolTipText("Saves to a series of files - use .jpg or .png extension to choose format; #'s will be replaced with index, otherwise timecode is appended"); + saveImageBut.setActionCommand("seq"); + imgWrite.interrupt(); + } else if(e.getActionCommand().compareTo("img")==0) { + Component cur=this; + while(cur.getParent()!=null) { + cur=cur.getParent(); + System.out.println("VisionGUI Weird: "+cur); + } + FileDialog f=new FileDialog((Frame)cur,"Save Image",FileDialog.SAVE); + f.show(); + if(f.getFile()!=null && f.getFile().compareTo("")!=0) { + String format="png"; + int i=f.getFile().lastIndexOf("."); + if(i!=-1) + format=f.getFile().substring(i+1); + try { + ImageIO.write(vision.getListener().getImage(),format,new FileOutputStream(f.getDirectory()+f.getFile())); + } catch(Exception ex) {} + } + f.dispose(); + } else if(e.getSource()==reconnectBut) { + vision.close(); + vision.open(); + } + } + + class CloseVisionAdapter extends WindowAdapter { + VisionGUI gui; + CloseVisionAdapter(VisionGUI gui) {this.gui=gui;} + public void windowClosing(WindowEvent e) { + gui.vision.close(); + if(gui.imgWrite!=null && gui.imgWrite.isAlive()) { + if(!gui.imgWrite.isInterrupted() && !gui.imgWrite.stopping) + gui.imgWrite.interrupt(); + while(gui.imgWrite.isInterrupted()) + try { Thread.sleep(50); } catch(Exception ex) {} + if(!gui.imgWrite.stopping) + System.out.println("imgWrite refuses to stop"); + gui.imgWrite.interrupt(); //this second one should kill it + while(gui.imgWrite.isAlive()) + try { Thread.sleep(50); } catch(Exception ex) {} + } + } + } + + public void visionUpdated(VisionListener l) { + if(l.isConnected()!=connected) { + connected=l.isConnected(); + if(connected) { + freezeBut.setEnabled(true); + freezeBut.setText("Freeze Frame"); + freezeBut.setToolTipText("Freezes current frame (disconnects from stream)"); + isFreezeFrame=false; + saveImageBut.setEnabled(true); + saveImageBut.setText("Save Image Sequence"); + saveImageBut.setToolTipText("Saves to a series of files - use .jpg or .png extension to choose format; #'s will be replaced with index, otherwise timecode is appended"); + saveImageBut.setActionCommand("seq"); + state="Connected."; + } else { + if(vision._image==null) + saveImageBut.setEnabled(false); + else { + saveImageBut.setText("Save Image"); + saveImageBut.setToolTipText("Save current image shown - use .jpg or .png extension to choose format"); + saveImageBut.setActionCommand("img"); + } + if(isFreezeFrame) { + state="Disconnected."; + freezeBut.setText("Unfreeze"); + freezeBut.setToolTipText("Reconnects to stream"); + } else { + state="Reconnecting..."; + freezeBut.setEnabled(false); + } + } + } + if(connected) { + if(lastFrameTime==0) { + if(l.getTimeStamp()!=null) + lastFrameTime=l.getTimeStamp().getTime(); + } else { + long cur=l.getTimeStamp().getTime(); + mspf=mspf*mspfGamma+(cur-lastFrameTime)*(1-mspfGamma); + lastFrameTime=cur; + } + } else { + lastFrameTime=0; + } + } + + public VisionGUI(String host, String[] args) { + super(); + int port=-1; + for(int i=0; itgtasp) { + int width=(int)(sz.height*tgtasp); + drawImage(graphics,_image, (sz.width-width)/2, 0, width, sz.height); + } else if(curasp1) + port=Integer.parseInt(s[1]); + JFrame frame=new JFrame("TekkotsuMon: Vision Raw"); + frame.setBackground(Color.black); + //frame.getContentPane().setLayout(new FlowLayout()); + frame.setSize(new Dimension(VisionRawListener.width*2, VisionRawListener.height*2)); + VisionRaw vision=new VisionRaw(new VisionRawListener(s[0],port)); + frame.getContentPane().add(vision); + frame.addWindowListener(new WindowAdapter() { + public void windowClosing(WindowEvent e) { System.exit(0); } }); + frame.show(); + } + + public VisionRaw(VisionRawListener visionraw) { + super(visionraw); + _visionraw=visionraw; + } + + public void setConvertRGB(boolean b) { _visionraw.setConvertRGB(b); } + public boolean getConvertRGB(boolean b) { return _visionraw.getConvertRGB(); } + } + Index: AiboPup/tools/mon/VisionRawListener.java diff -c AiboPup/tools/mon/VisionRawListener.java:1.3 AiboPup/tools/mon/VisionRawListener.java:1.8 *** AiboPup/tools/mon/VisionRawListener.java:1.3 Thu Jun 12 23:57:55 2003 --- AiboPup/tools/mon/VisionRawListener.java Thu Jun 26 18:45:57 2003 *************** *** 1,62 **** import java.io.InputStream; import java.net.Socket; import javax.swing.JFrame; ! public class VisionRawListener extends TCPListener { ! byte[] _data; ! byte[] _outd; ! int imgWidth=88; ! int imgHeight=72; ! int channels=3; ! int pktSize=imgWidth*imgHeight*channels; ! int bytesRead; ! boolean _updatedFlag; ! ! void connected(Socket socket) { ! try { ! InputStream in=socket.getInputStream(); ! _data=new byte[pktSize]; ! _outd=new byte[pktSize]; ! _isConnected=true; ! while (true) { ! int br; ! bytesRead=0; ! while(bytesRead1024)?1024:(pktSize-bytesRead)); ! bytesRead=bytesRead+br; ! } ! synchronized(_outd) { ! byte[] temp=_data; ! _data=_outd; ! _outd=temp; ! _updatedFlag=true; ! } ! } ! } catch (Exception ex) { } ! ! try { socket.close(); } catch (Exception ex) { } ! _isConnected=false; ! _updatedFlag=true; ! } ! ! public boolean hasData() { ! return _updatedFlag; ! } ! ! public byte[] getData() { ! // frameTimer(); ! synchronized (_outd) { ! _updatedFlag=false; ! return _outd; ! } ! } ! ! public boolean isConnected() { ! return _isConnected; ! } ! ! public VisionRawListener() { super(); } ! public VisionRawListener(int port) { super(port); } ! public VisionRawListener(String host, int port) { super(host,port); } } --- 1,115 ---- import java.io.InputStream; import java.net.Socket; import javax.swing.JFrame; + import java.awt.Image; + import java.awt.image.BufferedImage; + import java.util.Date; ! public class VisionRawListener extends VisionListener { ! static int width=88; ! static int height=72; ! static int channels=3; ! int pktSize=width*height*channels; ! byte[] _data=new byte[pktSize]; ! byte[] _outd=new byte[pktSize]; ! int[] _pixels=new int[width*height];; ! BufferedImage img=new BufferedImage(width,height,BufferedImage.TYPE_INT_RGB); ! int bytesRead; ! boolean convertRGB=true; ! static int defPort=10011; ! ! void connected(Socket socket) { ! _isConnected=true; ! fireVisionUpdate(); ! try { ! InputStream in=socket.getInputStream(); ! _isConnected=true; ! while (true) { ! int br; ! bytesRead=0; ! while(bytesRead1024)?1024:(pktSize-bytesRead)); ! bytesRead=bytesRead+br; ! } ! synchronized(_outd) { ! byte[] temp=_data; ! _data=_outd; ! _outd=temp; ! timestamp=new Date(); ! } ! fireVisionUpdate(); ! } ! } catch (Exception ex) { } ! ! try { socket.close(); } catch (Exception ex) { } ! _isConnected=false; ! fireVisionUpdate(); ! } ! ! public byte[] getData() { ! // frameTimer(); ! synchronized (_outd) { ! updatedFlag=false; ! return _outd; ! } ! } ! ! public void setConvertRGB(boolean b) { ! if(b!=convertRGB) { ! convertRGB=b; ! updatedFlag=true; ! for(int i=0; i>1; ! v=(v>>2)-(v>>4); ! int g=y-u-v; ! // r=r&0xFF; g=g&0xFF; b=b&0xFF; ! if (r<0) r=0; if (g<0) g=0; if (b<0) b=0; ! if (r>255) r=255; if (g>255) g=255; if (b>255) b=255; ! ! _pixels[i]=(255<<24) | (r<<16) | (g<<8) | b; ! } ! } ! return _pixels; ! } ! ! public BufferedImage getImage() { ! int[] data=getConvertRGB()?getRGBPixels():getYUVPixels(); ! img.setRGB(0,0,width,height,data,0,width); ! return img; ! } ! ! public VisionRawListener() { super(); } ! public VisionRawListener(int port) { super(port); } ! public VisionRawListener(String host, int port) { super(host,port); } } Index: AiboPup/tools/mon/VisionRle.java diff -c /dev/null AiboPup/tools/mon/VisionRle.java:1.7 *** /dev/null Tue Jul 8 22:31:54 2003 --- AiboPup/tools/mon/VisionRle.java Fri Jun 27 02:03:57 2003 *************** *** 0 **** --- 1,35 ---- + import java.awt.image.*; + import java.awt.*; + import javax.swing.*; + import java.awt.event.*; + + public class VisionRle extends VisionPanel { + VisionRleListener _visionrle; + + public static void main(String[] s) { + int port=VisionRleListener.defPort; + if(s.length<1) { + System.out.println("Usage: java VisionRLE host [port]"); + System.out.println(" if port is not specified, it defaults to "+port); + System.exit(2); + } + if(s.length>1) + port=Integer.parseInt(s[1]); + JFrame frame=new JFrame("TekkotsuMon: Vision Segmented"); + frame.setBackground(Color.black); + //frame.getContentPane().setLayout(new FlowLayout()); + frame.setSize(new Dimension(VisionRleListener.width, VisionRleListener.height)); + VisionRle vision=new VisionRle(new VisionRleListener(s[0],port)); + frame.getContentPane().add(vision); + frame.addWindowListener(new WindowAdapter() { + public void windowClosing(WindowEvent e) { System.exit(0); } }); + frame.show(); + } + + public VisionRle(VisionRleListener visionrle) { + super(visionrle); + _visionrle=visionrle; + } + + } + Index: AiboPup/tools/mon/VisionRleListener.java diff -c AiboPup/tools/mon/VisionRleListener.java:1.1 AiboPup/tools/mon/VisionRleListener.java:1.5 *** AiboPup/tools/mon/VisionRleListener.java:1.1 Thu Feb 20 14:51:18 2003 --- AiboPup/tools/mon/VisionRleListener.java Thu Jun 26 18:45:57 2003 *************** *** 1,88 **** import java.io.InputStream; import java.net.Socket; ! ! public class VisionRleListener extends TCPListener { ! byte[] _data; ! byte[] _outd; ! byte[] _sizeb; ! boolean updatedFlag; ! int width=176; ! int height=144; ! static final boolean _debug=false; ! ! void connected(Socket socket) { ! _data=new byte[22*144*3*2]; ! _outd=new byte[176*144]; ! _isConnected=true; ! try { ! InputStream in=socket.getInputStream(); ! while (true) { ! int size=readInt(in); ! size=size*3; ! readBytes(_data, in, size); ! decodeRLE(size); ! updatedFlag=true; ! } ! } catch (Exception ex) { } ! ! try { socket.close(); } catch (Exception ex) { } ! _isConnected=false; ! } ! ! void decodeRLE(int pktSize) { ! int curx=0, cury=0; ! int dlength=pktSize; ! int dpos=0; ! ! for (; dlength>=3 && curywidth) { ! if (_debug) System.out.println("run past end"); ! break; ! } ! ! for (; len>0; len--, curx++) ! _outd [cury*width+curx]=color; ! if (curx==width) { ! cury++; ! curx=0; ! } ! } ! if (cury!=height) { ! if (_debug) System.out.println("early end of data\n"); ! } ! } ! ! public boolean hasData() { ! return updatedFlag; ! } ! ! public byte[] getData() { ! // frameTimer(); ! // synchronized (_outd) { ! updatedFlag=false; ! return _outd; ! // } ! } ! ! public boolean isConnected() { ! return _isConnected; ! } ! ! public VisionRleListener() { super(); } ! public VisionRleListener(int port) { super(port); } ! public VisionRleListener(String host, int port) { super(host,port); } } --- 1,113 ---- import java.io.InputStream; import java.net.Socket; ! import java.awt.Image; ! import java.awt.image.IndexColorModel; ! import java.awt.image.BufferedImage; ! import java.util.Date; ! ! public class VisionRleListener extends VisionListener { ! static int width=176; ! static int height=144; ! byte[] _data=new byte[22*height*3*2]; ! byte[] _outd=new byte[width*height]; ! static int defPort=10012; ! static final boolean _debug=false; ! ! //todo: read this from the same file the dog is using ! static final byte cmap[]={ (byte) 0, (byte) 0, (byte) 0, ! (byte) 0, (byte) 0, (byte) 0, ! (byte) 0, (byte)128, (byte)255, ! (byte) 0, (byte)128, (byte) 0, ! (byte)255, (byte)128, (byte) 0, ! (byte) 0, (byte)255, (byte) 0, ! (byte)128, (byte) 0, (byte)255, ! (byte)255, (byte) 0, (byte) 0, ! (byte)255, (byte)128, (byte)228, ! (byte)255, (byte)255, (byte) 0, ! (byte)200, (byte)200, (byte)228, ! (byte)200, (byte)100, (byte) 0 }; ! IndexColorModel _cmodel=new IndexColorModel(7, 12, cmap, 0, false); ! BufferedImage img=new BufferedImage(width,height,BufferedImage.TYPE_BYTE_INDEXED,_cmodel); ! ! ! void connected(Socket socket) { ! _isConnected=true; ! fireVisionUpdate(); ! try { ! InputStream in=socket.getInputStream(); ! while (true) { ! int size=readInt(in); ! if(!_isConnected) break; ! size=size*3; ! readBytes(_data, in, size); ! if(!_isConnected) break; ! timestamp=new Date(); ! decodeRLE(size); ! fireVisionUpdate(); ! } ! } catch (Exception ex) { } ! ! try { socket.close(); } catch (Exception ex) { } ! _isConnected=false; ! fireVisionUpdate(); ! } ! ! void decodeRLE(int pktSize) { ! int curx=0, cury=0; ! int dlength=pktSize; ! int dpos=0; ! ! synchronized (_outd) { ! for (; dlength>=3 && curywidth) { ! if (_debug) System.out.println("run past end"); ! break; ! } ! ! for (; len>0; len--, curx++) ! _outd [cury*width+curx]=color; ! if (curx==width) { ! cury++; ! curx=0; ! } ! } ! } ! if (cury!=height) { ! if (_debug) System.out.println("early end of data\n"); ! } ! } ! ! public byte[] getData() { ! // frameTimer(); ! synchronized (_outd) { ! updatedFlag=false; ! return _outd; ! } ! } ! ! public BufferedImage getImage() { ! synchronized (_outd) { ! byte[] data=getData(); ! img.getRaster().setDataElements(0,0,width,height,data); ! } ! return img; ! } ! ! public VisionRleListener() { super(); } ! public VisionRleListener(int port) { super(port); } ! public VisionRleListener(String host, int port) { super(host,port); } } Index: AiboPup/tools/mon/VisionUpdatedListener.java diff -c /dev/null AiboPup/tools/mon/VisionUpdatedListener.java:1.2 *** /dev/null Tue Jul 8 22:31:54 2003 --- AiboPup/tools/mon/VisionUpdatedListener.java Fri Jun 20 04:45:38 2003 *************** *** 0 **** --- 1,4 ---- + public interface VisionUpdatedListener { + public void visionUpdated(VisionListener comm); + } + Index: AiboPup/tools/mon/WalkGUI.java diff -c /dev/null AiboPup/tools/mon/WalkGUI.java:1.5 *** /dev/null Tue Jul 8 22:31:54 2003 --- AiboPup/tools/mon/WalkGUI.java Sun Jul 6 21:00:10 2003 *************** *** 0 **** --- 1,336 ---- + import javax.swing.*; + import java.awt.*; + import java.awt.geom.*; + import java.awt.event.*; + import javax.swing.event.*; + + public class WalkGUI extends JFrame implements PointPick.PointPickedListener, ChangeListener, ActionListener, MouseListener, MechaController.MechaUpdatedListener { + static int defPort=10050; + PointPick pp; + JSlider xslide; + JSlider yslide; + JSlider aslide; + JButton stopBut; + JRadioButton horizRotateBut; + JRadioButton horizStrafeBut; + boolean horizButFake=false; + JCheckBox resetOnRelease; + JLabel status; + JButton reconnectBut; + MechaController comm; + static int slidermax=10000; + final static ImageIcon carrows = new ImageIcon("images/chasingarrows.png"); + + static public void main(String s[]) { + int port=defPort; + if(s.length<1) + usage(); + if(s.length>1) + port=Integer.parseInt(s[1]); + String[] args=new String[s.length-1]; + for(int i=0; i conf.mecha_autosend_interval) ! real_iter; end end --- 203,211 ---- global MC conf if(MC.locked == false) if(now - MC.lasttime > conf.mecha_autosend_interval) ! %I moved this to the java layer - ethan ! % real_iter; ! MC.lasttime = now; end end Index: AiboPup/tools/mon/ftp.jar