Index: Tekkotsu/Behaviors/Controller.h diff -c Tekkotsu/Behaviors/Controller.h:1.26 Tekkotsu/Behaviors/Controller.h:1.27 *** Tekkotsu/Behaviors/Controller.h:1.26 Tue Jan 20 22:52:39 2004 --- Tekkotsu/Behaviors/Controller.h Thu Feb 5 18:33:10 2004 *************** *** 56,63 **** * - '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(). ! * - 'goodbye\n ! * Indicates the connection is about to be closed purposefully, to differentiate from an accidental cut off. * * bool types are expected to be numerical values, 0 for false, * non-zero for true. --- 56,62 ---- * - '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(). ! * - 'goodbye' - Indicates the connection is about to be closed purposefully, to differentiate from an accidental cut off. * * bool types are expected to be numerical values, 0 for false, * non-zero for true. *************** *** 204,213 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.26 $ * $State: Exp $ ! * $Date: 2004/01/21 03:52:39 $ */ #endif --- 203,212 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.27 $ * $State: Exp $ ! * $Date: 2004/02/05 23:33:10 $ */ #endif Index: Tekkotsu/Behaviors/Controls/HelpControl.cc diff -c Tekkotsu/Behaviors/Controls/HelpControl.cc:1.5 Tekkotsu/Behaviors/Controls/HelpControl.cc:1.6 *** Tekkotsu/Behaviors/Controls/HelpControl.cc:1.5 Mon Jan 19 17:03:58 2004 --- Tekkotsu/Behaviors/Controls/HelpControl.cc Wed Jan 21 15:18:49 2004 *************** *** 33,38 **** --- 33,39 ---- unsigned int numlen=1; if(slots.size()>1) numlen=(int)(log(slots.size()-1)/log(10))+1; + //sout->printf("
    \n"); for(unsigned int i=0; iprintf(fmt,prefix.c_str(),numlen,i,nm.c_str(),desc.substr(0,len).c_str()); while(lendesc.size()) len=desc.size(); } + //sout->printf("\n%s",desc.substr(0,len).c_str()); sout->printf("%s%s\n",std::string(prefix.size(),' ').c_str(),desc.substr(0,len).c_str()); while(lenprintf("\n"); report(slots[i],pre,depth_remain-1); } + //sout->printf("
\n"); } /*! @file *************** *** 79,87 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.5 $ * $State: Exp $ ! * $Date: 2004/01/19 22:03:58 $ */ --- 84,92 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.6 $ * $State: Exp $ ! * $Date: 2004/01/21 20:18:49 $ */ Index: Tekkotsu/Behaviors/Controls/PostureEditor.cc diff -c Tekkotsu/Behaviors/Controls/PostureEditor.cc:1.2 Tekkotsu/Behaviors/Controls/PostureEditor.cc:1.3 *** Tekkotsu/Behaviors/Controls/PostureEditor.cc:1.2 Sun Jan 11 02:30:02 2004 --- Tekkotsu/Behaviors/Controls/PostureEditor.cc Thu Jan 29 20:48:02 2004 *************** *** 49,55 **** MMAccessor(poseID)->LoadFile(loadPose->getLastInput().c_str()); } else if(lastSlot==savePose || savePose->getLastInput().size()>0) { // we just got back from the save menu ! MMAccessor(poseID)->SaveFile((config->motion.root+"/"+savePose->getLastInput()).c_str()); savePose->takeInput(""); } lastSlot=NULL; --- 49,55 ---- MMAccessor(poseID)->LoadFile(loadPose->getLastInput().c_str()); } else if(lastSlot==savePose || savePose->getLastInput().size()>0) { // we just got back from the save menu ! MMAccessor(poseID)->SaveFile(config->motion.makePath(savePose->getLastInput()).c_str()); savePose->takeInput(""); } lastSlot=NULL; *************** *** 77,84 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2004/01/11 07:30:02 $ */ --- 77,84 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.3 $ * $State: Exp $ ! * $Date: 2004/01/30 01:48:02 $ */ Index: Tekkotsu/Behaviors/Controls/SavePostureControl.h diff -c Tekkotsu/Behaviors/Controls/SavePostureControl.h:1.8 Tekkotsu/Behaviors/Controls/SavePostureControl.h:1.9 *** Tekkotsu/Behaviors/Controls/SavePostureControl.h:1.8 Thu Jan 8 17:39:55 2004 --- Tekkotsu/Behaviors/Controls/SavePostureControl.h Thu Jan 29 20:29:41 2004 *************** *** 5,11 **** #include "StringInputControl.h" #include "Motion/PostureEngine.h" ! //! Upon activation, saves the current position to a file name read from user (stored in /ms/data/motion/...) class SavePostureControl : public StringInputControl { public: //! Constructor --- 5,11 ---- #include "StringInputControl.h" #include "Motion/PostureEngine.h" ! //! Upon activation, saves the current position to a file name read from user (default is /ms/data/motion...) class SavePostureControl : public StringInputControl { public: //! Constructor *************** *** 16,25 **** virtual ControlBase * takeInput(const std::string& msg) { if(msg.size()>0) { std::string filename; ! if(msg[0]=='/') ! filename=msg; ! else ! filename=config->motion.root+msg; PostureEngine post; post.takeSnapshot(); post.SaveFile(filename.c_str()); --- 16,22 ---- virtual ControlBase * takeInput(const std::string& msg) { if(msg.size()>0) { std::string filename; ! filename=config->motion.makePath(msg); PostureEngine post; post.takeSnapshot(); post.SaveFile(filename.c_str()); *************** *** 29,42 **** }; /*! @file ! * @brief Defines SavePostureControl, which when activated, saves the current position to a file name read from user (stored in /ms/data/motion/...) * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.8 $ * $State: Exp $ ! * $Date: 2004/01/08 22:39:55 $ */ #endif --- 26,39 ---- }; /*! @file ! * @brief Defines SavePostureControl, which when activated, saves the current position to a file name read from user (default is /ms/data/motion...) * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.9 $ * $State: Exp $ ! * $Date: 2004/01/30 01:29:41 $ */ #endif Index: Tekkotsu/Behaviors/Demos/AlanBehavior.h diff -c Tekkotsu/Behaviors/Demos/AlanBehavior.h:1.5 Tekkotsu/Behaviors/Demos/AlanBehavior.h:1.9 *** Tekkotsu/Behaviors/Demos/AlanBehavior.h:1.5 Tue Dec 23 01:33:42 2003 --- Tekkotsu/Behaviors/Demos/AlanBehavior.h Thu Feb 5 23:06:50 2004 *************** *** 10,15 **** --- 10,16 ---- #include "Events/EventRouter.h" #include "Motion/PostureMC.h" #include "Shared/ERS210Info.h" + #include "Shared/ERS7Info.h" //! just a little demo behavior which lifts a leg higher as more pressure is put on a head button /*! Based on an idea from Alan Chun-ho Ho for a basic demo program */ *************** *** 26,32 **** //now do your code: // creates a PostureMC class to move the joint(s) and adds it to global MotionManager ! pose_id=motman->addMotion(SharedObject()); // subscribe to sensor updated events through the global EventRouter erouter->addListener(this,EventBase::sensorEGID,SensorSourceID::UpdatedSID); } --- 27,33 ---- //now do your code: // creates a PostureMC class to move the joint(s) and adds it to global MotionManager ! pose_id=motman->addMotion(SharedObject(),false); // subscribe to sensor updated events through the global EventRouter erouter->addListener(this,EventBase::sensorEGID,SensorSourceID::UpdatedSID); } *************** *** 43,52 **** virtual void processEvent(const EventBase& event) { // to be more general, let's check that it's the right event: if(event.getGeneratorID()==EventBase::sensorEGID) { - //only really works on the 210 model - the others don't have a proper pressure sensor - //(the 220's antenna-thing is close, but doesn't give a continuous range) - if( !(state->robotDesign&WorldState::ERS210Mask) ) - return; //we'll need to specify the ERS210Info namespace below when //referencing the button offsets so that this will compile for //the ERS-7 as well (which lacks front and back head buttons), --- 44,49 ---- *************** *** 57,69 **** // (this is the PostureMC we created in DoStart()) MMAccessor pose_mc(pose_id); ! //Joint offsets are defined in ERS210Info.h, ERS220Info.h and ERS2xxInfo.h unsigned int joint=LFrLegOffset+RotatorOffset; //state is a global instantiation of WorldState, kept up to date by framework; //pressure is in range 0 to 1 - we use the pressure on the front head button here ! float pressure=state->buttons[ERS210Info::HeadFrButOffset]; ! std::cout << "HeadFrBut Pressure: " << pressure << std::endl; //outputRanges is a constant table, also defined in ERS210Info.h or ERS220Info.h float angle=outputRanges[joint][MaxRange]*pressure; --- 54,78 ---- // (this is the PostureMC we created in DoStart()) MMAccessor pose_mc(pose_id); ! //Joint offsets are defined in ERS210Info.h, ERS220Info.h, ERS2xxInfo.h, and ERS7Info.h unsigned int joint=LFrLegOffset+RotatorOffset; //state is a global instantiation of WorldState, kept up to date by framework; //pressure is in range 0 to 1 - we use the pressure on the front head button here ! float pressure=0; ! if(state->robotDesign&WorldState::ERS210Mask) { ! pressure=state->buttons[ERS210Info::HeadFrButOffset]; ! std::cout << "HeadFrBut Pressure: " << pressure << std::endl; ! } else if(state->robotDesign&WorldState::ERS7Mask) { ! pressure=state->buttons[ERS7Info::HeadButOffset]; ! std::cout << "HeadBut Pressure: " << pressure << std::endl; ! } else { ! //only really works on the ERS-210 or ERS-7 models - the others don't have a proper pressure sensor ! //(the 220's antenna-thing is close, but doesn't give a continuous range) ! std::cout << "Unknown model" << std::endl; ! erouter->forgetListener(this); // stops getting events (and timers, if we had any) ! return; ! } //outputRanges is a constant table, also defined in ERS210Info.h or ERS220Info.h float angle=outputRanges[joint][MaxRange]*pressure; *************** *** 74,80 **** //let's do the whole thing again with the other head button for the other leg: // (cutting out a some of the intermediary steps this time) joint=RFrLegOffset+RotatorOffset; ! pose_mc->setOutputCmd(joint,outputRanges[joint][MaxRange]*state->buttons[ERS210Info::HeadBkButOffset]); // notice that there's no "check in" for pose_mc // MMAccessor's destructor does this automatically --- 83,92 ---- //let's do the whole thing again with the other head button for the other leg: // (cutting out a some of the intermediary steps this time) joint=RFrLegOffset+RotatorOffset; ! if(state->robotDesign&WorldState::ERS210Mask) ! pose_mc->setOutputCmd(joint,outputRanges[joint][MaxRange]*state->buttons[ERS210Info::HeadBkButOffset]); ! else if(state->robotDesign&WorldState::ERS7Mask) //ERS7 doesn't have another head button, we'll use one of its back buttons ! pose_mc->setOutputCmd(joint,outputRanges[joint][MaxRange]*state->buttons[ERS7Info::FrontBackButOffset]); // notice that there's no "check in" for pose_mc // MMAccessor's destructor does this automatically *************** *** 104,113 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.5 $ * $State: Exp $ ! * $Date: 2003/12/23 06:33:42 $ */ #endif --- 116,125 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.9 $ * $State: Exp $ ! * $Date: 2004/02/06 04:06:50 $ */ #endif Index: Tekkotsu/Behaviors/Demos/CameraBehavior.cc diff -c Tekkotsu/Behaviors/Demos/CameraBehavior.cc:1.2 Tekkotsu/Behaviors/Demos/CameraBehavior.cc:1.4 *** Tekkotsu/Behaviors/Demos/CameraBehavior.cc:1.2 Tue Jan 20 23:49:56 2004 --- Tekkotsu/Behaviors/Demos/CameraBehavior.cc Thu Feb 5 18:33:27 2004 *************** *** 8,15 **** --- 8,19 ---- #include "SoundPlay/SoundManager.h" #include "Shared/Config.h" #include "Shared/ProjectInterface.h" + #include "Motion/LedMC.h" + #include "Motion/MMAccessor.h" #include "Vision/FilterBankGenerator.h" + #include "Vision/RawCameraGenerator.h" + #include "Vision/InterleavedYUVGenerator.h" #include "Vision/JPEGGenerator.h" #include *************** *** 29,40 **** --- 33,46 ---- } initIndex(); sndman->LoadFile("camera.wav"); + ledID=motman->addMotion(SharedObject()); erouter->addListener(this,camera_click); } void CameraBehavior::DoStop() { erouter->forgetListener(this); sndman->ReleaseFile("camera.wav"); + motman->removeMotion(ledID); BehaviorBase::DoStop(); } *************** *** 47,55 **** CameraBehavior::processEvent(const EventBase& e) { if(e.shorterThan(camera_click)) return; if(config->vision.rawcam_compression==Config::vision_config::COMPRESS_NONE) { //this is our own odd little format, would be nice to save a TIFF or something instead - FilterBankGenerator * gen=ProjectInterface::defRawCameraGenerator; // just an alias for readability // open file FILE * f=openNextFile(".raw"); --- 53,67 ---- CameraBehavior::processEvent(const EventBase& e) { if(e.shorterThan(camera_click)) return; + + { + MMAccessor leds(ledID); + leds->cset(FaceLEDMask,2.0/3.0); + leds->set(TopBrLEDMask,1); + } + if(config->vision.rawcam_compression==Config::vision_config::COMPRESS_NONE) { //this is our own odd little format, would be nice to save a TIFF or something instead // open file FILE * f=openNextFile(".raw"); *************** *** 58,75 **** //! write actual image data if(config->vision.rawcam_encoding==Config::vision_config::ENCODE_COLOR) { ! for(unsigned int chan=0; chan<3; chan++) { ! gen->selectSaveImage(ProjectInterface::doubleLayer,chan); ! unsigned int len=gen->SaveFile(f); ! if(len==0) { ! serr->printf("Error saving file\n"); ! sndman->PlayFile(config->controller.error_snd); ! return; ! } } } else if(config->vision.rawcam_encoding==Config::vision_config::ENCODE_SINGLE_CHANNEL) { gen->selectSaveImage(ProjectInterface::doubleLayer,config->vision.rawcam_channel); ! unsigned int len=gen->SaveFile(f); if(len==0) { serr->printf("Error saving file\n"); sndman->PlayFile(config->controller.error_snd); --- 70,87 ---- //! write actual image data if(config->vision.rawcam_encoding==Config::vision_config::ENCODE_COLOR) { ! FilterBankGenerator * gen=ProjectInterface::defInterleavedYUVGenerator; // just an alias for readability ! gen->selectSaveImage(ProjectInterface::doubleLayer,InterleavedYUVGenerator::CHAN_YUV); ! unsigned int len=gen->SaveFileStream(f); ! if(len==0) { ! serr->printf("Error saving file\n"); ! sndman->PlayFile(config->controller.error_snd); ! return; } } else if(config->vision.rawcam_encoding==Config::vision_config::ENCODE_SINGLE_CHANNEL) { + FilterBankGenerator * gen=ProjectInterface::defRawCameraGenerator; // just an alias for readability gen->selectSaveImage(ProjectInterface::doubleLayer,config->vision.rawcam_channel); ! unsigned int len=gen->SaveFileStream(f); if(len==0) { serr->printf("Error saving file\n"); sndman->PlayFile(config->controller.error_snd); *************** *** 114,119 **** --- 126,142 ---- jpeg->setQuality(tmp_q); } } + + + { + MMAccessor leds(ledID); + leds->clear(); + leds->flash(TopBrLEDMask,700); + leds->flash(TopLLEDMask|TopRLEDMask,500); + leds->flash(MidLLEDMask|MidRLEDMask,300); + leds->flash(BotLLEDMask|BotRLEDMask,100); + } + sout->printf("done\n"); } *************** *** 173,181 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2004/01/21 04:49:56 $ */ --- 196,204 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.4 $ * $State: Exp $ ! * $Date: 2004/02/05 23:33:27 $ */ Index: Tekkotsu/Behaviors/Demos/CameraBehavior.h diff -c Tekkotsu/Behaviors/Demos/CameraBehavior.h:1.6 Tekkotsu/Behaviors/Demos/CameraBehavior.h:1.7 *** Tekkotsu/Behaviors/Demos/CameraBehavior.h:1.6 Mon Jan 19 02:55:27 2004 --- Tekkotsu/Behaviors/Demos/CameraBehavior.h Mon Feb 2 20:16:32 2004 *************** *** 3,12 **** #define INCLUDED_CameraBehavior_h_ #include "Behaviors/BehaviorBase.h" //! Will take images and write to log file /*! Press the head button to take a picture, back button to write to memory ! * stick. * * The reason for this is to provide sample code for accessing vision * data, and also simply because we should have a way to save --- 3,13 ---- #define INCLUDED_CameraBehavior_h_ #include "Behaviors/BehaviorBase.h" + #include "Motion/MotionManager.h" //! Will take images and write to log file /*! Press the head button to take a picture, back button to write to memory ! * stick. The leds will flash when finished writing. * * The reason for this is to provide sample code for accessing vision * data, and also simply because we should have a way to save *************** *** 23,29 **** public: //! constructor, just sets up the variables CameraBehavior() ! : BehaviorBase(), camera_click(EventBase::buttonEGID,0,EventBase::deactivateETID,150), index(0) {} //! Register for events --- 24,30 ---- public: //! constructor, just sets up the variables CameraBehavior() ! : BehaviorBase(), camera_click(EventBase::buttonEGID,0,EventBase::deactivateETID,150), index(0), ledID(MotionManager::invalid_MC_ID) {} //! Register for events *************** *** 49,54 **** --- 50,57 ---- EventBase camera_click; //!< event mask for taking a picture (head button) unsigned int index; //!< the index to use for the next image saved + + MotionManager::MC_ID ledID; //!< the id of the LedMC used to signal completion }; /*! @file *************** *** 57,66 **** * @author ejt (rewrite for new vision system) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.6 $ * $State: Exp $ ! * $Date: 2004/01/19 07:55:27 $ */ #endif --- 60,69 ---- * @author ejt (rewrite for new vision system) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.7 $ * $State: Exp $ ! * $Date: 2004/02/03 01:16:32 $ */ #endif Index: Tekkotsu/Behaviors/Mon/HeadPointControllerBehavior.cc diff -c Tekkotsu/Behaviors/Mon/HeadPointControllerBehavior.cc:1.3 Tekkotsu/Behaviors/Mon/HeadPointControllerBehavior.cc:1.4 *** Tekkotsu/Behaviors/Mon/HeadPointControllerBehavior.cc:1.3 Mon Jan 19 14:43:50 2004 --- Tekkotsu/Behaviors/Mon/HeadPointControllerBehavior.cc Wed Feb 4 20:51:39 2004 *************** *** 20,32 **** // Find out what type of command this is switch(command[0]) { case CMD_tilt: ! t = param*outputRanges[HeadOffset+TiltOffset][param>0?MaxRange:MinRange]; break; case CMD_pan: ! p = param*outputRanges[HeadOffset+PanOffset][param>0?MaxRange:MinRange]; break; case CMD_roll: ! r = param*outputRanges[HeadOffset+RollOffset][param>0?MaxRange:MinRange]; break; default: cout << "MECHA: unknown command " << command[0] << endl; --- 20,32 ---- // Find out what type of command this is switch(command[0]) { case CMD_tilt: ! t = fabs(param)*outputRanges[HeadOffset+TiltOffset][param>0?MaxRange:MinRange]; break; case CMD_pan: ! p = fabs(param)*outputRanges[HeadOffset+PanOffset][param>0?MaxRange:MinRange]; break; case CMD_roll: ! r = fabs(param)*outputRanges[HeadOffset+RollOffset][param>0?MaxRange:MinRange]; break; default: cout << "MECHA: unknown command " << command[0] << endl; *************** *** 123,131 **** * @author tss (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.3 $ * $State: Exp $ ! * $Date: 2004/01/19 19:43:50 $ */ --- 123,131 ---- * @author tss (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.4 $ * $State: Exp $ ! * $Date: 2004/02/05 01:51:39 $ */ Index: Tekkotsu/Behaviors/Mon/RawCamBehavior.cc diff -c Tekkotsu/Behaviors/Mon/RawCamBehavior.cc:1.8 Tekkotsu/Behaviors/Mon/RawCamBehavior.cc:1.10 *** Tekkotsu/Behaviors/Mon/RawCamBehavior.cc:1.8 Wed Jan 7 17:51:49 2004 --- Tekkotsu/Behaviors/Mon/RawCamBehavior.cc Thu Feb 5 14:11:26 2004 *************** *** 1,7 **** #include "RawCamBehavior.h" #include "Wireless/Wireless.h" #include "Events/EventRouter.h" - #include "Shared/Config.h" #include "Vision/RawCameraGenerator.h" #include "Vision/JPEGGenerator.h" #include "Events/FilterBankEvent.h" --- 1,6 ---- *************** *** 19,28 **** wireless->setDaemon(visRaw,true); wireless->listen(visRaw,config->vision.rawcam_port); ! //we're going to make the ControllerGUI open these itself... ! //std::vector args; ! //args.push_back("raw"); ! //Controller::loadGUI("org.tekkotsu.mon.VisionGUI","RawVisionGUI",config->vision.rawcam_port,args); erouter->addListener(this,EventBase::visRawCameraEGID,ProjectInterface::visRawCameraSID); erouter->addListener(this,EventBase::visJPEGEGID,ProjectInterface::visColorJPEGSID); --- 18,24 ---- wireless->setDaemon(visRaw,true); wireless->listen(visRaw,config->vision.rawcam_port); ! Controller::loadGUI("org.tekkotsu.mon.VisionGUI","RawVisionGUI",config->vision.rawcam_port); erouter->addListener(this,EventBase::visRawCameraEGID,ProjectInterface::visRawCameraSID); erouter->addListener(this,EventBase::visJPEGEGID,ProjectInterface::visColorJPEGSID); *************** *** 32,38 **** void RawCamBehavior::DoStop() { erouter->forgetListener(this); ! //Controller::closeGUI("RawVisionGUI"); // this could be considered a bug in our wireless - if we don't setDaemon(...,false) // it will try to listen again even though we explicitly closed the server socket... --- 28,34 ---- void RawCamBehavior::DoStop() { erouter->forgetListener(this); ! Controller::closeGUI("RawVisionGUI"); // this could be considered a bug in our wireless - if we don't setDaemon(...,false) // it will try to listen again even though we explicitly closed the server socket... *************** *** 272,280 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.8 $ * $State: Exp $ ! * $Date: 2004/01/07 22:51:49 $ */ --- 268,276 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.10 $ * $State: Exp $ ! * $Date: 2004/02/05 19:11:26 $ */ Index: Tekkotsu/Behaviors/Mon/RawCamBehavior.h diff -c Tekkotsu/Behaviors/Mon/RawCamBehavior.h:1.6 Tekkotsu/Behaviors/Mon/RawCamBehavior.h:1.8 *** Tekkotsu/Behaviors/Mon/RawCamBehavior.h:1.6 Sun Jan 18 05:16:57 2004 --- Tekkotsu/Behaviors/Mon/RawCamBehavior.h Thu Feb 5 18:33:41 2004 *************** *** 3,14 **** --- 3,33 ---- #define INCLUDED_RawCamBehavior_h_ #include "Behaviors/BehaviorBase.h" + #include "Shared/Config.h" class Socket; class FilterBankGenerator; class FilterBankEvent; //! Forwards images from camera over wireless + /*! The format used for serialization is basically defined by the + * subclass of FilterBankGenerator being used. I suggest looking at + * that classes's documentation to determine the format used. + * + * However, RawCamBehavior will add a few fields at the beginning of + * each packet to assist in processing the image stream. + * + * I emphasize: beginning of each Vision packet, before the FilterBankGenerator header. + * - <@c string:"TekkotsuImage"> + * - <Config::vision_config::encoding_t: rawcam_encoding> (expect single or multiple channels, 0 means color (3 channels), 1 means intensity (1 channel)) + * - <Config::vision_config::compression_t: rawcam_compression> (0==none, 1==jpeg, 2==rle) + * - <@c unsigned @c int: width> (this is the width of the largest channel - note different channels can be sent at different resolutions! Provides cheap "compression" of chromaticity channels) + * - <@c unsigned @c int: height> (similarly, height of largest channel) + * - <@c unsigned @c int: timestamp> (time image was taken, milliseconds since boot) + * - <@c unsigned @c int: framenumber> (incremented for each frame, so we can tell if/when we drop one) + * + * This is exactly the same protocol that is followed by the SegCamBehavior as well - the same code can parse either stream. + */ class RawCamBehavior : public BehaviorBase { public: //! constructor *************** *** 24,33 **** virtual std::string getName() const { return "RawCamServer"; } ! static std::string getClassDescription() { return "Forwards images from camera over wireless"; } protected: ! bool openPacket(FilterBankGenerator& fbkgen, unsigned int time, unsigned int layer); //!< opens a new packet, writes header info; returns true if open, false if otherwise open (check cur==NULL for error) bool writeColor(const FilterBankEvent& fbke); //!< writes a color image bool writeSingleChannel(const FilterBankEvent& fbke); //!< writes a single channel void closePacket(); //!< closes and sends a packet, does nothing if no packet open --- 43,58 ---- virtual std::string getName() const { return "RawCamServer"; } ! static std::string getClassDescription() { ! char tmp[20]; ! sprintf(tmp,"%d",config->vision.rle_port); ! return std::string("Forwards images from camera over port ")+tmp; ! } protected: ! //! opens a new packet, writes header info; returns true if open, false if otherwise open (check cur==NULL for error) ! /*! see the class documentation for RawCamBehavior for the protocol documentation */ ! bool openPacket(FilterBankGenerator& fbkgen, unsigned int time, unsigned int layer); bool writeColor(const FilterBankEvent& fbke); //!< writes a color image bool writeSingleChannel(const FilterBankEvent& fbke); //!< writes a single channel void closePacket(); //!< closes and sends a packet, does nothing if no packet open *************** *** 47,56 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.6 $ * $State: Exp $ ! * $Date: 2004/01/18 10:16:57 $ */ #endif --- 72,81 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.8 $ * $State: Exp $ ! * $Date: 2004/02/05 23:33:41 $ */ #endif Index: Tekkotsu/Behaviors/Mon/SegCamBehavior.cc diff -c Tekkotsu/Behaviors/Mon/SegCamBehavior.cc:1.4 Tekkotsu/Behaviors/Mon/SegCamBehavior.cc:1.6 *** Tekkotsu/Behaviors/Mon/SegCamBehavior.cc:1.4 Wed Jan 7 17:51:49 2004 --- Tekkotsu/Behaviors/Mon/SegCamBehavior.cc Thu Feb 5 14:11:26 2004 *************** *** 1,7 **** #include "SegCamBehavior.h" #include "Wireless/Wireless.h" #include "Events/EventRouter.h" - #include "Shared/Config.h" #include "Events/FilterBankEvent.h" #include "Behaviors/Controller.h" #include "Shared/ProjectInterface.h" --- 1,6 ---- *************** *** 20,29 **** wireless->setDaemon(visRLE,true); wireless->listen(visRLE,config->vision.rle_port); ! //we're going to make the ControllerGUI open these itself... ! //std::vector args; ! //args.push_back("raw"); ! //Controller::loadGUI("org.tekkotsu.mon.VisionGUI","SegVisionGUI",config->vision.rle_port,args); erouter->addListener(this,EventBase::visSegmentEGID,ProjectInterface::visSegmentSID); erouter->addListener(this,EventBase::visRLEEGID,ProjectInterface::visRLESID); --- 19,25 ---- wireless->setDaemon(visRLE,true); wireless->listen(visRLE,config->vision.rle_port); ! Controller::loadGUI("org.tekkotsu.mon.VisionGUI","SegVisionGUI",config->vision.rle_port); erouter->addListener(this,EventBase::visSegmentEGID,ProjectInterface::visSegmentSID); erouter->addListener(this,EventBase::visRLEEGID,ProjectInterface::visRLESID); *************** *** 32,38 **** void SegCamBehavior::DoStop() { erouter->forgetListener(this); ! //Controller::closeGUI("SegVisionGUI"); // this could be considered a bug in our wireless - if we don't setDaemon(...,false) // it will try to listen again even though we explicitly closed the server socket... --- 28,34 ---- void SegCamBehavior::DoStop() { erouter->forgetListener(this); ! Controller::closeGUI("SegVisionGUI"); // this could be considered a bug in our wireless - if we don't setDaemon(...,false) // it will try to listen again even though we explicitly closed the server socket... *************** *** 158,166 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.4 $ * $State: Exp $ ! * $Date: 2004/01/07 22:51:49 $ */ --- 154,162 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.6 $ * $State: Exp $ ! * $Date: 2004/02/05 19:11:26 $ */ Index: Tekkotsu/Behaviors/Mon/SegCamBehavior.h diff -c Tekkotsu/Behaviors/Mon/SegCamBehavior.h:1.3 Tekkotsu/Behaviors/Mon/SegCamBehavior.h:1.5 *** Tekkotsu/Behaviors/Mon/SegCamBehavior.h:1.3 Sun Jan 18 05:16:57 2004 --- Tekkotsu/Behaviors/Mon/SegCamBehavior.h Thu Feb 5 18:33:41 2004 *************** *** 3,14 **** --- 3,44 ---- #define INCLUDED_SegCamBehavior_h_ #include "Behaviors/BehaviorBase.h" + #include "Shared/Config.h" class Socket; class FilterBankGenerator; class FilterBankEvent; //! Forwards segmented images from camera over wireless + /*! The format used for serialization is basically defined by the + * subclass of FilterBankGenerator being used. I suggest looking at + * that classes's documentation to determine the format used. + * + * However, SegCamBehavior will add a few fields at the beginning of + * each packet to assist in processing the image stream. + * + * I emphasize: beginning of each Vision packet, before the FilterBankGenerator header. + * - <@c string:"TekkotsuImage"> + * - <Config::vision_config::encoding_t: Config::vision_config::ENCODE_SINGLE_CHANNEL> (always just sends a single channel) + * - <Config::vision_config::compression_t: Config::vision_config::COMPRESS_RLE> (This is misleading - may actually be uncompressed, but this signals it's a segmented color image) + * - <@c unsigned @c int: width> (this is the width of the largest channel - note different channels can be sent at different resolutions! Provides cheap "compression" of chromaticity channels) + * - <@c unsigned @c int: height> (similarly, height of largest channel) + * - <@c unsigned @c int: timestamp> (time image was taken, milliseconds since boot) + * - <@c unsigned @c int: framenumber> (incremented for each frame, so we can tell if/when we drop one) + * + * This is exactly the same protocol that is followed by the + * RawCamBehavior as well - the same code can parse either stream. + * + * However, odd bit - since the RLEGenerator doesn't save the color + * information itself, SegCamBehavior will do it instead. So, if + * SegCamBehavior is using RLE compression, it will tack a footer at + * the end of the packet: (from SegmentedColorGenerator::encodeColors()) + * - <@c unsigned @c int: num_cols> (number of different colors available) + * - for each of num_col: + * - <@c char: red> red color to use for display of this index + * - <@c char: green> green color to use for display of this index + * - <@c char: blue> blue color to use for display of this index + */ class SegCamBehavior : public BehaviorBase { public: //! constructor *************** *** 24,33 **** virtual std::string getName() const { return "SegCamServer"; } ! static std::string getClassDescription() { return "Forwards segmented images from camera over wireless"; } protected: ! bool openPacket(FilterBankGenerator& fbkgen, unsigned int time, unsigned int layer); //!< opens a new packet, writes header info; returns true if open, false if otherwise open (check cur==NULL for error) bool writeRLE(const FilterBankEvent& fbke); //!< writes a color image bool writeSeg(const FilterBankEvent& fbke); //!< writes a color image void closePacket(); //!< closes and sends a packet, does nothing if no packet open --- 54,69 ---- virtual std::string getName() const { return "SegCamServer"; } ! static std::string getClassDescription() { ! char tmp[20]; ! sprintf(tmp,"%d",config->vision.rle_port); ! return std::string("Forwards segmented images from camera over port ")+tmp; ! } protected: ! //! opens a new packet, writes header info; returns true if open, false if otherwise open (check cur==NULL for error) ! /*! see the class documentation for SegCamBehavior for the protocol documentation */ ! bool openPacket(FilterBankGenerator& fbkgen, unsigned int time, unsigned int layer); bool writeRLE(const FilterBankEvent& fbke); //!< writes a color image bool writeSeg(const FilterBankEvent& fbke); //!< writes a color image void closePacket(); //!< closes and sends a packet, does nothing if no packet open *************** *** 47,56 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.3 $ * $State: Exp $ ! * $Date: 2004/01/18 10:16:57 $ */ #endif --- 83,92 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.5 $ * $State: Exp $ ! * $Date: 2004/02/05 23:33:41 $ */ #endif Index: Tekkotsu/Behaviors/Mon/WorldStateSerializerBehavior.cc diff -c Tekkotsu/Behaviors/Mon/WorldStateSerializerBehavior.cc:1.1 Tekkotsu/Behaviors/Mon/WorldStateSerializerBehavior.cc:1.2 *** Tekkotsu/Behaviors/Mon/WorldStateSerializerBehavior.cc:1.1 Mon Jan 19 15:37:29 2004 --- Tekkotsu/Behaviors/Mon/WorldStateSerializerBehavior.cc Sat Jan 24 16:28:50 2004 *************** *** 34,40 **** wsPIDs->write((NumPIDJoints*3)*sizeof(float)+2*sizeof(unsigned int)); } ! buf=(char*)wsJoints->getWriteBuffer((NumPIDJoints*2+NumSensors+NumButtons)*sizeof(float)+3*sizeof(unsigned int)); if (buf) { encode(&buf,state->lastSensorUpdateTime); encode(&buf,NumPIDJoints); --- 34,40 ---- wsPIDs->write((NumPIDJoints*3)*sizeof(float)+2*sizeof(unsigned int)); } ! buf=(char*)wsJoints->getWriteBuffer((NumPIDJoints*2+NumSensors+NumButtons)*sizeof(float)+4*sizeof(unsigned int)); if (buf) { encode(&buf,state->lastSensorUpdateTime); encode(&buf,NumPIDJoints); *************** *** 44,50 **** encode(&buf,NumButtons); encode(&buf,state->buttons,NumButtons); encode(&buf,state->pidduties,NumPIDJoints); ! wsJoints->write((NumPIDJoints*2+NumSensors+NumButtons)*sizeof(float)+3*sizeof(unsigned int)); } } --- 44,50 ---- encode(&buf,NumButtons); encode(&buf,state->buttons,NumButtons); encode(&buf,state->pidduties,NumPIDJoints); ! wsJoints->write((NumPIDJoints*2+NumSensors+NumButtons)*sizeof(float)+4*sizeof(unsigned int)); } } *************** *** 53,60 **** * @author alokl (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.1 $ * $State: Exp $ ! * $Date: 2004/01/19 20:37:29 $ */ --- 53,60 ---- * @author alokl (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2004/01/24 21:28:50 $ */ Index: Tekkotsu/Behaviors/Mon/WorldStateSerializerBehavior.h diff -c Tekkotsu/Behaviors/Mon/WorldStateSerializerBehavior.h:1.1 Tekkotsu/Behaviors/Mon/WorldStateSerializerBehavior.h:1.2 *** Tekkotsu/Behaviors/Mon/WorldStateSerializerBehavior.h:1.1 Mon Jan 19 15:37:29 2004 --- Tekkotsu/Behaviors/Mon/WorldStateSerializerBehavior.h Thu Feb 5 18:33:41 2004 *************** *** 9,15 **** //! Copies WorldState into a buffer for transmission over the network /*! To determine the communication protocol, just look in the ! * processEvent() function - it's pretty straightforward. */ class WorldStateSerializerBehavior : public BehaviorBase { public: WorldStateSerializerBehavior(); //!< constructor --- 9,16 ---- //! Copies WorldState into a buffer for transmission over the network /*! To determine the communication protocol, just look in the ! * processEvent() function - it's pretty straightforward binary copy ! * of values */ class WorldStateSerializerBehavior : public BehaviorBase { public: WorldStateSerializerBehavior(); //!< constructor *************** *** 54,63 **** * @author alokl (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.1 $ * $State: Exp $ ! * $Date: 2004/01/19 20:37:29 $ */ #endif --- 55,64 ---- * @author alokl (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.2 $ * $State: Exp $ ! * $Date: 2004/02/05 23:33:41 $ */ #endif Index: Tekkotsu/MMCombo/MMCombo.cc diff -c Tekkotsu/MMCombo/MMCombo.cc:1.48 Tekkotsu/MMCombo/MMCombo.cc:1.49 *** Tekkotsu/MMCombo/MMCombo.cc:1.48 Mon Jan 19 15:35:45 2004 --- Tekkotsu/MMCombo/MMCombo.cc Mon Feb 2 15:55:50 2004 *************** *** 387,393 **** // for instance, this virtual mode thing, which is global to all the affected LEDs OLED3Mode curMode[NumFrames]; for(unsigned int frame=0; frame(cmdVecData->GetData(used)->value); --- 387,393 ---- // for instance, this virtual mode thing, which is global to all the affected LEDs OLED3Mode curMode[NumFrames]; for(unsigned int frame=0; frame(cmdVecData->GetData(used)->value); *************** *** 730,739 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.48 $ * $State: Exp $ ! * $Date: 2004/01/19 20:35:45 $ */ --- 730,739 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.49 $ * $State: Exp $ ! * $Date: 2004/02/02 20:55:50 $ */ Index: Tekkotsu/MMCombo/MMCombo.h diff -c Tekkotsu/MMCombo/MMCombo.h:1.24 Tekkotsu/MMCombo/MMCombo.h:1.25 *** Tekkotsu/MMCombo/MMCombo.h:1.24 Sun Jan 18 05:16:57 2004 --- Tekkotsu/MMCombo/MMCombo.h Mon Feb 2 20:17:24 2004 *************** *** 102,107 **** --- 102,108 ---- //! Motion only, maintains the activation level of the LEDs, returns whether it should be 'fired' inline OLEDValue calcLEDValue(unsigned int i,float x) { if(x<=0.0) { + ledActivation[i]*=.9; //decay activation... resets to keeps LEDs in sync, looks a little better return oledOFF; } else if(x>=1.0) { return oledON; *************** *** 137,146 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.24 $ * $State: Exp $ ! * $Date: 2004/01/18 10:16:57 $ */ #endif --- 138,147 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.25 $ * $State: Exp $ ! * $Date: 2004/02/03 01:17:24 $ */ #endif Index: Tekkotsu/Motion/LedEngine.cc diff -c Tekkotsu/Motion/LedEngine.cc:1.11 Tekkotsu/Motion/LedEngine.cc:1.12 *** Tekkotsu/Motion/LedEngine.cc:1.11 Fri Jan 16 18:55:19 2004 --- Tekkotsu/Motion/LedEngine.cc Mon Feb 2 20:17:57 2004 *************** *** 140,154 **** } } void LedEngine::cflash(LEDBitMask_t leds, float value, unsigned int ms) { if(leds!=0) { dirty=true; unsigned int t = get_time(); if(t+ms>i)&1)*value; ! infos[i].flashtime=t+ms; ! } } } void LedEngine::flash(LEDBitMask_t leds, unsigned int ms) { --- 140,165 ---- } } void LedEngine::cflash(LEDBitMask_t leds, float value, unsigned int ms) { + dirty=true; + unsigned int t = get_time(); + if(t+ms>i)&1)*value; + infos[i].flashtime=t+ms; + } + } + void LedEngine::flash(LEDBitMask_t leds, float value, unsigned int ms) { if(leds!=0) { dirty=true; unsigned int t = get_time(); if(t+ms>i)&1) { ! infos[i].flashvalue=value; ! infos[i].flashtime=t+ms; ! } } } void LedEngine::flash(LEDBitMask_t leds, unsigned int ms) { *************** *** 322,329 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.11 $ * $State: Exp $ ! * $Date: 2004/01/16 23:55:19 $ */ --- 333,340 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.12 $ * $State: Exp $ ! * $Date: 2004/02/03 01:17:57 $ */ Index: Tekkotsu/Motion/LedEngine.h diff -c Tekkotsu/Motion/LedEngine.h:1.11 Tekkotsu/Motion/LedEngine.h:1.12 *** Tekkotsu/Motion/LedEngine.h:1.11 Tue Dec 23 01:33:42 2003 --- Tekkotsu/Motion/LedEngine.h Mon Feb 2 20:17:57 2004 *************** *** 60,66 **** //!sets the leds specified by @a leds to @a value for @a ms milliseconds, then sets back. Clears ~leds void cflash(LEDBitMask_t leds, float value, unsigned int ms); //!sets the leds specified by @a leds to @a value for @a ms milliseconds, then sets back. ! void flash(LEDBitMask_t leds, unsigned int ms=500); //!causes the leds specified by @a leds to cycle between low and high, clears others. See cycle() for parameter documentation. inline void ccycle(LEDBitMask_t leds, unsigned int period, float amp, float offset=0, int phase=0) { clear(); cycle(leds,period,amp,offset,phase); } //!causes the leds specified by @a leds to cycle between low and high --- 60,68 ---- //!sets the leds specified by @a leds to @a value for @a ms milliseconds, then sets back. Clears ~leds void cflash(LEDBitMask_t leds, float value, unsigned int ms); //!sets the leds specified by @a leds to @a value for @a ms milliseconds, then sets back. ! void flash(LEDBitMask_t leds, float value, unsigned int ms); ! //!sets the leds specified by @a leds to either a much higher or much lower value for @a ms milliseconds, then sets back. ! void flash(LEDBitMask_t leds, unsigned int ms); //!causes the leds specified by @a leds to cycle between low and high, clears others. See cycle() for parameter documentation. inline void ccycle(LEDBitMask_t leds, unsigned int period, float amp, float offset=0, int phase=0) { clear(); cycle(leds,period,amp,offset,phase); } //!causes the leds specified by @a leds to cycle between low and high *************** *** 161,170 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.11 $ * $State: Exp $ ! * $Date: 2003/12/23 06:33:42 $ */ #endif --- 163,172 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.12 $ * $State: Exp $ ! * $Date: 2004/02/03 01:17:57 $ */ #endif Index: Tekkotsu/Motion/PostureMC.h diff -c Tekkotsu/Motion/PostureMC.h:1.5 Tekkotsu/Motion/PostureMC.h:1.6 *** Tekkotsu/Motion/PostureMC.h:1.5 Mon Jan 5 20:01:50 2004 --- Tekkotsu/Motion/PostureMC.h Thu Feb 5 23:07:12 2004 *************** *** 7,12 **** --- 7,18 ---- #include "MotionManager.h" //! a MotionCommand shell for PostureEngine + /*! Will autoprune by default once it reaches the target pose. + * + * If you want to keep it alive so your behavior can use the posture + * to move around, either call setAutoPrune(@c false), or pass + * @c false to the MotionManager::addMotion() function. + */ class PostureMC : public MotionCommand, public PostureEngine { public: //!constructor *************** *** 81,90 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.5 $ * $State: Exp $ ! * $Date: 2004/01/06 01:01:50 $ */ #endif --- 87,96 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.6 $ * $State: Exp $ ! * $Date: 2004/02/06 04:07:12 $ */ #endif Index: Tekkotsu/Shared/Config.h diff -c Tekkotsu/Shared/Config.h:1.27 Tekkotsu/Shared/Config.h:1.28 *** Tekkotsu/Shared/Config.h:1.27 Tue Jan 20 22:31:08 2004 --- Tekkotsu/Shared/Config.h Thu Jan 29 20:30:07 2004 *************** *** 136,142 **** //!returns an absolute path if @a is relative (to root), otherwise just @a name std::string makePath(std::string name) { ! return (name[0]!='/')?root+"/"+name:name; } //!constructor --- 136,147 ---- //!returns an absolute path if @a is relative (to root), otherwise just @a name std::string makePath(std::string name) { ! if(name[0]=='/') ! return name; ! if(root[root.size()-1]=='/') ! return root+name; ! else ! return root+"/"+name; } //!constructor *************** *** 168,174 **** //!returns an absolute path if @a is relative (to root), otherwise just @a name std::string makePath(std::string name) { ! return (name[0]!='/')?root+"/"+name:name; } //!constructor --- 173,184 ---- //!returns an absolute path if @a is relative (to root), otherwise just @a name std::string makePath(std::string name) { ! if(name[0]=='/') ! return name; ! if(root[root.size()-1]=='/') ! return root+name; ! else ! return root+"/"+name; } //!constructor *************** *** 199,208 **** * @author alokl (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.27 $ * $State: Exp $ ! * $Date: 2004/01/21 03:31:08 $ */ #endif --- 209,218 ---- * @author alokl (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.28 $ * $State: Exp $ ! * $Date: 2004/01/30 01:30:07 $ */ #endif Index: Tekkotsu/Shared/LoadSave.cc diff -c Tekkotsu/Shared/LoadSave.cc:1.3 Tekkotsu/Shared/LoadSave.cc:1.4 *** Tekkotsu/Shared/LoadSave.cc:1.3 Thu Sep 25 11:31:53 2003 --- Tekkotsu/Shared/LoadSave.cc Mon Feb 2 20:19:05 2004 *************** *** 52,58 **** std::cout << "*** WARNING could not open file for loading \"" << file << "\"" << std::endl; return 0; } ! unsigned int sz = LoadFile(f); if(sz==0) std::cout << "*** WARNING loading of " << file << " failed " << std::endl; err=fclose(f); --- 52,58 ---- std::cout << "*** WARNING could not open file for loading \"" << file << "\"" << std::endl; return 0; } ! unsigned int sz = LoadFileStream(f); if(sz==0) std::cout << "*** WARNING loading of " << file << " failed " << std::endl; err=fclose(f); *************** *** 70,76 **** std::cout << "*** WARNING could not open file for saving \"" << file << "\"" << std::endl; return 0; } ! unsigned int sz = SaveFile(f); if(sz==0) std::cout << "*** WARNING saving of " << file << " failed " << std::endl; err=fclose(f); --- 70,76 ---- std::cout << "*** WARNING could not open file for saving \"" << file << "\"" << std::endl; return 0; } ! unsigned int sz = SaveFileStream(f); if(sz==0) std::cout << "*** WARNING saving of " << file << " failed " << std::endl; err=fclose(f); *************** *** 81,87 **** return sz; } ! unsigned int LoadSave::LoadFile(FILE* f) { unsigned int cap=128; unsigned int sz=0; unsigned int origpos=ftell(f); --- 81,87 ---- return sz; } ! unsigned int LoadSave::LoadFileStream(FILE* f) { unsigned int cap=128; unsigned int sz=0; unsigned int origpos=ftell(f); *************** *** 111,117 **** fseek(f,origpos+resp,SEEK_SET); return resp; } ! unsigned int LoadSave::SaveFile(FILE* f) const { unsigned int sz=getBinSize(); char * buf = new char[sz]; memset(buf,0xF0,sz); --- 111,117 ---- fseek(f,origpos+resp,SEEK_SET); return resp; } ! unsigned int LoadSave::SaveFileStream(FILE* f) const { unsigned int sz=getBinSize(); char * buf = new char[sz]; memset(buf,0xF0,sz); *************** *** 137,145 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.3 $ ! * $State: Rel $ ! * $Date: 2003/09/25 15:31:53 $ */ --- 137,145 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.4 $ ! * $State: Exp $ ! * $Date: 2004/02/03 01:19:05 $ */ Index: Tekkotsu/Shared/LoadSave.h diff -c Tekkotsu/Shared/LoadSave.h:1.6 Tekkotsu/Shared/LoadSave.h:1.8 *** Tekkotsu/Shared/LoadSave.h:1.6 Sun Jan 18 05:16:58 2004 --- Tekkotsu/Shared/LoadSave.h Thu Feb 5 18:33:45 2004 *************** *** 5,12 **** #include //! Intended as an interface to allow easy and uniform file operations ! /*! Be mindful of version differences - better safe than sorry - put a ! * version number as the first field, just in case */ class LoadSave { public: //! This is the amount of extra space needed to store a string (int for len of string plus 1 for null term --- 5,109 ---- #include //! Intended as an interface to allow easy and uniform file operations ! /*! ! ! Generally, for usage, all you need to know is to call ! SaveFile("/path/to/file.ext") or ! SaveBuffer(membuffer) in order to have the class serialize ! itself, and the LoadFile() / LoadBuffer() in order to reload the ! data. ! ! So, when SaveFile() is called, it checks that it ! can open the specified file, and then calls SaveFileStream() ! with the open file. This will then check getBinSize(), create a ! buffer of that size, and call SaveBuffer() to do the actual work of ! serialization into that buffer. If SaveBuffer is successful (make ! sure your getBinSize() doesn't underestimate!) SaveFileStream() ! copies the buffer out to the file, and then finally, SaveFile() will ! close the file. ! ! This has the nice side effect that if you want to send the data over ! the network instead of a file, you can call SaveBuffer() directly ! and reuse the code. However, if you have a lot of data to save, you ! can override the SaveFileStream() function as well, and save into ! the file directly. So far I've only bothered to do that with ! only a few classes. ! ! The recommended style for using LoadSave in classes with inheritance ! is to have each subclass first call the superclass's implementation, ! and then save their own local data. This compartmentalizes the data ! access and makes it easy to maintain - the code that serializes is ! right in with the code that defines the structure. If you change ! one, it's easy to see where to change the other. And protection ! between levels of inheritance is retained. (This is why I say it's ! highly flexible/maintainable, but poor readability since the ! serialization is all broken up.) ! ! I also recommend putting a little string header at the beginning of ! each class's info. This will allow polymorphism when loading files ! (you can look at the string and create the appropriate type) but ! also is handy for checking field alignment... it's a lot easier to ! tell how much you're offset within a string than to do the same with ! a stream of binary values. Further, you can use the string as ! version information if you want to be backward compatible in future ! versions of your code. ! ! LoadSave provides a series of encode and decode functions for all ! the primitive types. This will handle copying the value into the ! buffer or file, and can provide platform independence through byte ! swapping if needed (there's a compiler flag you can set for ! platforms that have the opposite byte order). Most of these are ! pretty straightfoward - an int is just 4 bytes and so on. ! ! However, there's one caveat that I want to make sure to point out if ! you have to write parsing code in say, Java. Strings are encoded by ! first storing an int to hold the string's length, then the string ! itself, and then a null character. This adds 5 bytes to the length ! of any string, but makes loading the files much easier/faster - you ! can call string library functions directly on the buffer if it's ! already in memory since the string is null terminated, or can ! allocate memory to hold the string during loading from a file if ! needed because you'll know the size of the string before you get to ! it. ! ! Of course, the string stuff is transparent if you just use ! LoadSave's encode/decode functions to parse it. But if that's not ! available (for instance if your receiver is in Java, there's a ! readLoadSaveString() in VisionListener.java if that will help: ! http://cvs.tekkotsu.org/cgi-bin/viewcvs.cgi/Tekkotsu/tools/mon/org/tekkotsu/mon/VisionListener.java?rev=1.6&content-type=text/vnd.viewcvs-markup ! @code ! public boolean _isConnected; ! ! public String readLoadSaveString(InputStream in) throws java.io.IOException { ! int creatorLen=readInt(in); ! if(!_isConnected) return ""; ! String creator=new String(readBytes(in,creatorLen)); ! if(!_isConnected) return ""; ! if(readChar(in)!='\0') ! System.err.println("Misread LoadSave string? "+creator); ! return creator; ! } ! ! public 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]); ! } ! public byte[] readBytes(InputStream in, int bytes) throws IOException { ! byte[] ret=new byte[bytes]; ! readBytes(ret, in, bytes); ! return ret; ! } ! public char readChar(InputStream in) throws IOException { ! return (char)in.read(); ! } ! @endcode ! */ class LoadSave { public: //! This is the amount of extra space needed to store a string (int for len of string plus 1 for null term *************** *** 53,59 **** * leaf-level ones won't even get this call unless you override the ones * above them - hence, this is all or nothing * @return number of bytes read, 0 if error (or empty) */ ! virtual unsigned int LoadFile(FILE* f); //!Used recursively on member objects once a file is already open - DON'T CLOSE the file in your overridden functions /*! @param f a pointer to the file to save * @warning could potentially be very inefficient if root-level objects --- 150,156 ---- * leaf-level ones won't even get this call unless you override the ones * above them - hence, this is all or nothing * @return number of bytes read, 0 if error (or empty) */ ! virtual unsigned int LoadFileStream(FILE* f); //!Used recursively on member objects once a file is already open - DON'T CLOSE the file in your overridden functions /*! @param f a pointer to the file to save * @warning could potentially be very inefficient if root-level objects *************** *** 61,67 **** * leaf-level ones won't even get this call unless you override the ones * above them - hence, this is all or nothing * @return number of bytes written, 0 if error (or empty) */ ! virtual unsigned int SaveFile(FILE* f) const; //@} //! These are for putting creator codes at the beginning of your data to check for sanity, just optional --- 158,164 ---- * leaf-level ones won't even get this call unless you override the ones * above them - hence, this is all or nothing * @return number of bytes written, 0 if error (or empty) */ ! virtual unsigned int SaveFileStream(FILE* f) const; //@} //! These are for putting creator codes at the beginning of your data to check for sanity, just optional *************** *** 108,115 **** /*!@brief encode or decode with byte order consistancy*/ inline static unsigned int encode(const LoadSave& x, char buf[], unsigned int cap) { return x.SaveBuffer(buf,cap); } inline static unsigned int decode(LoadSave& x, const char buf[], unsigned int cap) { return x.LoadBuffer(buf,cap); } ! inline static unsigned int encode(const LoadSave& x, FILE* f) { return x.SaveFile(f); } ! inline static unsigned int decode(LoadSave& x, FILE* f) { return x.LoadFile(f); } //I don't know what compiler flag to use - this one is fake. //Ideally, we should be able to detect host orientation --- 205,212 ---- /*!@brief encode or decode with byte order consistancy*/ inline static unsigned int encode(const LoadSave& x, char buf[], unsigned int cap) { return x.SaveBuffer(buf,cap); } inline static unsigned int decode(LoadSave& x, const char buf[], unsigned int cap) { return x.LoadBuffer(buf,cap); } ! inline static unsigned int encode(const LoadSave& x, FILE* f) { return x.SaveFileStream(f); } ! inline static unsigned int decode(LoadSave& x, FILE* f) { return x.LoadFileStream(f); } //I don't know what compiler flag to use - this one is fake. //Ideally, we should be able to detect host orientation *************** *** 233,242 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.6 $ * $State: Exp $ ! * $Date: 2004/01/18 10:16:58 $ */ #endif --- 330,339 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.8 $ * $State: Exp $ ! * $Date: 2004/02/05 23:33:45 $ */ #endif Index: Tekkotsu/Shared/Profiler.h diff -c Tekkotsu/Shared/Profiler.h:1.10 Tekkotsu/Shared/Profiler.h:1.11 *** Tekkotsu/Shared/Profiler.h:1.10 Fri Jan 16 02:39:30 2004 --- Tekkotsu/Shared/Profiler.h Wed Feb 4 18:06:47 2004 *************** *** 20,45 **** * That's handy so one process can collate all the profiling information across processes * to give a summary report to the user.\n * ! * Example usage: (two different methods, f() or g()) * @code * ProfilerOfSize<2> prof; //A global manager for all the sections * * void f() { ! * static unsigned int id=prof.getNewID("f"); // *** YOU NEED THIS LINE for each section to profile ! * Profiler::Timer timer(id,&prof); // *** YOU NEED THIS LINE for each section to profile * //... * if(rand()>RAND_MAX/2) * return; // destruction of timer occurs automatically! * //... * } // if we didn't hit the return, timer will otherwise destruct here! * * void g() { ! * PROFSECTION("g",prof); // Could also use this macro instead (recommended if you're ! * //... // not doing something fancy like conditional timers) * f(); // will note f's time as g's child time * //... * } * @endcode * The idea is similar to that used by MMAccessor. If you want to profile a section at smaller * resolution than a function, you can use tricks shown in MMAccessor's documentation to limit * the timer's scope. --- 20,53 ---- * That's handy so one process can collate all the profiling information across processes * to give a summary report to the user.\n * ! * Example usage: ! * - Use a static variable to hold an id number for the code section (doesn't necessarily have to be static, but is faster that way) ! * - Create a Profiler::Timer object - its construction marks the 'start' time, and its destructor marks the 'stop' time. ! * * @code * ProfilerOfSize<2> prof; //A global manager for all the sections * * void f() { ! * static unsigned int id=prof.getNewID("f"); // <== Get the ID number ! * Profiler::Timer timer(id,&prof); // <== start the timer * //... * if(rand()>RAND_MAX/2) * return; // destruction of timer occurs automatically! * //... * } // if we didn't hit the return, timer will otherwise destruct here! + * @endcode + * + * However, there's a macro that makes this a one liner: * + * @code * void g() { ! * PROFSECTION("g",prof); // <== Most of the time, this is all you need ! * //... // (unless you're doing something fancy like conditional timers) * f(); // will note f's time as g's child time * //... * } * @endcode + * * The idea is similar to that used by MMAccessor. If you want to profile a section at smaller * resolution than a function, you can use tricks shown in MMAccessor's documentation to limit * the timer's scope. *************** *** 73,80 **** * header, but has the downside that accessing the info stored in the subclass from the super class * is very much a hack. If you think you can get around this, good luck! * ! * @note ~Profiler() isn't virtual - that's on purpose.\n ! * This could be made much prettier if we didn't care about the virtual function-shared * memory problems... sigh */ class Profiler { --- 81,87 ---- * header, but has the downside that accessing the info stored in the subclass from the super class * is very much a hack. If you think you can get around this, good luck! * ! * @note This could be made much prettier if we didn't care about the virtual function-shared * memory problems... sigh */ class Profiler { *************** *** 197,206 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.10 $ * $State: Exp $ ! * $Date: 2004/01/16 07:39:30 $ */ #endif --- 204,213 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.11 $ * $State: Exp $ ! * $Date: 2004/02/04 23:06:47 $ */ #endif Index: Tekkotsu/Vision/FilterBankGenerator.cc diff -c Tekkotsu/Vision/FilterBankGenerator.cc:1.4 Tekkotsu/Vision/FilterBankGenerator.cc:1.5 *** Tekkotsu/Vision/FilterBankGenerator.cc:1.4 Sun Dec 7 19:21:06 2003 --- Tekkotsu/Vision/FilterBankGenerator.cc Thu Feb 5 14:11:41 2004 *************** *** 128,140 **** /*! @file ! * @brief Implements abstract base class for generators of FilterBankEvents * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.4 $ * $State: Exp $ ! * $Date: 2003/12/08 00:21:06 $ */ --- 128,140 ---- /*! @file ! * @brief Implements abstract base class for generators of FilterBankEvent's * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.5 $ * $State: Exp $ ! * $Date: 2004/02/05 19:11:41 $ */ Index: Tekkotsu/Vision/FilterBankGenerator.h diff -c Tekkotsu/Vision/FilterBankGenerator.h:1.9 Tekkotsu/Vision/FilterBankGenerator.h:1.12 *** Tekkotsu/Vision/FilterBankGenerator.h:1.9 Wed Jan 7 21:22:34 2004 --- Tekkotsu/Vision/FilterBankGenerator.h Thu Feb 5 18:33:48 2004 *************** *** 5,11 **** #include "Events/EventGeneratorBase.h" #include "Shared/LoadSave.h" ! //! Abstract base class for generators of FilterBankEvents /*! This is needed to provide an interface for the FilterBankEvent to * call back when the actual image data is requested from it. This * facilitates lazy calculation of image data... no sense in --- 5,11 ---- #include "Events/EventGeneratorBase.h" #include "Shared/LoadSave.h" ! //! Abstract base class for generators of FilterBankEvent's /*! This is needed to provide an interface for the FilterBankEvent to * call back when the actual image data is requested from it. This * facilitates lazy calculation of image data... no sense in *************** *** 20,40 **** * in a scaling pyramid, but you are free to store your own data * however you wish. * ! * For serializing, FilterBankGenerators inherit from the LoadSave ! * interface. Only one image (selected with setLoadSaveImage()) of ! * the bank will loaded or saved at a time. The default LoadSave ! * will store some header information for you: * ! * - Creator code: string ("\008FBkImage\0") ! * - Width: unsigned int ! * - Height: unsigned int ! * - Layer: unsigned int ! * - Channel: unsigned int * ! * However, you will need to override the LoadSave functions (listed ! * below) to provide your own code for interpreting the image data ! * itself. You may also want to add a few extra functions to allow ! * users to set compression/data format parameters. * * If you're doing fancy memory stuff, you probably want to override * the freeCaches() and destruct() functions so that the default --- 20,90 ---- * in a scaling pyramid, but you are free to store your own data * however you wish. * ! *

Serialization Format

! * ! * First, be sure to get a good overview of the LoadSave style. Most ! * serialization is handled using this interface. ! * ! * When, for instance, RawCameraGenerator::SaveBuffer() is called, it ! * first calls it's super class, FilterBankGenerator::SaveBuffer(), ! * which will write out the general image information, common to all ! * subclasses of FilterBankGenerator. (i'll cover the specifics in a ! * second) Once that's done, the RawCameraGenerator adds it's own bit ! * of header and then saves the image data itself. ! * ! * Note that only a single channel is being saved at this point. So ! * for instance, all the Y information. No interleaving is going ! * on. (unless you're saving from InterleavedYUVGenerator of course, ! * which treats the 3 interleaved channels as a single image) ! * Otherwise,only one image (selected with selectSaveImage()) of the ! * bank will loaded or saved at a time. * ! * So, anyway. The first header will be the same for all ! * FilterBankGenerator subclasses. In the specification below, I'm ! * going to use one field per line (the new lines are not literal, ! * it's a binary stream). Each field is of the form '<@c type:name> ! * (notes)' * ! * FilterBankGenerator Header: (from FilterBankGenerator::SaveBuffer()) ! * - <@c string: "FbkImage"> (remember a 'string' is len+str+0; so this is the literal "\010\0\0\0FbkImage\0"; also remember "\010" is octal for 8) ! * - <@c unsigned @c int: width> ! * - <@c unsigned @c int: height> ! * - <@c unsigned @c int: image layer> ! * - <@c unsigned @c int: image channel> (so notice you can tell which channel it is after it's been saved) ! * ! * Generator Specific Header (selected examples follow, or similarly, any of the other generators) ! * ! * - RawCameraGenerator: (from RawCameraGenerator::SaveBuffer()) ! * - <@c string: "RawImage"> ! * - <char[width*height]: image data> (note, just once channel being stored) ! * - InterleavedYUVGenerator: (from InterleavedYUVGenerator::SaveBuffer()) ! * - <@c string: "InterleavedYUVImage"> ! * - <char[width*height*3]: image data> (in YVU order, technically YCbCr) ! * - SegmentedColorGenerator: (from SegmentedColorGenerator::SaveBuffer()) ! * - <@c string: "SegColorImage"> ! * - <char[width*height]: image data> (one byte per sample) ! * - <@c unsigned @c int: num_cols> (number of different colors available) ! * - for each of num_col: ! * - <@c char: red> red color to use for display of this index ! * - <@c char: green> green color to use for display of this index ! * - <@c char: blue> blue color to use for display of this index ! * - RLEGenerator: (from RLEGenerator::SaveBuffer()) ! * - <@c string: "RLEImage"> (remember a 'string' is len+str+0; so this is the literal "\010\0\0\0RLEImage\0"; also remember "\010" is octal for 8) ! * - <@c unsigned @c int: num_runs> (how many runs will follow) ! * - for each of num_runs: ! * - <@c char: color> (index value of color of run) ! * - <@c short: x> (x position of start of run ("unknown" runs are skipped - assume index 0 for pixels which are jumped)) ! * - <@c short: width> (length of run, will not exceed remaining width of image) ! * - notice there's no color information from RLE - it's not (shouldn't be) assuming anything about the data being compressed) ! * ! * However, while we're on the topic, I'll mention that although this ! * is the same image format used for streaming to VisionGUI, there's ! * a few more fields added by RawCamBehavior or SegCamBehavior at the ! * beginning of each packet. See those classes for more information ! * on the wireless protocol. That should tell you everything you need ! * to know to interpret the vision stream as well. ! * ! *

Adding New FilterBankGenerator Subclasses

* * If you're doing fancy memory stuff, you probably want to override * the freeCaches() and destruct() functions so that the default *************** *** 43,49 **** * your versions won't get called before the default implementation's * does. * ! * @see RawCameraGenerator */ class FilterBankGenerator : public EventGeneratorBase, public LoadSave { public: --- 93,113 ---- * your versions won't get called before the default implementation's * does. * ! * If you want to be able to transmit or save your images, you will ! * need to override the LoadSave functions (listed below) to provide ! * your own code for interpreting the image data itself, and then ! * create or modify a behavior to open a socket and transmit the ! * information. (you could do that from within the generator itself ! * if you like) ! * ! * You will probably also want to add a few extra functions to allow ! * users to set compression/data format parameters. ! * ! * @see RawCameraGenerator, SegmentedColorGenerator for the basic ! * image access ! * ! * @see RLEGenerator, RegionGenerator for some relatively simple ! * examples of vision stages if you want to make some of your own. */ class FilterBankGenerator : public EventGeneratorBase, public LoadSave { public: *************** *** 147,160 **** * its available resolutions at run time. */ virtual void setNumImages(unsigned int nLayers, unsigned int nChannels); ! //! create new image data storage area for the cache - this is only called when the corresponding entry in images is NULL /*! You should return the pointer you want stored in images to be * returned by any calls to getFirstRow. Interpretation of the * data it points to is dependant on the the generator which * creates it */ virtual unsigned char * createImageCache(unsigned int layer, unsigned int channel) const=0; ! //! should calculate new image data, only called when imageValids indicates the image being requested is dirty /*! This is where you'll want to put your user-specific code for calculating the image data */ virtual void calcImage(unsigned int layer, unsigned int channel) const=0; --- 211,224 ---- * its available resolutions at run time. */ virtual void setNumImages(unsigned int nLayers, unsigned int nChannels); ! //! create new image data storage area for the cache - this called by getImage() only when the corresponding entry in images is NULL /*! You should return the pointer you want stored in images to be * returned by any calls to getFirstRow. Interpretation of the * data it points to is dependant on the the generator which * creates it */ virtual unsigned char * createImageCache(unsigned int layer, unsigned int channel) const=0; ! //! should calculate new image data, called by getImage() only when #imageValids indicates the image being requested is dirty (and only after getImage() has already called createImageCache()) /*! This is where you'll want to put your user-specific code for calculating the image data */ virtual void calcImage(unsigned int layer, unsigned int channel) const=0; *************** *** 196,209 **** }; /*! @file ! * @brief Describes abstract base class for generators of FilterBankEvents * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.9 $ * $State: Exp $ ! * $Date: 2004/01/08 02:22:34 $ */ #endif --- 260,273 ---- }; /*! @file ! * @brief Describes abstract base class for generators of FilterBankEvent's * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.12 $ * $State: Exp $ ! * $Date: 2004/02/05 23:33:48 $ */ #endif Index: Tekkotsu/Vision/InterleavedYUVGenerator.h diff -c Tekkotsu/Vision/InterleavedYUVGenerator.h:1.7 Tekkotsu/Vision/InterleavedYUVGenerator.h:1.10 *** Tekkotsu/Vision/InterleavedYUVGenerator.h:1.7 Sun Jan 18 05:16:59 2004 --- Tekkotsu/Vision/InterleavedYUVGenerator.h Thu Feb 5 18:33:48 2004 *************** *** 7,17 **** //! Generates FilterBankEvents containing raw camera images with interleaved pixels (YVUYVUYVU... instead of YYY...UUU...VVV...) /*! @note That's not a typo - the byte ordering is YVU, @e not YUV * ! * Sorry about the misleading name... This @a takes YUV images, ! * however, the main reason for this class is to interleave the image ! * in order to pass it to the jpeg compression routines. JPEG expect ! * YCrCb, which is apparently YVU order. *shrug* I dunno, there's ! * something weird there. * * There's only one channel, which holds the interleaved data. The * increment is set to 3, but if you want to access each component in --- 7,22 ---- //! Generates FilterBankEvents containing raw camera images with interleaved pixels (YVUYVUYVU... instead of YYY...UUU...VVV...) /*! @note That's not a typo - the byte ordering is YVU, @e not YUV * ! * Sorry about the misleading name... This @a takes filter banks ! * containing YUV information, however, the main reason for this ! * class is to interleave the image in order to pass it to the jpeg ! * compression routines. JPEG expect YCbCr, which corresponds to YVU ! * order. ! * ! * Also, I should point out that mathematically, V!=Cb, and U!=Cr, ! * but they do carry the same information. It's just a matter of ! * scaling and offset. These comments use the "Y", "U", and "V" ! * labels loosely. * * There's only one channel, which holds the interleaved data. The * increment is set to 3, but if you want to access each component in *************** *** 24,29 **** --- 29,36 ---- * general. * * should receive FilterBankEvents from any standard format FilterBankGenerator (like RawCameraGenerator) + * + * @see FilterBankGenerator for information on serialization format */ class InterleavedYUVGenerator : public FilterBankGenerator { public: *************** *** 66,75 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.7 $ * $State: Exp $ ! * $Date: 2004/01/18 10:16:59 $ */ #endif --- 73,82 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.10 $ * $State: Exp $ ! * $Date: 2004/02/05 23:33:48 $ */ #endif Index: Tekkotsu/Vision/RLEGenerator.cc diff -c Tekkotsu/Vision/RLEGenerator.cc:1.5 Tekkotsu/Vision/RLEGenerator.cc:1.6 *** Tekkotsu/Vision/RLEGenerator.cc:1.5 Fri Jan 16 02:39:51 2004 --- Tekkotsu/Vision/RLEGenerator.cc Wed Feb 4 21:37:09 2004 *************** *** 132,147 **** } } unsigned char * RLEGenerator::createImageCache(unsigned int layer, unsigned int /*chan*/) const { return reinterpret_cast(new run[maxRuns[layer]]); } void RLEGenerator::calcImage(unsigned int layer, unsigned int chan) const { PROFSECTION("RLEGenerator::calcImage(...)",state->mainProfile); numRuns[layer][chan] = CMVision::EncodeRuns(reinterpret_cast(images[layer][chan]),src->getImage(layer,chan),getWidth(layer),getHeight(layer),maxRuns[layer]); ! imageValids[layer][chan]=true; } void --- 132,149 ---- } } + //! simply creates a new data region and returns it unsigned char * RLEGenerator::createImageCache(unsigned int layer, unsigned int /*chan*/) const { return reinterpret_cast(new run[maxRuns[layer]]); } + //! a single call to the CMVision library to do the work, and we're done. void RLEGenerator::calcImage(unsigned int layer, unsigned int chan) const { PROFSECTION("RLEGenerator::calcImage(...)",state->mainProfile); numRuns[layer][chan] = CMVision::EncodeRuns(reinterpret_cast(images[layer][chan]),src->getImage(layer,chan),getWidth(layer),getHeight(layer),maxRuns[layer]); ! imageValids[layer][chan]=true; // <--- don't forget to do this, otherwise you'll recompute on every access, even if the cache is still valid } void *************** *** 161,169 **** * @author ejt (reorganized) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.5 $ * $State: Exp $ ! * $Date: 2004/01/16 07:39:51 $ */ --- 163,171 ---- * @author ejt (reorganized) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.6 $ * $State: Exp $ ! * $Date: 2004/02/05 02:37:09 $ */ Index: Tekkotsu/Vision/RLEGenerator.h diff -c Tekkotsu/Vision/RLEGenerator.h:1.4 Tekkotsu/Vision/RLEGenerator.h:1.6 *** Tekkotsu/Vision/RLEGenerator.h:1.4 Sun Jan 18 05:16:59 2004 --- Tekkotsu/Vision/RLEGenerator.h Thu Feb 5 18:33:48 2004 *************** *** 10,15 **** --- 10,18 ---- //! Generates RLE compressed FilterBankEvents (generally from indexed color images from, say, SegmentedColorGenerator) /*! Uses the CMVision library for main processing. * + * getImage() will return the first run, from the upper left hand + * corner. The type is RLEGenerator::run. + * * The RLE produced isn't quite optimal in terms of size. To make it * easier to directly process the RLE for recognition tasks, each run * will be broken at the end of the row. So a solid image will still *************** *** 39,44 **** --- 42,65 ---- * flat color. However, if you have some kind of other preprocessing * that also provides suitable data, this can encode it for you. * + * The format used for serialization is: (code is in SaveBuffer()) + * - <@c FilterBankGenerator: superclass header> (First saves the superclass's info) + * - <@c string: "RLEImage"> (remember a 'string' is len+str+0; so this is the literal "\010\0\0\0RLEImage\0"; also remember "\010" is octal for 8) + * - <@c unsigned @c int: num_runs> (how many runs will follow) + * - for each of num_runs: + * - <@c char: color> (index value of color of run) + * - <@c short: x> (x position of start of run ("unknown" runs are skipped - assume index 0 for pixels which are jumped)) + * - <@c short: width> (length of run, will not exceed remaining width of image) + * + * Note that the RLEGenerator doesn't save the color infomation + * regarding what each index value "means". This is just a + * compression stage, pure and simple. You'll need to look at the + * RLEGenerator's source (@e probably SegmentedColorGenerator, but + * doesn't @e have to be) to determine how to interpret the indicies. + * + * @see SegCamBehavior for information on transmission over wireless. + * + * @see FilterBankGenerator more information on serialization */ class RLEGenerator : public FilterBankGenerator { public: *************** *** 97,106 **** * @author ejt (reorganized) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.4 $ * $State: Exp $ ! * $Date: 2004/01/18 10:16:59 $ */ #endif --- 118,127 ---- * @author ejt (reorganized) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.6 $ * $State: Exp $ ! * $Date: 2004/02/05 23:33:48 $ */ #endif Index: Tekkotsu/Vision/RawCameraGenerator.cc diff -c Tekkotsu/Vision/RawCameraGenerator.cc:1.11 Tekkotsu/Vision/RawCameraGenerator.cc:1.14 *** Tekkotsu/Vision/RawCameraGenerator.cc:1.11 Fri Jan 16 02:39:51 2004 --- Tekkotsu/Vision/RawCameraGenerator.cc Thu Feb 5 19:06:31 2004 *************** *** 93,100 **** images[selectedSaveLayer][selectedSaveChannel]=createImageCache(selectedSaveLayer,selectedSaveChannel); unsigned char* img=images[selectedSaveLayer][selectedSaveChannel]; used=widths[selectedSaveLayer]*heights[selectedSaveLayer]; ! if(used>len) ! return 0; memcpy(img,buf,used); len-=used; buf+=used; imageValids[selectedSaveLayer][selectedSaveChannel]=true; --- 93,99 ---- images[selectedSaveLayer][selectedSaveChannel]=createImageCache(selectedSaveLayer,selectedSaveChannel); unsigned char* img=images[selectedSaveLayer][selectedSaveChannel]; used=widths[selectedSaveLayer]*heights[selectedSaveLayer]; ! ASSERTRETVAL(used<=len,"buffer too small",0); memcpy(img,buf,used); len-=used; buf+=used; imageValids[selectedSaveLayer][selectedSaveChannel]=true; *************** *** 113,128 **** unsigned char* img=getImage(selectedSaveLayer,selectedSaveChannel); used=widths[selectedSaveLayer]*heights[selectedSaveLayer]; ! if(used>len) ! return 0; unsigned int inc=getIncrement(selectedSaveLayer); if(inc==1) { //special case, straight copy for(unsigned int y=0; yprintf("Saving %d by %d\n",widths[selectedSaveLayer],heights[selectedSaveLayer]); + for(unsigned int y=0; yprintf("short write on image data - ran out of space?\n"); + return 0; + } + img+=getStride(selectedSaveLayer); + } + } else { + //otherwise, interleaved or subsampling + for(unsigned int y=0; yprintf("short write on image data - ran out of space?\n"); + return 0; + } + img+=inc; + } + img+=getSkip(selectedSaveLayer); + } + } + totalused+=used; + + return totalused; + } + void RawCameraGenerator::setDimensions() { freeCaches(); *************** *** 157,163 **** void RawCameraGenerator::freeCaches() { ! for(unsigned int i=0; i(&dblRes[chan][0][0]); } else return NULL; // calcImage will set the cache itself } *************** *** 367,375 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.11 $ * $State: Exp $ ! * $Date: 2004/01/16 07:39:51 $ */ --- 425,433 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.14 $ * $State: Exp $ ! * $Date: 2004/02/06 00:06:31 $ */ Index: Tekkotsu/Vision/RawCameraGenerator.h diff -c Tekkotsu/Vision/RawCameraGenerator.h:1.10 Tekkotsu/Vision/RawCameraGenerator.h:1.13 *** Tekkotsu/Vision/RawCameraGenerator.h:1.10 Sun Jan 18 05:16:59 2004 --- Tekkotsu/Vision/RawCameraGenerator.h Thu Feb 5 18:33:48 2004 *************** *** 10,16 **** //! Generates FilterBankEvents containing raw camera images directly from the system (doesn't make a copy) class RawCameraGenerator : public FilterBankGenerator { public: ! //!constructor, numRawLayers is the number of real layers passed from the system, numCalcLayers is the total number of layers to make available /*! The extra calculated layers are simply created by giving larger * increments, they reference the same data (no computational cost, * marginal memory costs... it's just nice to have more layers in --- 10,16 ---- //! Generates FilterBankEvents containing raw camera images directly from the system (doesn't make a copy) class RawCameraGenerator : public FilterBankGenerator { public: ! //! constructor, numRawLayers is the number of real layers passed from the system, numCalcLayers is the total number of layers to make available /*! The extra calculated layers are simply created by giving larger * increments, they reference the same data (no computational cost, * marginal memory costs... it's just nice to have more layers in *************** *** 23,29 **** * The top most layer (largest index) is a double-scale image. For * the Y-channel, it is reconstructed from the 4 Y channels. For * the other channels, it just does a fast scaling (but these ! * operations do cost, so use the top layer conservatively. */ RawCameraGenerator(unsigned int numRawLayers, unsigned int numCalcLayers, EventBase::EventGeneratorID_t gid, unsigned int sid, unsigned int mysid); //! destructor --- 23,32 ---- * The top most layer (largest index) is a double-scale image. For * the Y-channel, it is reconstructed from the 4 Y channels. For * the other channels, it just does a fast scaling (but these ! * operations do cost, so use the top layer conservatively. ! * ! * @see FilterBankGenerator for information on serialization format ! */ RawCameraGenerator(unsigned int numRawLayers, unsigned int numCalcLayers, EventBase::EventGeneratorID_t gid, unsigned int sid, unsigned int mysid); //! destructor *************** *** 54,60 **** --- 57,79 ---- virtual unsigned int SaveBuffer(char buf[], unsigned int len) const; + virtual unsigned int SaveFileStream(FILE* f) const; //!< overrridden to allow saving direct to file without an extra buffer copy + protected: + //! ohh, this is so yucky. But we need to get around heap allocation bugs with large regions in Aperios :( + /*! So we store the double size images statically within the class. + * What a waste of memory since we're probably not using these very + * much, and they are rather large... :( + * + * The 2.0 release had the proper dynamic allocation + * implementation, but has been replaced in 2.0.1 with this static + * allocation so it won't crash. + * + * Of course, if the memory allocation bug is never fixed, and + * camera sizes increase in later models, this will have to be + * modified. */ + unsigned char dblRes[NUM_CHANNELS][416][320]; + virtual void setNumImages(unsigned int nLayers, unsigned int nChannels); virtual void setDimensions(); //!< resets the width, height, skip and stride values *************** *** 93,102 **** * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.10 $ * $State: Exp $ ! * $Date: 2004/01/18 10:16:59 $ */ #endif --- 112,121 ---- * @author ejt (Creator) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.13 $ * $State: Exp $ ! * $Date: 2004/02/05 23:33:48 $ */ #endif Index: Tekkotsu/Vision/RegionGenerator.cc diff -c Tekkotsu/Vision/RegionGenerator.cc:1.5 Tekkotsu/Vision/RegionGenerator.cc:1.6 *** Tekkotsu/Vision/RegionGenerator.cc:1.5 Fri Jan 16 02:39:51 2004 --- Tekkotsu/Vision/RegionGenerator.cc Wed Feb 4 21:46:41 2004 *************** *** 212,237 **** unsigned char * RegionGenerator::createImageCache(unsigned int layer, unsigned int chan) const { regions[layer][chan]=new region[MAX_REGIONS]; region_stats * stats=new region_stats[srcNumColors]; //initialize the region parameters (held in color definition...) memcpy(stats,srcColors,srcNumColors*sizeof(region_stats)); return reinterpret_cast(stats); } void RegionGenerator::calcImage(unsigned int layer, unsigned int chan) const { PROFSECTION("RegionGenerator::calcImage(...)",state->mainProfile); ! const RLEGenerator& srcRLE=dynamic_cast(*src); ! RLEGenerator::run * rmap=reinterpret_cast(srcRLE.getImage(layer,chan)); ! region_stats * stats=reinterpret_cast(images[layer][chan]); CMVision::ConnectComponents(rmap,srcRLE.getNumRuns(layer,chan)); unsigned int numReg = CMVision::ExtractRegions(regions[layer][chan],MAX_REGIONS,rmap,srcRLE.getNumRuns(layer,chan)); unsigned int maxArea = CMVision::SeparateRegions(stats,srcNumColors,regions[layer][chan],numReg); CMVision::SortRegions(stats,srcNumColors,maxArea); CMVision::MergeRegions(stats,(int)srcNumColors,rmap); //yes that (int) is necessary or compiler complains of ambiguous function call imageValids[layer][chan]=true; } --- 212,247 ---- unsigned char * RegionGenerator::createImageCache(unsigned int layer, unsigned int chan) const { + //this is where we'll store the linked list of regions for this image regions[layer][chan]=new region[MAX_REGIONS]; + + //this is where we store the head of each list as well as some general stats of each image + //this is what will be returned as getImage() region_stats * stats=new region_stats[srcNumColors]; + //initialize the region parameters (held in color definition...) memcpy(stats,srcColors,srcNumColors*sizeof(region_stats)); + return reinterpret_cast(stats); } void RegionGenerator::calcImage(unsigned int layer, unsigned int chan) const { PROFSECTION("RegionGenerator::calcImage(...)",state->mainProfile); ! ! //some shorthand to make the rest of the code more readable ! const RLEGenerator& srcRLE=dynamic_cast(*src); //source generator ! RLEGenerator::run * rmap=reinterpret_cast(srcRLE.getImage(layer,chan)); //the RLE encoded image from source ! region_stats * stats=reinterpret_cast(images[layer][chan]); //our top level region stats array (which is what users get from getImage()) + //do the actual calculations CMVision::ConnectComponents(rmap,srcRLE.getNumRuns(layer,chan)); unsigned int numReg = CMVision::ExtractRegions(regions[layer][chan],MAX_REGIONS,rmap,srcRLE.getNumRuns(layer,chan)); unsigned int maxArea = CMVision::SeparateRegions(stats,srcNumColors,regions[layer][chan],numReg); CMVision::SortRegions(stats,srcNumColors,maxArea); CMVision::MergeRegions(stats,(int)srcNumColors,rmap); //yes that (int) is necessary or compiler complains of ambiguous function call + //and set the flag so we don't recompute if getImage() is called again before the next frame imageValids[layer][chan]=true; } *************** *** 250,258 **** * @author ejt (reorganized) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.5 $ * $State: Exp $ ! * $Date: 2004/01/16 07:39:51 $ */ --- 260,268 ---- * @author ejt (reorganized) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.6 $ * $State: Exp $ ! * $Date: 2004/02/05 02:46:41 $ */ Index: Tekkotsu/Vision/RegionGenerator.h diff -c Tekkotsu/Vision/RegionGenerator.h:1.3 Tekkotsu/Vision/RegionGenerator.h:1.4 *** Tekkotsu/Vision/RegionGenerator.h:1.3 Sun Jan 18 05:16:59 2004 --- Tekkotsu/Vision/RegionGenerator.h Wed Feb 4 21:46:41 2004 *************** *** 8,13 **** --- 8,18 ---- //! Connects regions of CMVision format runs in RLEGenerator /*! Uses the CMVision library for main processing. + * + * getImage() will return an array of RegionGenerator::region_stats - + * one entry per color. This will give you some statistics on colors + * present, as well as the head of a linked list through regions of + * each color in the image. * * Uses fields in the RLEGenerator's runs to store region * information. This means we don't have to make an extra copy of *************** *** 71,80 **** * @author ejt (reorganized) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.3 $ * $State: Exp $ ! * $Date: 2004/01/18 10:16:59 $ */ #endif --- 76,85 ---- * @author ejt (reorganized) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.4 $ * $State: Exp $ ! * $Date: 2004/02/05 02:46:41 $ */ #endif Index: Tekkotsu/Vision/SegmentedColorGenerator.h diff -c Tekkotsu/Vision/SegmentedColorGenerator.h:1.4 Tekkotsu/Vision/SegmentedColorGenerator.h:1.5 *** Tekkotsu/Vision/SegmentedColorGenerator.h:1.4 Sun Jan 18 05:16:59 2004 --- Tekkotsu/Vision/SegmentedColorGenerator.h Thu Feb 5 18:33:48 2004 *************** *** 36,41 **** --- 36,53 ---- * * Uses the CMVision library for main processing * + * The format used for serialization is: (code is in SaveBuffer()) + * - <@c FilterBankGenerator: superclass header> (First saves the superclass's info) + * - <@c string: "SegColorImage"> (remember a 'string' is len+str+0; so this is the literal "\015\0\0\0SegColorImage\0"; also remember "\015" is octal for 13) + * - <char[width*height]: image data> (one byte per sample) + * - <@c unsigned @c int: num_cols> (number of different colors available) + * - for each of num_col: + * - <@c char: red> red color to use for display of this index + * - <@c char: green> green color to use for display of this index + * - <@c char: blue> blue color to use for display of this index + * + * For more information on serialization, see FilterBankGenerator + * */ class SegmentedColorGenerator : public FilterBankGenerator { public: *************** *** 126,135 **** * @author ejt (reorganized) * * $Author: ejt $ ! * $Name: tekkotsu-2_0 $ ! * $Revision: 1.4 $ * $State: Exp $ ! * $Date: 2004/01/18 10:16:59 $ */ #endif --- 138,147 ---- * @author ejt (reorganized) * * $Author: ejt $ ! * $Name: tekkotsu-2_0_1 $ ! * $Revision: 1.5 $ * $State: Exp $ ! * $Date: 2004/02/05 23:33:48 $ */ #endif Index: Tekkotsu/docs/doxygencfg diff -c Tekkotsu/docs/doxygencfg:1.27 Tekkotsu/docs/doxygencfg:1.28 *** Tekkotsu/docs/doxygencfg:1.27 Wed Jan 7 00:30:37 2004 --- Tekkotsu/docs/doxygencfg Wed Jan 21 15:18:59 2004 *************** *** 23,29 **** # This could be handy for archiving the generated documentation or # if some version control system is used. ! PROJECT_NUMBER = 2.0 # 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 = 2.0.1 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) # base path where the generated documentation will be put. Index: Tekkotsu/docs/benchmarks/STARTUP_2.0.txt diff -c /dev/null Tekkotsu/docs/benchmarks/STARTUP_2.0.txt:1.1 *** /dev/null Thu Feb 5 23:36:01 2004 --- Tekkotsu/docs/benchmarks/STARTUP_2.0.txt Wed Feb 4 16:56:11 2004 *************** *** 0 **** --- 1 ---- + !root "Mode Switch" "StareAtBallBehavior" ; !root "Status Reports" ; !next \ No newline at end of file Index: Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.1.txt diff -c Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.1.txt:1.1 Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.1.txt:1.2 *** Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.1.txt:1.1 Wed Jan 21 01:50:25 2004 --- Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.1.txt Wed Feb 4 16:54:44 2004 *************** *** 1,3 **** --- 1,7 ---- + Note: The profile reporting code for this version contained a bug - + the inter-call times shown here are in seconds, not milliseconds as + they should be. Frames per second (fps) are accurate however. + ~~~ Main: ~~~ Profiling information since: 15.876455 to 288.321160 ReadySendJoints(): Index: Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.4.txt diff -c Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.4.txt:1.1 Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.4.txt:1.2 *** Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.4.txt:1.1 Wed Jan 21 01:50:25 2004 --- Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.4.txt Wed Feb 4 16:54:44 2004 *************** *** 8,13 **** --- 8,18 ---- Wait until 5 minutes from initial press of power button. Recorded profiler run shown below + Note: The profile reporting code for this version contained a bug - + the inter-call times shown here are in seconds, not milliseconds as + they should be. Frames per second (fps) are accurate however. + + ~~~ Main: ~~~ Profiling information since: 16.514395 to 298.147164 ReadySendJoints(): Index: Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.5.txt diff -c Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.5.txt:1.1 Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.5.txt:1.2 *** Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.5.txt:1.1 Wed Jan 21 01:50:26 2004 --- Tekkotsu/docs/benchmarks/profilerun_ERS210A_1.5.txt Wed Feb 4 16:54:44 2004 *************** *** 3,14 **** Pink ball in view (8.5in from snout) Press power button, start timer Telnet to system console (port 59000) ! Connect ControllerGUI STARTUP script: 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: 19.001622 to 299.518935 --- 3,19 ---- Pink ball in view (8.5in from snout) Press power button, start timer Telnet to system console (port 59000) ! Connect ControllerGUI STARTUP script: 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 + + Note: The profile reporting code for this version contained a bug - + the inter-call times shown here are in seconds, not milliseconds as + they should be. Frames per second (fps) are accurate however. + ~~~ Main: ~~~ Profiling information since: 19.001622 to 299.518935 Index: Tekkotsu/docs/benchmarks/profilerun_ERS210A_2.0.txt diff -c Tekkotsu/docs/benchmarks/profilerun_ERS210A_2.0.txt:1.1 Tekkotsu/docs/benchmarks/profilerun_ERS210A_2.0.txt:1.3 *** Tekkotsu/docs/benchmarks/profilerun_ERS210A_2.0.txt:1.1 Wed Jan 21 01:49:37 2004 --- Tekkotsu/docs/benchmarks/profilerun_ERS210A_2.0.txt Wed Feb 4 16:55:32 2004 *************** *** 1,9 **** 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) ! Connect ControllerGUI STARTUP script: Launch StareAtBallBehavior (leave E-Stop ON) Navigate to Status Reports -> Profiler --- 1,9 ---- Setup: ! Default build for ERS-2xx (TGT_ERS2xx) Pink ball in view (8.5in from snout) Press power button, start timer Telnet to system console (port 59000) ! Connect ControllerGUI STARTUP script: Launch StareAtBallBehavior (leave E-Stop ON) Navigate to Status Reports -> Profiler *************** *** 95,114 **** Inter: 6556 6809 7 0 0 0 0 0 6685 0 0 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, - ~~~ Motion: ~~~ - Profiling information since: 19.785633 to 298.247647 - ReadySendJoints(): - 8666 calls - 1.455931 ms avg - 1.370247 ms exp.avg - 0.000000 ms avg child time (0.000000%) - 32.018965 ms avg inter (31.231490 fps) - 32.089188 ms exp.avg (31.163143 fps) - Exec: 0 0 5 8617 26 0 0 0 0 18 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 0 8647 0 18 0 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, - 04, ~~~ Motion: ~~~ Profiling information since: 19.785633 to 298.247647 ReadySendJoints(): --- 95,100 ---- Index: Tekkotsu/docs/benchmarks/profilerun_ERS210_1.1.txt diff -c Tekkotsu/docs/benchmarks/profilerun_ERS210_1.1.txt:1.1 Tekkotsu/docs/benchmarks/profilerun_ERS210_1.1.txt:1.2 *** Tekkotsu/docs/benchmarks/profilerun_ERS210_1.1.txt:1.1 Wed Jan 21 01:50:26 2004 --- Tekkotsu/docs/benchmarks/profilerun_ERS210_1.1.txt Wed Feb 4 16:54:44 2004 *************** *** 1,3 **** --- 1,7 ---- + Note: The profile reporting code for this version contained a bug - + the inter-call times shown here are in seconds, not milliseconds as + they should be. Frames per second (fps) are accurate however. + ~~~ Main: ~~~ Profiling information since: 17.301167 to 495.839409 ReadySendJoints(): Index: Tekkotsu/docs/benchmarks/profilerun_ERS210_1.4.txt diff -c Tekkotsu/docs/benchmarks/profilerun_ERS210_1.4.txt:1.1 Tekkotsu/docs/benchmarks/profilerun_ERS210_1.4.txt:1.2 *** Tekkotsu/docs/benchmarks/profilerun_ERS210_1.4.txt:1.1 Wed Jan 21 01:50:26 2004 --- Tekkotsu/docs/benchmarks/profilerun_ERS210_1.4.txt Wed Feb 4 16:54:44 2004 *************** *** 8,13 **** --- 8,18 ---- Wait until 5 minutes from initial press of power button. Recorded profiler run shown below + Note: The profile reporting code for this version contained a bug - + the inter-call times shown here are in seconds, not milliseconds as + they should be. Frames per second (fps) are accurate however. + + ~~~ Main: ~~~ Profiling information since: 17.873253 to 297.798167 ReadySendJoints(): Index: Tekkotsu/docs/benchmarks/profilerun_ERS210_1.5.txt diff -c Tekkotsu/docs/benchmarks/profilerun_ERS210_1.5.txt:1.1 Tekkotsu/docs/benchmarks/profilerun_ERS210_1.5.txt:1.2 *** Tekkotsu/docs/benchmarks/profilerun_ERS210_1.5.txt:1.1 Wed Jan 21 01:50:26 2004 --- Tekkotsu/docs/benchmarks/profilerun_ERS210_1.5.txt Wed Feb 4 16:54:44 2004 *************** *** 3,14 **** Pink ball in view (8.5in from snout) Press power button, start timer Telnet to system console (port 59000) ! Connect ControllerGUI STARTUP script: 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: 21.308397 to 301.154604 --- 3,19 ---- Pink ball in view (8.5in from snout) Press power button, start timer Telnet to system console (port 59000) ! Connect ControllerGUI STARTUP script: 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 + + Note: The profile reporting code for this version contained a bug - + the inter-call times shown here are in seconds, not milliseconds as + they should be. Frames per second (fps) are accurate however. + ~~~ Main: ~~~ Profiling information since: 21.308397 to 301.154604 Index: Tekkotsu/docs/benchmarks/profilerun_ERS210_2.0.txt diff -c /dev/null Tekkotsu/docs/benchmarks/profilerun_ERS210_2.0.txt:1.1 *** /dev/null Thu Feb 5 23:36:01 2004 --- Tekkotsu/docs/benchmarks/profilerun_ERS210_2.0.txt Wed Feb 4 16:55:32 2004 *************** *** 0 **** --- 1,110 ---- + Setup: + Default build for ERS-2xx (TGT_ERS2xx) + Pink ball in view (8.5in from snout) + Press power button, start timer + Telnet to system console (port 59000) + Connect ControllerGUI + STARTUP script: + 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: 22.360923 to 297.996532 + ReadySendJoints(): + 2131 calls + 0.540960 ms avg + 0.457356 ms exp.avg + 0.002564 ms avg child time (0.400000%) + 128.976324 ms avg inter (7.753361 fps) + 127.247513 ms exp.avg (7.858700 fps) + Exec: 0 0 1713 412 4 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 + Inter: 0 1 1 0 0 0 0 0 0 1 1719 406 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 + GotSensorFrame(): + 8512 calls + 1.015543 ms avg + 1.263109 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 32.255509 ms avg inter (31.002456 fps) + 34.675621 ms exp.avg (28.838705 fps) + Exec: 0 0 3446 4341 723 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 + Inter: 0 0 0 0 0 1 1705 2404 4399 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 + GotImage(): + 6793 calls + 19.973807 ms avg + 20.604860 ms exp.avg + 17.484691 ms avg child time (87.500000%) + 40.369013 ms avg inter (24.771475 fps) + 40.013283 ms exp.avg (24.991701 fps) + Exec: 0 0 2 14 37 11 5629 1100 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 2 4 6784 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 + PowerEvent(): + 48 calls + 53.819062 ms avg + 1.865914 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 5662.596208 ms avg inter (0.176597 fps) + 4460.506836 ms exp.avg (0.224190 fps) + Exec: 0 0 39 7 1 0 0 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 + Inter: 0 0 0 0 0 0 0 0 0 0 0 1 0 8 0 0 0 0 0 0 6 12 0 0 0 6 0 2 0 1 0 11 + BallDetection::processEvent(): + 20361 calls + 5.833383 ms avg + 5.349741 ms exp.avg + 5.637487 ms avg child time (96.600000%) + 13.342345 ms avg inter (74.949346 fps) + 12.608443 ms exp.avg (79.311935 fps) + Exec: 6328 6915 303 86 1 0 6708 20 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 6421 331 92 2 0 7726 5739 49 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + RegionGenerator::calcImage(...): + 6728 calls + 17.060771 ms avg + 17.218710 ms exp.avg + 10.590478 ms avg child time (62.000000%) + 40.086258 ms avg inter (24.946205 fps) + 40.083950 ms exp.avg (24.947641 fps) + Exec: 0 0 0 0 0 0 6723 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 + Inter: 0 0 0 0 0 0 0 1 6726 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + RLEGenerator::calcImage(...): + 6728 calls + 10.590478 ms avg + 11.163483 ms exp.avg + 6.884777 ms avg child time (65.000000%) + 40.086576 ms avg inter (24.946007 fps) + 40.083817 ms exp.avg (24.947723 fps) + Exec: 0 0 0 0 0 3369 3359 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 0 1 6726 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + SegmentedColorGenerator::calcImage(...): + 6728 calls + 6.884777 ms avg + 6.973531 ms exp.avg + 0.039570 ms avg child time (0.500000%) + 40.086349 ms avg inter (24.946148 fps) + 40.083889 ms exp.avg (24.947680 fps) + Exec: 0 0 0 0 0 6727 1 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 0 1 6726 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 + RawCameraGenerator::calcImage(...): + 20184 calls + 0.013190 ms avg + 0.011211 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 13.358101 ms avg inter (74.860942 fps) + 11.271330 ms exp.avg (88.720680 fps) + Exec: 12971 7078 134 1 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 0 + Inter: 0 13193 262 1 0 0 0 1 6726 0 0 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, + ~~~ Motion: ~~~ + Profiling information since: 22.362415 to 298.016580 + ReadySendJoints(): + 8564 calls + 2.516969 ms avg + 2.582997 ms exp.avg + 0.000000 ms avg child time (0.000000%) + 32.070305 ms avg inter (31.181493 fps) + 31.978659 ms exp.avg (31.270855 fps) + Exec: 0 0 0 3116 5405 23 0 2 0 18 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 8545 0 18 0 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: Tekkotsu/docs/benchmarks/profilerun_ERS7_2.0.txt diff -c Tekkotsu/docs/benchmarks/profilerun_ERS7_2.0.txt:1.1 Tekkotsu/docs/benchmarks/profilerun_ERS7_2.0.txt:1.3 *** Tekkotsu/docs/benchmarks/profilerun_ERS7_2.0.txt:1.1 Wed Jan 21 01:49:37 2004 --- Tekkotsu/docs/benchmarks/profilerun_ERS7_2.0.txt Wed Feb 4 16:55:32 2004 *************** *** 1,14 **** 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) ! Connect ControllerGUI STARTUP script: 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: 17.877452 to 298.174793 ReadySendJoints(): --- 1,15 ---- Setup: ! Default build for ERS-7 (TGT_ERS7) Pink ball in view (8.5in from snout) Press power button, start timer Telnet to system console (port 59000) ! Connect ControllerGUI STARTUP script: 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: 17.877452 to 298.174793 ReadySendJoints(): Index: Tekkotsu/docs/html/index.html diff -c Tekkotsu/docs/html/index.html:1.23 Tekkotsu/docs/html/index.html:1.27 *** Tekkotsu/docs/html/index.html:1.23 Mon Nov 10 23:35:58 2003 --- Tekkotsu/docs/html/index.html Thu Feb 5 22:33:08 2004 *************** *** 81,87 **** want to visit the overview.

    !
  • Alphabetical Index - Lists all classes and structs
  • Compound List - Gives a short --- 81,87 ---- want to visit the overview.

      !
    • Alphabetical Index - Lists all classes and structs
    • Compound List - Gives a short *************** *** 94,100 **** variables and macros which aren't in namespaces
    • Related Pages - Links to the todo and bug lists.
    • You can also search the framework:
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      • HTML (v1.5, ! 5.4MB)
      If you're using the most recent version from the CVS repository, --- 121,128 ---- static copies of the documentation, there are two formats:

        !
      • HTML (v2.0.1, ! 3.8MB)
      If you're using the most recent version from the CVS repository, Index: Tekkotsu/project/Makefile diff -c Tekkotsu/project/Makefile:1.56 Tekkotsu/project/Makefile:1.59 *** Tekkotsu/project/Makefile:1.56 Tue Dec 23 01:33:44 2003 --- Tekkotsu/project/Makefile Mon Feb 2 17:36:51 2004 *************** *** 126,132 **** CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makelowercase BINSUFFIX=.bin ! INSTALLDIR=ms/open-r/mw/objs MMCOMBOBIN=mmcombo.bin MAINFORK=mainobj.bin MOTOFORK=motoobj.bin --- 126,133 ---- CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makelowercase BINSUFFIX=.bin ! MSIMGDIR=ms ! INSTALLDIR=$(MSIMGDIR)/open-r/mw/objs MMCOMBOBIN=mmcombo.bin MAINFORK=mainobj.bin MOTOFORK=motoobj.bin *************** *** 134,140 **** else PROCESSES=MMCOMBO TINYFTPD SNDPLAY ! MMCOMBO_OBJS:=$(MAIN_SRCS:$(SRCSUFFIX)=.o) $(MAIN_SRCS:$(SRCSUFFIX)=.a) $(TEKKOTSU_ROOT)/$(BUILDDIR)/MMCombo.o MMCOMBO_OCF:=$(TEKKOTSU_ROOT)/MMCombo/MMCombo.ocf TINYFTPD_OBJS:=$(TEKKOTSU_ROOT)/$(BUILDDIR)/TinyFTPD.o TINYFTPD_OCF:=$(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.ocf --- 135,141 ---- else PROCESSES=MMCOMBO TINYFTPD SNDPLAY ! MMCOMBO_OBJS:=$(MAIN_SRCS:$(SRCSUFFIX)=.o) $(TEKKOTSU_ROOT)/$(BUILDDIR)/MMCombo.o MMCOMBO_OCF:=$(TEKKOTSU_ROOT)/MMCombo/MMCombo.ocf TINYFTPD_OBJS:=$(TEKKOTSU_ROOT)/$(BUILDDIR)/TinyFTPD.o TINYFTPD_OCF:=$(TEKKOTSU_ROOT)/TinyFTPD/TinyFTPD.ocf *************** *** 143,149 **** CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makeuppercase BINSUFFIX=.BIN ! INSTALLDIR=MS/OPEN-R/MW/OBJS MMCOMBOBIN=MMCOMBO.BIN MAINFORK=MAINOBJ.BIN MOTOFORK=MOTOOBJ.BIN --- 144,151 ---- CONVERTCASE=$(TEKKOTSU_ROOT)/tools/makeuppercase BINSUFFIX=.BIN ! MSIMGDIR=MS ! INSTALLDIR=$(MSIMGDIR)/OPEN-R/MW/OBJS MMCOMBOBIN=MMCOMBO.BIN MAINFORK=MAINOBJ.BIN MOTOFORK=MOTOOBJ.BIN *************** *** 241,247 **** 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 ; \ curt=`date +%Y%m%d%H%M`; \ find $$image -exec touch -ft $$curt \{\} \; ; \ --- 243,249 ---- echo "Copying system files..." ; \ cp -r $(OPENRSDK_ROOT)/OPEN_R/MS/WCONSOLE/nomemprot $$image ; \ chmod -R u+w $$image ; \ ! (cd $$image; $(CONVERTCASE) -r . ); \ rm -f $$image/open-r/mw/conf/connect.cfg $$image/open-r/mw/conf/object.cfg $$image/open-r/system/conf/wlandflt.txt ; \ curt=`date +%Y%m%d%H%M`; \ find $$image -exec touch -ft $$curt \{\} \; ; \ *************** *** 407,440 **** #INSTALL_BINS: (compressed executables, in proper location in image directory) $(INSTALLDIR)/%$(BINSUFFIX): $(BUILDDIR)/%$(BINSUFFIX) @echo "Compressing $< -> $@" @gzip -c $< > $@; $(INSTALLDIR)/$(MMCOMBOBIN): $(INSTALLDIR)/$(MAINFORK) $(INSTALLDIR)/$(MOTOFORK) $(INSTALLDIR)/$(MAINFORK): $(BUILDDIR)/$(MMCOMBOBIN) $(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap @echo "Compressing $< ~> $@" @$(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap $< MMCombo MainObj | gzip -c > $@ # @sed 's/MMCombo/MainObj/g;s/mmcombo/mainobj/g' $< | gzip -c > $@ $(INSTALLDIR)/$(MOTOFORK): $(BUILDDIR)/$(MMCOMBOBIN) $(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap @echo "Compressing $< ~> $@" @$(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap $< MMCombo MotoObj | gzip -c > $@ # @sed 's/MMCombo/MotoObj/g;s/mmcombo/motoobj/g' $< | gzip -c > $@ install: compile @echo "Installing files to memory stick at $(MEMSTICK_ROOT)" ! @$(TEKKOTSU_ROOT)/tools/cpymem --all --img ms --tgt $(MEMSTICK_ROOT) --tools $(TEKKOTSU_ROOT)/tools update: compile $(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime ! @echo "Syncing ms and $(MEMSTICK_ROOT)" ! @$(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime `find ms` @$(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT) @if [ $(STRICT_MEMSTICK_IMAGE) ] ; then \ echo "Strict image copy is on." ; \ ! rsync -rLtWCv --delete ms/* $(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \ else \ ! rsync -rLtWCv ms/* $(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \ fi; @$(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT) --- 409,454 ---- #INSTALL_BINS: (compressed executables, in proper location in image directory) $(INSTALLDIR)/%$(BINSUFFIX): $(BUILDDIR)/%$(BINSUFFIX) + @if [ \! -d "$(INSTALLDIR)" ] ; then \ + echo "I can't find $(INSTALLDIR). You may need to run '$(TEKKOTSU_ROOT)/tools/makeuppercase -r ms'."; \ + exit 1; \ + fi; @echo "Compressing $< -> $@" @gzip -c $< > $@; $(INSTALLDIR)/$(MMCOMBOBIN): $(INSTALLDIR)/$(MAINFORK) $(INSTALLDIR)/$(MOTOFORK) $(INSTALLDIR)/$(MAINFORK): $(BUILDDIR)/$(MMCOMBOBIN) $(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap + @if [ \! -d "$(INSTALLDIR)" ] ; then \ + echo "I can't find $(INSTALLDIR). You may need to run '$(TEKKOTSU_ROOT)/tools/makeuppercase -r ms'."; \ + exit 1; \ + fi; @echo "Compressing $< ~> $@" @$(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap $< MMCombo MainObj | gzip -c > $@ # @sed 's/MMCombo/MainObj/g;s/mmcombo/mainobj/g' $< | gzip -c > $@ $(INSTALLDIR)/$(MOTOFORK): $(BUILDDIR)/$(MMCOMBOBIN) $(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap + @if [ \! -d "$(INSTALLDIR)" ] ; then \ + echo "I can't find $(INSTALLDIR). You may need to run '$(TEKKOTSU_ROOT)/tools/makeuppercase -r ms'."; \ + exit 1; \ + fi; @echo "Compressing $< ~> $@" @$(TEKKOTSU_ROOT)/tools/binstrswap/binstrswap $< MMCombo MotoObj | gzip -c > $@ # @sed 's/MMCombo/MotoObj/g;s/mmcombo/motoobj/g' $< | gzip -c > $@ install: compile @echo "Installing files to memory stick at $(MEMSTICK_ROOT)" ! @$(TEKKOTSU_ROOT)/tools/cpymem --all --img $(MSIMGDIR) --tgt $(MEMSTICK_ROOT) --tools $(TEKKOTSU_ROOT)/tools update: compile $(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime ! @echo "Syncing $(MSIMGDIR) and $(MEMSTICK_ROOT)" ! @$(TEKKOTSU_ROOT)/tools/evenmodtime/evenmodtime `find $(MSIMGDIR)` @$(TEKKOTSU_ROOT)/tools/mntmem $(MEMSTICK_ROOT) @if [ $(STRICT_MEMSTICK_IMAGE) ] ; then \ echo "Strict image copy is on." ; \ ! rsync -rLtWCv --delete $(MSIMGDIR)/* $(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \ else \ ! rsync -rLtWCv $(MSIMGDIR)/* $(BUILDDIR)/$(notdir $(MEMSTICK_ROOT))/* $(MEMSTICK_ROOT) ; \ fi; @$(TEKKOTSU_ROOT)/tools/umntmem $(MEMSTICK_ROOT) Index: Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc diff -c Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc:1.15 Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc:1.17 *** Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc:1.15 Wed Jan 21 00:48:58 2004 --- Tekkotsu/project/StartupBehavior_SetupModeSwitch.cc Thu Feb 5 18:57:40 2004 *************** *** 26,32 **** BehaviorSwitchControlBase::BehaviorGroup * bg = new BehaviorSwitchControlBase::BehaviorGroup(); //put behaviors here: ! if(state->robotDesign&WorldState::ERS210Mask) //this one only really works on the 210 addItem(new BehaviorSwitchControl("AlanBehavior",bg,false)); addItem(new BehaviorSwitchControl("FollowHeadBehavior",bg,false)); addItem(new BehaviorSwitchControl("SoundTestBehavior",bg,false)); --- 26,32 ---- BehaviorSwitchControlBase::BehaviorGroup * bg = new BehaviorSwitchControlBase::BehaviorGroup(); //put behaviors here: ! if(state->robotDesign&(WorldState::ERS210Mask|WorldState::ERS7Mask)) //this one only really works on the 210 or 7 addItem(new BehaviorSwitchControl("AlanBehavior",bg,false)); addItem(new BehaviorSwitchControl("FollowHeadBehavior",bg,false)); addItem(new BehaviorSwitchControl("SoundTestBehavior",bg,false)); Index: Tekkotsu/project/StartupBehavior_SetupVision.cc diff -c Tekkotsu/project/StartupBehavior_SetupVision.cc:1.11 Tekkotsu/project/StartupBehavior_SetupVision.cc:1.12 *** Tekkotsu/project/StartupBehavior_SetupVision.cc:1.11 Tue Jan 20 22:53:28 2004 --- Tekkotsu/project/StartupBehavior_SetupVision.cc Thu Feb 5 14:35:47 2004 *************** *** 54,60 **** defGrayscaleJPEGGenerator = new JPEGGenerator(EventBase::visRawCameraEGID,visRawCameraSID,visGrayscaleJPEGSID,JPEGGenerator::SRC_AUTO); defGrayscaleJPEGGenerator->DoStart(); ! defGrayscaleJPEGGenerator->setName("ColorGrayscaleGenerator"); spawned.push_back(defGrayscaleJPEGGenerator); // the hardware level CDT generator allows faster, but less flexible --- 54,60 ---- defGrayscaleJPEGGenerator = new JPEGGenerator(EventBase::visRawCameraEGID,visRawCameraSID,visGrayscaleJPEGSID,JPEGGenerator::SRC_AUTO); defGrayscaleJPEGGenerator->DoStart(); ! defGrayscaleJPEGGenerator->setName("GrayscaleJPEGGenerator"); spawned.push_back(defGrayscaleJPEGGenerator); // the hardware level CDT generator allows faster, but less flexible Index: Tekkotsu/project/ms/config/7red.tm Index: Tekkotsu/tools/buildRelease diff -c Tekkotsu/tools/buildRelease:1.30 Tekkotsu/tools/buildRelease:1.34 *** Tekkotsu/tools/buildRelease:1.30 Wed Jan 21 02:42:14 2004 --- Tekkotsu/tools/buildRelease Thu Feb 5 22:33:21 2004 *************** *** 39,50 **** cd Tekkotsu_$1; ! #if [ `grep -c default.tm project/ms/config/tekkotsu.cfg` -gt 0 ] ; then ! # echo "You forgot to switch the thresholds file to the more general ball one"; ! # exit 1; ! #fi; ! if [ `grep PROJECT_NUMBER docs/doxygencfg | grep -c $1` -eq 0 ] ; then echo "Version mismatch with docs/doxygencfg - you forgot to update PROJECT_NUMBER"; exit 1; fi; --- 39,50 ---- cd Tekkotsu_$1; ! if [ `grep PROJECT_NUMBER docs/doxygencfg | grep -c "$1"` -eq 0 ] ; then ! echo "Version mismatch with docs/doxygencfg - you forgot to update PROJECT_NUMBER"; ! exit 1; ! fi; ! if [ `grep -c "$1" docs/html/index.html` -eq 0 ] ; then echo "Version mismatch with docs/doxygencfg - you forgot to update PROJECT_NUMBER"; exit 1; fi; *************** *** 59,65 **** echo "Checking for docs/benchmarks/profilerun_${x}_$1.txt..." if [ ! -f "docs/benchmarks/profilerun_${x}_$1.txt" ] ; then echo "You forgot to include updated profile runs (docs/benchmarks)" ! exit 1; fi; done; --- 59,65 ---- echo "Checking for docs/benchmarks/profilerun_${x}_$1.txt..." if [ ! -f "docs/benchmarks/profilerun_${x}_$1.txt" ] ; then echo "You forgot to include updated profile runs (docs/benchmarks)" ! read -p "Press return to ignore... (^C to stop)" fi; done; Index: Tekkotsu/tools/makelowercase diff -c Tekkotsu/tools/makelowercase:1.2 Tekkotsu/tools/makelowercase:1.3 *** Tekkotsu/tools/makelowercase:1.2 Sun Mar 9 02:41:38 2003 --- Tekkotsu/tools/makelowercase Mon Feb 2 17:19:22 2004 *************** *** 1,6 **** #!/bin/sh ! # will convert specified files to lowercase names if [ "$1" = "-r" ] ; then recurse=1; shift; --- 1,6 ---- #!/bin/sh ! # will convert specified files to lower names if [ "$1" = "-r" ] ; then recurse=1; shift; *************** *** 12,19 **** if [ -r "$x" ] ; then conv="`echo $x | tr '[A-Z]' '[a-z]'`"; if [ "$x" != "$conv" ] ; then ! mv $x ${x}.tmpcase; ! mv ${x}.tmpcase $conv; fi; if [ $recurse -gt 0 -a -d "$conv" ] ; then $0 -r $conv/*; --- 12,23 ---- if [ -r "$x" ] ; then conv="`echo $x | tr '[A-Z]' '[a-z]'`"; if [ "$x" != "$conv" ] ; then ! if [ -e $conv ] ; then ! echo "ERROR: $conv already exists (from $x)"; ! echo "exiting..." ! exit 1; ! fi; ! mv "$x" "$conv"; fi; if [ $recurse -gt 0 -a -d "$conv" ] ; then $0 -r $conv/*; Index: Tekkotsu/tools/makeuppercase diff -c Tekkotsu/tools/makeuppercase:1.2 Tekkotsu/tools/makeuppercase:1.3 *** Tekkotsu/tools/makeuppercase:1.2 Sun Mar 9 02:41:38 2003 --- Tekkotsu/tools/makeuppercase Mon Feb 2 17:19:22 2004 *************** *** 1,6 **** #!/bin/sh ! # will convert specified files to lowercase names if [ "$1" = "-r" ] ; then recurse=1; shift; --- 1,6 ---- #!/bin/sh ! # will convert specified files to uppercase names if [ "$1" = "-r" ] ; then recurse=1; shift; *************** *** 12,19 **** if [ -r "$x" ] ; then conv="`echo $x | tr '[a-z]' '[A-Z]'`"; if [ "$x" != "$conv" ] ; then ! mv $x ${x}.tmpcase; ! mv ${x}.tmpcase $conv; fi; if [ $recurse -gt 0 -a -d "$conv" ] ; then $0 -r $conv/*; --- 12,23 ---- if [ -r "$x" ] ; then conv="`echo $x | tr '[a-z]' '[A-Z]'`"; if [ "$x" != "$conv" ] ; then ! if [ -e $conv ] ; then ! echo "ERROR: $conv already exists (from $x)"; ! echo "exiting..." ! exit 1; ! fi; ! mv "$x" "$conv"; fi; if [ $recurse -gt 0 -a -d "$conv" ] ; then $0 -r $conv/*; Index: Tekkotsu/tools/untag.txt diff -c Tekkotsu/tools/untag.txt:1.7 Tekkotsu/tools/untag.txt:removed *** Tekkotsu/tools/untag.txt:1.7 Fri Oct 10 14:22:50 2003 --- Tekkotsu/tools/untag.txt Thu Feb 5 23:36:02 2004 *************** *** 1,4 **** - project/SampleBehavior.h - project/SampleMC.h - Behaviors/Demos/PaceTargetsMachine.h - Behaviors/Demos/PaceTargetsMachine.cc --- 0 ---- Index: Tekkotsu/tools/mon/c_statejoints.m diff -c Tekkotsu/tools/mon/c_statejoints.m:1.1 Tekkotsu/tools/mon/c_statejoints.m:1.2 *** Tekkotsu/tools/mon/c_statejoints.m:1.1 Thu Feb 20 14:51:18 2003 --- Tekkotsu/tools/mon/c_statejoints.m Wed Jan 28 15:38:50 2004 *************** *** 63,72 **** ypos=ypos+ystep; [pos(13),duty(13)]=addjoint(0.05,ypos,'Head','Tilt',linedata); [pos(16),duty(16)]=addjoint(0.55,ypos,'Misc','Tail Tilt',linedata); drawnow; statejoints.lines_pos=pos; statejoints.lines_duty=duty; ! statejoints.obj=WorldStateJointsListener(conf.ip,conf.port_statejoints); function iter global statejoints --- 63,76 ---- ypos=ypos+ystep; [pos(13),duty(13)]=addjoint(0.05,ypos,'Head','Tilt',linedata); [pos(16),duty(16)]=addjoint(0.55,ypos,'Misc','Tail Tilt',linedata); + ypos=ypos+ystep; + [but(1),but(2),but(3),but(4)]=addbuttons(0.05,ypos,'Buttons','Buttons 1-4',linedata); + [but(5),but(6),but(7),but(8)]=addbuttons(0.55,ypos,'Buttons','Buttons 5-8',linedata); drawnow; statejoints.lines_pos=pos; statejoints.lines_duty=duty; ! statejoints.lines_but=but; ! statejoints.obj=org.tekkotsu.mon.WorldStateJointsListener(conf.ip,conf.port_statejoints); function iter global statejoints *************** *** 74,85 **** --- 78,94 ---- data=statejoints.obj.getData; positions=double(data.positions); duties=double(data.duties); + buttons=double(data.buttons); for i=1:18 ydata=get(statejoints.lines_pos(i),'YData'); set(statejoints.lines_pos(i),'YData',[ydata(2:300) positions(i)]); ydata=get(statejoints.lines_duty(i),'YData'); set(statejoints.lines_duty(i),'YData',[ydata(2:300) duties(i)]); end + for i=1:8 + ydata=get(statejoints.lines_but(i),'YData'); + set(statejoints.lines_but(i),'YData',[ydata(2:300) (buttons(i)/2+mod(i-1,4))]); + end end function stop *************** *** 103,105 **** --- 112,129 ---- hold on pos=plot(initplot,'Color','b'); duty=plot(initplot,'Color','r'); + + function [but1,but2,but3,but4]=addbuttons(xpos,ypos,name1,name2,initplot) + p=subplot('Position',[xpos ypos 0.4 0.075]); + set(p,'XTick',[]); + set(p,'YTick',-1:2:1); + set(p,'YTickLabel',{'1','2','3','4'}); + set(p,'YLim',[0 4.5]); + ylabel(name2); + title(name1); + hold on + but1=plot(initplot,'Color','r'); + but2=plot(initplot,'Color','g'); + but3=plot(initplot,'Color','b'); + but4=plot(initplot,'Color','m'); + Index: Tekkotsu/tools/mon/config.m diff -c Tekkotsu/tools/mon/config.m:1.12 Tekkotsu/tools/mon/config.m:1.13 *** Tekkotsu/tools/mon/config.m:1.12 Sun Aug 3 17:56:06 2003 --- Tekkotsu/tools/mon/config.m Wed Jan 28 15:38:50 2004 *************** *** 3,9 **** %eventually parse single config file ! conf.ip='192.168.0.7'; % Aibo's IP address conf.port_stdout=10001; conf.port_stderr=10002; --- 3,9 ---- %eventually parse single config file ! conf.ip='172.16.1.2'; % Aibo's IP address conf.port_stdout=10001; conf.port_stderr=10002; Index: Tekkotsu/tools/mon/ers220info.m diff -c /dev/null Tekkotsu/tools/mon/ers220info.m:1.1 *** /dev/null Thu Feb 5 23:36:02 2004 --- Tekkotsu/tools/mon/ers220info.m Wed Jan 28 16:07:44 2004 *************** *** 0 **** --- 1,28 ---- + info.FrameTime=8; + info.NumFrames=4; + info.SlowFrameTime=128; + info.NumSlowFrames=1; + info.SoundBufferTime=32; + info.NumPIDJoints=15 + info.NumBinJoints=0; + info.NumLEDs=20; + info.NumOutputs=info.NumPIDJoints + info.NumBinJoints + info.NumLEDs; + info.isFastOutput=zeros(info.NumOutputs)+1; %all ok! + info.isRealERS220=info.isFastOutput %umm they're the same + info.JointsPerLeg=3; + info.NumLegs=4; + info.NumLegJoints=info.JointsPerLeg*info.NumLegs; + info.NumTailJoints=0; + info.NumMouthJoints=0; + info.NumEarJoints=0; + info.NumButtons=11; + info.NumSensors=1+3+1+5; + % offset data + info.LogOffset.positions=2; + info.LogOffset.duties=info.LogOffset.positions+info.NumPIDJoints; + info.LogOffset.sensors=info.LogOffset.duties+info.NumPIDJoints; + info.LogOffset.buttons=info.LogOffset.sensors+6; + info.SensorOffsetOf.IRDist=0; + info.SensorOffsetOf.BAccelOffset=1; + info.SensorOffsetOf.LAccelOffset=2; + info.SensorOffsetOf.DAccelOffset=3; Index: Tekkotsu/tools/mon/ers2xxinfo.m diff -c /dev/null Tekkotsu/tools/mon/ers2xxinfo.m:1.1 *** /dev/null Thu Feb 5 23:36:02 2004 --- Tekkotsu/tools/mon/ers2xxinfo.m Wed Jan 28 16:07:44 2004 *************** *** 0 **** --- 1,59 ---- + info.FrameTime=8; + info.NumFrames=4; + info.SlowFrameTime=128; + info.NumSlowFrames=1; + info.SoundBufferTime=32; + info.NumPIDJoints=18; + info.NumBinJoints=2; + info.NumLEDs=22; + info.NumOutputs=info.NumPIDJoints + info.NumBinJoints + info.NumLEDs; + info.isFastOutput=zeros(info.NumOutputs)+1; %this is a lie. but who cares? + info.isRealERS220=info.isFastOutput; %also a lie + info.JointsPerLeg=3; + info.NumLegs=4; + info.NumLegJoints=info.JointsPerLeg*info.NumLegs; + info.NumHeadJoints=3; + info.NumTailJoints=2; + info.NumMouthJoints=1; + info.NumEarJoints=2; + info.NumButtons=11; + info.NumSensors=1+3+1+5; % 1 dist, 3 accel, 1 thermo, 5 from power, see SensorOffset_t + % offset data + info.legOrder={'lf' 'rf' 'lb' 'rb'}; + info.legJointOrder={'Rotator' 'Elevator' 'Knee'}; + info.headJointOrder={'Tilt' 'Pan' 'Roll'}; + info.LogOffset.positions=2; + info.LogOffset.duties=info.LogOffset.positions+info.NumPIDJoints; + info.LogOffset.sensors=info.LogOffset.duties+info.NumPIDJoints; + info.LogOffset.buttons=info.LogOffset.sensors+6; + info.SensorOffsetOf.IRDist=0; + info.SensorOffsetOf.BAccelOffset=1; + info.SensorOffsetOf.LAccelOffset=2; + info.SensorOffsetOf.DAccelOffset=3; + + %%%%old + %info.limbs.f_body_to_shoulder=[59.5 59.2 0]; + %info.limbs.f_leg_shoulder_to_knee=[12.8 .5 -64]; + %info.limbs.f_leg_knee_to_ball=[-18 0 -67.23]; + %info.limbs.h_body_to_shoulder=[59.5 59.2 0]; + %info.limbs.h_leg_shoulder_to_knee=[-12.8 .5 -64]; + %info.limbs.h_leg_knee_to_ball=[-18 0 -74.87]; + + + %note: these coordinates are off 90deg (forward left up) + info.limbs.f_body_to_shoulder=[59.5 59.2 0]; + info.limbs.f_leg_shoulder_to_knee=[12.8 .5 -64]; + info.limbs.f_leg_knee_to_ball=[-18 0 -67.23]; + info.limbs.h_body_to_shoulder=[-59.5 59.2 0]; + info.limbs.h_leg_shoulder_to_knee=[-12.8 .5 -64]; + info.limbs.h_leg_knee_to_ball=[-18 0 -74.87]; + + %format: leg,joint,xyz (where +x=forward, +y=left, +z=up) + info.limblen=zeros(4,3,3); + info.limblen(1,:,:)=[ info.limbs.f_body_to_shoulder; info.limbs.f_leg_shoulder_to_knee; info.limbs.f_leg_knee_to_ball ] ; %lf + %%%right is mirror of left + info.limblen(2,:,:)=[info.limblen(1,:,1)' , -info.limblen(1,:,2)' , info.limblen(1,:,3)' ]; %rf + info.limblen(3,:,:)=[info.limbs.h_body_to_shoulder; info.limbs.h_leg_shoulder_to_knee; info.limbs.h_leg_knee_to_ball ] ; %lb + info.limblen(4,:,:)=[info.limblen(3,:,1)' , -info.limblen(3,:,2)' , info.limblen(3,:,3)' ]; %rf + + info.walkheight=160; Index: Tekkotsu/tools/mon/lognow diff -c /dev/null Tekkotsu/tools/mon/lognow:1.1 *** /dev/null Thu Feb 5 23:36:02 2004 --- Tekkotsu/tools/mon/lognow Wed Jan 28 16:07:44 2004 *************** *** 0 **** --- 1,2 ---- + #!/bin/sh + java org/tekkotsu/mon/JointLogger $* Index: Tekkotsu/tools/mon/plotlog.m diff -c /dev/null Tekkotsu/tools/mon/plotlog.m:1.2 *** /dev/null Thu Feb 5 23:36:02 2004 --- Tekkotsu/tools/mon/plotlog.m Thu Feb 5 19:45:57 2004 *************** *** 0 **** --- 1,319 ---- + function plotlog(logfilein) + global logfile info jpl plotops legh ploth subp timeslider window aibopos jgraph pgraph posgraph bodyangle updatego legpos legspos samplecount bodypos extra plotlog_inited; + updatego=0; + ploth=[]; + subp=[]; + if(isempty(plotops)) + plotops=struct('drawbuttons',1); + end + logfile=logfilein; + ers2xxinfo; + bodyangle=.20944; + samplecount=size(logfile,1); + aibopos=zeros(4,3,samplecount); + legpos=zeros(4,3,samplecount); + jpl=info.JointsPerLeg; %because it's used so much... + plotlog_inited=1; + jgraph=figure(1); + pgraph=figure(2); + posgraph=figure(3); + extra=figure(4); + + set(jgraph,'Name','Joint positions'); + set(pgraph,'Name','Aibo Feet Accumulator'); + set(posgraph,'Name','Foot trajectory'); + set(extra,'Name','Extra data'); + + figure(jgraph); + + clf; + + window=struct('size',logfile(end,1)-logfile(1,1),'start',logfile(1,1),'zoomfactor',1); + + timeslider=uicontrol('style','slider','position',[100,0,100,20],'callback','setslide;'); + zoomin=uicontrol('style','pushbutton','position',[250,0,50,20],'string','Zoom in','callback','zoomin;'); + zoomout=uicontrol('style','pushbutton','position',[350,0,50,20],'string','Zoom out','callback','zoomout;'); + + for leg=1:4 + plotleg(leg,getJointAngles(leg),getDuties(leg),getButton(leg)); + end + + legh=legend(info.legJointOrder{:},0); + posnow=get(legh,'position'); + posnow(1:2)=[0 0]; + set(legh,'position',posnow); + + %%%%basic stuff done + + bodypos=trackMovement; + + figure(pgraph); + clf; + plotpath; + figure(posgraph); + clf; + plotpos; + drawBody(bodypos); + + %extra + figure(extra); + %rot=mod(bodypos(:,4),360); + rot=bodypos(:,4); + plot(rot); + + %fit graph + + updatego=1; + updateAxes; %really just fix slider + + function plotleg(leg,position,duties,button) + global logfile info jpl ploth subp plotops window defax hb aibopos pgraph jgraph legpos; + ontime=extractButtonOn(button); + subp(end+1)=subplot(2,4,leg); + hb=plot(logfile(:,1),position)'; + title([info.legOrder{leg} ' pos']); + if(plotops.drawbuttons~=0) + hold on + hb=[hb plot(logfile(ontime,1),position(ontime,:),'o')']; + plot(logfile(:,1),button,':k'); + end + ploth=[ploth hb]; + subp(end+1)=subplot(2,4,leg+4); + hb=plot(logfile(:,1),duties)'; + title([info.legOrder{leg}, ' duties']); + if(plotops.drawbuttons~=0) + hold on + hb=[hb plot(logfile(ontime,1),duties(ontime,:),'o')']; + end + ploth=[ploth hb]; + defax=axis; + + %forward kinematics tracking: + for step=1:length(button) + legPoint(step,leg); %precalc legpositions + end + altbutton=getButton(mod(leg+2,4)+1); + for step=2:(length(button)) + % if(button(step)>0 | altbutton(step)>0) %counts feet as "down" if either front or back is on. this turns out to be bad + if(button(step)>0) + delta=legpos(leg,:,step)-legpos(leg,:,step-1); + else + delta=[0 0 0]; + end + aibopos(leg,:,step)=aibopos(leg,:,step-1)-delta; %%aibo moves opposite of foot push + end + + %aibopos=legpos; %%% testing hack! + + function pos=getJointAngles(leg) + global logfile info jpl; + leg=leg-1; + pos=logfile(:,info.LogOffset.positions+leg*jpl:1:info.LogOffset.positions+((leg+1)*jpl-1)); + + function duties=getDuties(leg) + global logfile info jpl; + leg=leg-1; + duties=logfile(:,(leg*jpl+info.LogOffset.duties):1:((leg+1)*jpl+info.LogOffset.duties-1)); + + function buttons=getButton(leg) + global logfile info jpl; + leg=leg-1; + buttons=logfile(:,info.LogOffset.buttons+leg); + + function onidx=extractButtonOn(button) + onidx=find(button>0); + + function onidx=findButtonOn(leg) + global logfile info jpl; + button=getButton(leg); + onidx=find(button>0); + + %%%%%%%%%%%%% + %% gui stuff + %%%%%%%%%%%%% + + + + %%%%%%%%% + %% Forward kinematics stuff + %%%%%%%%% + + function R=rotate(x,y,z,theta) + c=cos(theta); + s=sin(theta); + t=1-cos(theta); + R=[t*x^2+c, t*x*y-s*z, t*x*z+s*y, 0; ... + t*x*y+s*z, t*y^2+c, t*y*z-s*x, 0; ... + t*x*z-s*y, t*y*z+s*x, t*z^2+c, 0; ... + 0, 0, 0, 1 ]; + + function T=translate(t) + x=t(1); + y=t(2); + z=t(3); + T=[1, 0, 0, x ; ... + 0, 1, 0, y ; ... + 0, 0, 1, z ; ... + 0, 0, 0, 1 ]; + + function dpt=diffPoints(t1,t2,leg) + global logfile info jpl legpos; + pos=getJointAngles(leg); + buttons=getButton(leg); + + limblen=info.limblen(leg,:,:); + pos1=pos(t1,:); + pos2=pos(t2,:); + pt=[0 0 0 1]; %homogenous point baby + M=eye(4); + % my coordinate system: y+ = forward, x+ = right, z+ = up + M=M*translate( -limblen(:,:,1) ); %initial position separated from body + M=M*rotate(1,0,0,pos1(1)); %rotator - around x + M=M*rotate(0,1,0,pos1(2)); %elevator - around y + M=M*translate( -limblen(:,:,2) ); + M=M*rotate(1,0,0,pos1(3)); %knee - around x + M=M*translate( -limblen(:,:,3) ); + groundpt1=M*pt'; + + % legpos(leg,:,t1)=groundpt1(1:3); + + M=eye(4); + M=M*translate( -limblen(:,:,1) ); %initial position separated from body + M=M*rotate(1,0,0,pos1(1)); %rotator - around x + M=M*rotate(0,1,0,pos1(2)); %elevator - around y + M=M*translate( -limblen(:,:,2) ); + M=M*rotate(1,0,0,pos1(3)); %knee - around x + M=M*translate( -limblen(:,:,3) ); + groundpt2=M*pt'; + + % legpos(leg,:,t1)=groundpt2(1:3); + + % if(buttons(t1)<1) % foot starting in air + % dpt=[0,0,0]; %no movement + % return; + %else + dpt=groundpt1-groundpt2; + %end + + ; toerotateX=(pos1(3)-pos1(1))-(pos2(3)-pos2(1)); + ; toerotateY=(pos1(2)-pos2(2)); + ; M=M*rotate(1,0,0,toerotateX); %assuming shoulder stays even height, and flat ground, parallel lines are your friend. this is basically change in toe-tilt + ;% M=M*rotate(0,1,0,toerotateY); + ; M=M*translate( limblen(:,:,3) ); + ; M=M*rotate(1,0,0,pos2(3)); %knee - around x + ; M=M*translate( limblen(:,:,2) ); + ; M=M*rotate(0,1,0,pos2(2)); %elevator - around y + ; M=M*rotate(1,0,0,pos2(1)); %rotator - around x + ; M=M*translate( limblen(:,:,1) ); + ; bodypt2=M*pt'; + ; dpt=bodypt2(1:3)'; + + + function footpoint=legPoint(t1,leg) + global logfile info jpl legpos; + pos=getJointAngles(leg); + buttons=getButton(leg); + + limblen=info.limblen(leg,:,:); + pos1=pos(t1,:); + pt=[0 0 0 1]; %homogenous point baby + M=eye(4); + if(leg>2) %if it's a back foot + pos1(1)=-pos1(1); %flip it's y rotation + pos1(3)=-pos1(3); %flip it's y rotation + end + % my coordinate system: x+ = forward, y+ = right, z+ = up + M=M*translate( limblen(:,1,:) ); %initial position separated from body + M=M*rotate(0,1,0,-pos1(1)); %rotator - around y (but +pos(1) means back on dog) + if(mod(leg,2)==0) %if it's a right foot... + pos1(2)=-pos1(2); %flip it's x rotation + end + M=M*rotate(1,0,0,pos1(2)); %elevator - around x + M=M*translate( limblen(:,2,:) ); + M=M*rotate(0,1,0,-pos1(3)); %knee - around y + M=M*translate( limblen(:,3,:) ); + footpoint=M*pt'; + footpoint(2)=-footpoint(2); %flip the y data for our sanity... + legpos(leg,:,t1)=footpoint(1:3); + return; + + + function bodypos=trackMovement() + global logfile info jpl legpos aibopos samplecount; + + centroid=orbitCenter; + ydiff=mean(centroid(1:2,3))-mean(centroid(3:4,3)); + xdiff=mean(centroid(1:2,1))-mean(centroid(3:4,1)); + downrot=-atan(ydiff/xdiff)/pi*180; + + buttons=zeros(4,samplecount); + for leg=1:4 + buttons(leg,:)=getButton(leg)'; + end + + bodypos=zeros(samplecount,6); % time, xyz pos | xyz rot + %pt=[0 0 0 1]; + %M=eye(4); + %M=M*rotate(0,1,0,downrot); %standard 'cause our aibo points down usually and walks on flat ground + %for step=2:samplecount + % delta=aibopos(:,:,step)-aibopos(:,:,step-1); + % posdelta=legpos(:,:,step-1)-legpos(:,:,step); + % posdelta=adjustDelta(M,posdelta); + % buttonsOn=buttons(3,step) + buttons(4,step); % count of rear buttons on + % if(buttonsOn~=1) %if it only has 1 foot on the ground, it probably won't spin + %xdiff=delta([2 4],2)-delta([1 3],2); + %ydiff=delta([2 4],1)-delta([1 3],1); + % end + %%%%%%arrrr lost + %end + + %%alternate sum method (straight forward distance traveled: GO!) + for step=2:samplecount + delta=aibopos(:,:,step)-aibopos(:,:,step-1); + dl=norm(delta(3,:)); + dr=norm(delta(4,:)); + rot=0; + if(buttons(3,step)) + pairmag=dot(norm(delta(1,:)),norm(delta(3,:))); + twist=[delta(1,1)-delta(3,1), delta(1,2)-delta(3,2), delta(1,3)-delta(3,3)]; + if(twist(1)==0) + degtwist=0; + else + degtwist=atan(twist(2)/twist(1))/pi*180; + end + rot=rot+degtwist; + end + if(buttons(4,step)) + pairmag=dot(norm(delta(2,:)),norm(delta(4,:))); + twist=[delta(2,1)-delta(4,1), delta(2,2)-delta(4,2), delta(2,3)-delta(4,3)]; + if(twist(1)==0) + degtwist=0; + else + degtwist=atan(twist(2)/twist(1))/pi*180; + end + rot=rot-degtwist; + end + bodypos(step,1)=dl+dr+bodypos(step-1,1); + bodypos(step,4)=rot+bodypos(step-1,4); + end + + + function centers=orbitCenter() + global logfile info jpl legpos aibopos samplecount; + pos=zeros(3); + centers=permute(mean(permute(legpos,[3 1 2])),[2 3 1]) %yes it's a bitch, but it works + return; + + function outpos=adjustDelta(M,inpos) + zeros(4,3); + for i=1:4 + pt=[inpos(i,:) 1]; + outpos(i,:)=pt*M; + end; + + function drawBody(bodypos) + global logfile info jpl legpos aibopos samplecount pgraph; + + figure(pgraph); + + plot3(bodypos(:,1),bodypos(:,2),bodypos(:,3)); Index: Tekkotsu/tools/mon/plotpath.m diff -c /dev/null Tekkotsu/tools/mon/plotpath.m:1.1 *** /dev/null Thu Feb 5 23:36:02 2004 --- Tekkotsu/tools/mon/plotpath.m Wed Jan 28 16:07:44 2004 *************** *** 0 **** --- 1,27 ---- + global aibopos timetags window; + clf; + grid on; + hold on; + %T=viewmtx(-20,56); + T=viewmtx(0,0); + %wtf doesn't this work? + view(T); + specs=['m' 'g' 'r' 'b']; + timetags=zeros(4,2); + for leg=1:4 + %%hack to plot leg position instead + bob=permute(aibopos(leg,:,:),[3 2 1]);% + %bob=permute(legpos(leg,:,:),[3 2 1]); + plot3(bob(:,1),bob(:,2),bob(:,3),specs(leg)); + end + legend('lf','rf','lb','rb'); + ylabel('left-right'); + xlabel('back-forward'); + zlabel('down-up'); + + for leg=1:4 + bob=permute(aibopos(leg,:,:),[3 2 1]); + %bob=permute(legpos(leg,:,:),[3 2 1]); + timetags(leg,:)=plot3(bob(1,1),bob(1,2),bob(1,3), [specs(leg) 'x'], ... + bob(end,1),bob(end,2),bob(end,3), [specs(leg) 'x'], 'MarkerSize',12)'; + end Index: Tekkotsu/tools/mon/plotpos.m diff -c /dev/null Tekkotsu/tools/mon/plotpos.m:1.2 *** /dev/null Thu Feb 5 23:36:02 2004 --- Tekkotsu/tools/mon/plotpos.m Thu Feb 5 19:45:57 2004 *************** *** 0 **** --- 1,51 ---- + function plotpos + global aibopos trtimetags window plotops legpos bodypos; + clf; + grid on; + hold on; + T=viewmtx(0,0); + %wtf doesn't this work? + view(T); + specs=['m' 'g' 'r' 'b']; + timetags=zeros(4,2); + for leg=1:4 + %%draw leg trajectory + bob=permute(legpos(leg,:,:),[3 2 1]); + plot3(bob(:,1),bob(:,2),bob(:,3),specs(leg)); + end + if(plotops.drawbuttons~=0) + for leg=1:4 + %%plot button-on + bob=permute(legpos(leg,:,:),[3 2 1]); + button=getButton(leg); + ontime=extractButtonOn(button); + hold on; + plot3(bob(ontime,1),bob(ontime,2),bob(ontime,3),[specs(leg) 'o']); + end + end + legend('lf','rf','lb','rb'); + ylabel('left-right'); + xlabel('back-forward'); + zlabel('down-up'); + + %add time ticks + for leg=1:4 + bob=permute(legpos(leg,:,:),[3 2 1]); + trtimetags(leg,:)=plot3(bob(1,1),bob(1,2),bob(1,3), [specs(leg) 'x'], ... + bob(end,1),bob(end,2),bob(end,3), [specs(leg) 'x'], 'MarkerSize',32)'; + end + + %plot heading + + function buttons=getButton(leg) + global logfile info jpl; + leg=leg-1; + buttons=logfile(:,info.LogOffset.buttons+leg); + + function onidx=extractButtonOn(button) + onidx=find(button>0); + + function onidx=findButtonOn(leg) + global logfile info jpl; + button=getButton(leg); + onidx=find(button>0); Index: Tekkotsu/tools/mon/setslide.m diff -c /dev/null Tekkotsu/tools/mon/setslide.m:1.1 *** /dev/null Thu Feb 5 23:36:02 2004 --- Tekkotsu/tools/mon/setslide.m Wed Jan 28 16:07:44 2004 *************** *** 0 **** --- 1,3 ---- + function setslide() + global logfile window subp; + updateAxes; Index: Tekkotsu/tools/mon/updateAxes.m diff -c /dev/null Tekkotsu/tools/mon/updateAxes.m:1.1 *** /dev/null Thu Feb 5 23:36:02 2004 --- Tekkotsu/tools/mon/updateAxes.m Wed Jan 28 16:07:44 2004 *************** *** 0 **** --- 1,43 ---- + global timeslider pgraph jgraph trtimetags legpos; + mint=logfile(1,1); + maxt=logfile(end,1); + p=get(timeslider,'value'); + view=window.size/window.zoomfactor; + window.start=p*(maxt-mint-view)+mint; + view=window.size/window.zoomfactor; + window.stop=window.start+view; + set(timeslider,'sliderstep',[view/5/window.size,view/window.size]); + for i=1:length(subp) + ax=axis(subp(i)); + axis(subp(i),[window.start,window.stop, ax(3),ax(4)]); + end + + global aibopos timetags updatego; + %if(updatego>0) + posstart=min(find(logfile(:,1) >= window.start)); + posend=max(find(logfile(:,1) <= window.stop)); + startframe=aibopos(:,:,posstart); + stopframe=aibopos(:,:,posend); + trstartframe=legpos(:,:,posstart); + trstopframe=legpos(:,:,posend); + if(ishandle(timetags(1,1))>0) + for leg=1:4 + set(timetags(leg,1),'XData',startframe(leg,1)); + set(timetags(leg,1),'YData',startframe(leg,2)); + set(timetags(leg,1),'ZData',startframe(leg,3)); + set(timetags(leg,2),'XData',stopframe(leg,1)); + set(timetags(leg,2),'YData',stopframe(leg,2)); + set(timetags(leg,2),'ZData',stopframe(leg,3)); + + %%trajectory + + set(trtimetags(leg,1),'XData',trstartframe(leg,1)); + set(trtimetags(leg,1),'YData',trstartframe(leg,2)); + set(trtimetags(leg,1),'ZData',trstartframe(leg,3)); + set(trtimetags(leg,2),'XData',trstopframe(leg,1)); + set(trtimetags(leg,2),'YData',trstopframe(leg,2)); + set(trtimetags(leg,2),'ZData',trstopframe(leg,3)); + + end + end + %end Index: Tekkotsu/tools/mon/zoomin.m diff -c /dev/null Tekkotsu/tools/mon/zoomin.m:1.1 *** /dev/null Thu Feb 5 23:36:02 2004 --- Tekkotsu/tools/mon/zoomin.m Wed Jan 28 16:07:44 2004 *************** *** 0 **** --- 1,4 ---- + function zoomin() + global logfile window subp; + window.zoomfactor=window.zoomfactor*1.1; + updateAxes; Index: Tekkotsu/tools/mon/zoomout.m diff -c /dev/null Tekkotsu/tools/mon/zoomout.m:1.1 *** /dev/null Thu Feb 5 23:36:02 2004 --- Tekkotsu/tools/mon/zoomout.m Wed Jan 28 16:07:44 2004 *************** *** 0 **** --- 1,4 ---- + function zoomout() + global window subp logfile; + window.zoomfactor=window.zoomfactor*.9; + updateAxes; Index: Tekkotsu/tools/mon/org/tekkotsu/mon/ControllerGUI.java diff -c Tekkotsu/tools/mon/org/tekkotsu/mon/ControllerGUI.java:1.11 Tekkotsu/tools/mon/org/tekkotsu/mon/ControllerGUI.java:1.13 *** Tekkotsu/tools/mon/org/tekkotsu/mon/ControllerGUI.java:1.11 Sat Jan 10 15:11:22 2004 --- Tekkotsu/tools/mon/org/tekkotsu/mon/ControllerGUI.java Wed Feb 4 20:52:06 2004 *************** *** 158,176 **** } } - public class ReenableOnClose extends WindowAdapter { - JButton but; - public ReenableOnClose(JButton b) { but=b; } - public void windowClosing(WindowEvent e) { - if(but.getActionCommand().equals("raw")) - comm.sendInput("!root \"TekkotsuMon\" \"RawCamServer\""); - else - comm.sendInput("!root \"TekkotsuMon\" \"SegCamServer\""); - e.getWindow().dispose(); - but.setEnabled(true); - } - } - void lostConnection() { updated(); } --- 158,163 ---- *************** *** 190,199 **** status.setText("Reconnecting..."); } else { if(comm._connectCount>0) { ! if(comm._connectCount==1) for(int i=0; i0) { ! if(comm._connectCount==1) { for(int i=0; i0){ //keyhit + int b=System.in.read(); + System.out.print("read "+b+": "); + if(b=='q'){ + System.out.println("User aborted.\n"); + synchronized(outlog){ + outlog.close(); + joints.close(); + System.out.println("Finished writing to: "+outfile); + System.exit(0); + } + break; + } + } + } + } + catch(IOException e){ + System.err.println(e); + } + } + public String catArray(float []array){ + String ret=""; + for(int i=0;i1) + port=Integer.parseInt(args[1]); + + SketchGUI gui = new SketchGUI(args[0],port); + gui.addWindowListener(new WindowAdapter() { + public void windowClosing(WindowEvent e) {}}); + gui.show(); + } + + public static void usage() { + System.out.println("Usage: java SketchGUI host [port]"); + System.out.println(" if port is not specified, it defaults to: [12345]"); // Default port + System.exit(2); + } + + public void actionPerformed(ActionEvent e) { + if(e.getActionCommand().compareTo("spawn")==0) { + SketchGUI gui = new SketchGUI(host,port); + gui.addWindowListener(new WindowAdapter() { + public void windowClosing(WindowEvent e) { + // System.exit(0); + }}); + gui.show(); + } else if(e.getActionCommand().compareTo("refresh")==0) { + // Refresh the sketch tree list: + + // Refresh the sketch based on which are checked: + // Vector sketches = new Vector(); + // sketch.update(sketches); + } else if(e.getActionCommand().compareTo("saveimg")==0) { + File cursavepath = new File(prefs.get("cursavepath","")); + JFileChooser dia=new JFileChooser(cursavepath); + dia.setDialogTitle("Save Image..."); + Component cur=this; + while(cur.getParent()!=null) + cur=cur.getParent(); + if(dia.showSaveDialog(cur)==JFileChooser.APPROVE_OPTION) { + prefs.put("cursavepath",dia.getCurrentDirectory().getPath()); + String base=dia.getSelectedFile().getName(); + String format; + if(base.lastIndexOf('.')==-1) { + format="png"; + } else { + int i=base.lastIndexOf("."); + format=base.substring(i+1); + base=base.substring(0,i); + } + try { + FileOutputStream fileout=new FileOutputStream(dia.getSelectedFile().getParent()+File.separator+base+"."+format); + ImageIO.write(sketch.getListener().getImage(),format,fileout); + } catch(Exception ex) {} + } + } else if(e.getActionCommand().compareTo("refreshlist")==0) { + // send command to refresh the sketch tree list + netout.println("list"); + // DefaultMutableTreeNode root = new DefaultMutableTreeNode("camspace"); + root.removeAllChildren(); + // read in new sketch listing + try { + String inputLine; + System.out.println(inputLine = netin.readLine()); + while((inputLine=netin.readLine()).compareTo("list end") != 0) { + // parse name + StringTokenizer st = new StringTokenizer(inputLine,": "); + st.nextToken(); + String name = st.nextToken(); + + // parse id + inputLine = netin.readLine(); + st = new StringTokenizer(inputLine,": "); + st.nextToken(); + int id = Integer.parseInt(st.nextToken()); + + //parse parentId + inputLine = netin.readLine(); + st = new StringTokenizer(inputLine,": "); + st.nextToken(); + int parentId = Integer.parseInt(st.nextToken()); + + // add node + System.out.println("id:"+id+"parentId:"+parentId+"name:"+name); + DefaultMutableTreeNode newnode = new DefaultMutableTreeNode(new SketchInfo(id, parentId, name)); + root.add(newnode); + } + System.out.println(inputLine); + //sketchTree = new JTree(root); // is this right? + //JScrollPane treeView = new JScrollPane(sketchTree); + // sketchTree.removeAll(); + // sketchTree.add(root); + sketchTree.updateUI(); + } catch(IOException ioe) { + System.err.println("Transfer error"); + } + } + } + + public SketchGUI(String host, int port) { + super(); + this.host = host; + this.port = port; + + // network setup + try { + System.out.println("Trying to open socket..."); + listingSocket = new Socket(host,port); + netout = new PrintWriter(listingSocket.getOutputStream(), true); + netin = new BufferedReader(new InputStreamReader( + listingSocket.getInputStream())); + } catch (UnknownHostException e) { + System.err.println("Don't know about host:"+host); + System.exit(1); + } catch (IOException e) { + System.err.println("Couldn't get I/O for " + + "the connection to:" + host + "."); + System.exit(1); + } + + init(); + } + + + public void init() { + int strutsize=10; + int sepsize=5; + getContentPane().setLayout(new BorderLayout()); + getContentPane().add(Box.createVerticalStrut(strutsize),BorderLayout.NORTH); + getContentPane().add(Box.createHorizontalStrut(strutsize),BorderLayout.WEST); + getContentPane().add(Box.createHorizontalStrut(strutsize),BorderLayout.EAST); + + setTitle("TekkotsuMon: Sketch"); + sketch=new VisionPanel(new VisionListener(host, defSketchPort)); + + sketch.setMinimumSize(new Dimension(VisionListener.DEFAULT_WIDTH/2, VisionListener.DEFAULT_HEIGHT/2)); + sketch.setPreferredSize(new Dimension(VisionListener.DEFAULT_WIDTH*2, VisionListener.DEFAULT_HEIGHT*2)); + sketch.setLockAspectRatio(true); + getContentPane().add(sketch,BorderLayout.CENTER); + + { + Box tmp1 = Box.createHorizontalBox(); + tmp1.add(Box.createHorizontalStrut(strutsize)); + { + Box tmp2 = Box.createVerticalBox(); + + tmp2.add(Box.createVerticalStrut(strutsize)); + + { + Box tmp3 = Box.createHorizontalBox(); + tmp3.add(status=new JLabel(state)); + tmp3.add(Box.createHorizontalGlue()); + + spawnBut = new JButton("Spawn New"); + spawnBut.setAlignmentX(0.5f); + spawnBut.addActionListener(this); + spawnBut.setActionCommand("spawn"); + spawnBut.setEnabled(true); + spawnBut.setToolTipText("Spawns a new sketch monitor;"); + tmp3.add(spawnBut); + + tmp3.add(Box.createHorizontalStrut(strutsize)); + + refreshBut = new JButton("Refresh Image"); + refreshBut.setAlignmentX(0.5f); + refreshBut.addActionListener(this); + refreshBut.setActionCommand("refresh"); + refreshBut.setEnabled(true); + refreshBut.setToolTipText("Refreshes the displayed sketch;"); + tmp3.add(refreshBut); + + tmp3.add(Box.createHorizontalStrut(strutsize)); + + saveImageBut = new JButton("Save Image"); + saveImageBut.setAlignmentX(0.5f); + saveImageBut.addActionListener(this); + saveImageBut.setActionCommand("saveimg"); + saveImageBut.setEnabled(true); + saveImageBut.setToolTipText("Saves sketch to a file - use .jpg or .png extension to choose format;"); + tmp3.add(saveImageBut); + tmp3.add(Box.createHorizontalStrut(strutsize)); + + + refreshListBut = new JButton("Refresh Listing"); + refreshListBut.setAlignmentX(0.5f); + refreshListBut.addActionListener(this); + refreshListBut.setActionCommand("refreshlist"); + refreshListBut.setEnabled(true); + refreshListBut.setToolTipText("Refreshes the sketch listing;"); + tmp3.add(refreshListBut); + tmp2.add(tmp3, BorderLayout.CENTER); + } + + tmp2.add(Box.createVerticalStrut(strutsize)); + // Sketch Tree: + sketchTree = new JTree(new DefaultTreeModel(initSketchTree(host, port))); + tmp2.add(new JScrollPane(sketchTree)); + // set up sketch node selection + sketchTree.getSelectionModel().setSelectionMode + (TreeSelectionModel.SINGLE_TREE_SELECTION); + //Listen for when the selection changes. + sketchTree.addTreeSelectionListener(this); + + // JFrame sketchFrame = new JFrame("Sketches"); + // sketchFrame.setSize(200,400); + // sketchFrame.getContentPane().add(new JScrollPane(sketchTree)); + // JScrollPane sketchPane = new JScrollPane(sketchTree); + // sketchPane.setSize(200,100); + // tmp2.add(sketchPane); + tmp2.add(Box.createVerticalStrut(strutsize)); + tmp2.add(new JSeparator()); + tmp2.add(Box.createVerticalStrut(strutsize-sepsize)); + { + Box tmp4 = Box.createHorizontalBox(); + tmp4.add(status=new JLabel(state)); + tmp4.add(Box.createHorizontalGlue()); + tmp2.add(tmp4); + } + tmp2.add(Box.createVerticalStrut(strutsize)); + tmp1.add(tmp2); + } + tmp1.add(Box.createHorizontalStrut(strutsize)); + getContentPane().add(tmp1,BorderLayout.SOUTH); + } + pack(); + + String name="SketchGUI"+".location"; + setLocation(prefs.getInt(name+".x",50),prefs.getInt(name+".y",50)); + } + + public TreeNode initSketchTree(String host, int port) { + // MutableTreeNode root = new DefaultMutableTreeNode("camspace"); + + // Just for demonstration: + DefaultMutableTreeNode cam = new DefaultMutableTreeNode("cam"); + DefaultMutableTreeNode pmask = new DefaultMutableTreeNode("pmask"); + DefaultMutableTreeNode filled = new DefaultMutableTreeNode("filled"); + DefaultMutableTreeNode skel = new DefaultMutableTreeNode("skel"); + DefaultMutableTreeNode all_lines = new DefaultMutableTreeNode("all_lines"); + DefaultMutableTreeNode b_ellipse_render = new DefaultMutableTreeNode("b_ellipse_render"); + root.insert(cam,0); + cam.insert(pmask,0); + pmask.insert(filled,0); + filled.insert(skel,0); + skel.insert(all_lines,0); + cam.insert(b_ellipse_render,1); + // for(int i = 0; i < 5; i++) + // root.insert(new DefaultMutableTreeNode("Sketch("+i+")"), i); + + return root; + } + + // gets called when a Sketch selection is clicked + public void valueChanged(TreeSelectionEvent e) { + DefaultMutableTreeNode node = (DefaultMutableTreeNode) + sketchTree.getLastSelectedPathComponent(); + + if (node == null) return; + + Object nodeInfo = node.getUserObject(); + if (node.isLeaf()) { + SketchInfo sinfo = (SketchInfo)nodeInfo; + System.out.println("id clicked:"+sinfo.id); + netout.println("get "+sinfo.id); + try { + String inputLine; + while((inputLine=netin.readLine()).compareTo("get end") != 0) { + System.out.println(inputLine); + } + } catch (IOException ioe) { + System.err.println("Transfer error"); + } + } else { + //displayURL(helpURL); + } + } + } Index: Tekkotsu/tools/mon/org/tekkotsu/mon/SketchInfo.java diff -c /dev/null Tekkotsu/tools/mon/org/tekkotsu/mon/SketchInfo.java:1.1 *** /dev/null Thu Feb 5 23:36:03 2004 --- Tekkotsu/tools/mon/org/tekkotsu/mon/SketchInfo.java Thu Jan 29 21:13:10 2004 *************** *** 0 **** --- 1,24 ---- + package org.tekkotsu.mon; + + + // stores info for a Sketch, to use as UserObject for DefaultMutableTreeNode + public class SketchInfo { + int id; + int parentId; + String name; + + public SketchInfo(int _id, int _parentId, String _name) { + id = _id; + parentId = _parentId; + name = _name; + } + + public int getId() { return id; } + public int getParentId() { return parentId; } + public String getName() { return name; } + + public String toString() { + return (name + "(id " + id + ", parentId " + parentId + ")"); + } + } + Index: Tekkotsu/tools/mon/org/tekkotsu/mon/SketchPanel.java diff -c /dev/null Tekkotsu/tools/mon/org/tekkotsu/mon/SketchPanel.java:1.1 *** /dev/null Thu Feb 5 23:36:03 2004 --- Tekkotsu/tools/mon/org/tekkotsu/mon/SketchPanel.java Thu Jan 29 21:13:10 2004 *************** *** 0 **** --- 1,79 ---- + package org.tekkotsu.mon; + + import java.util.Vector; + import javax.swing.JPanel; + import java.awt.image.BufferedImage; + import java.awt.Graphics; + import java.awt.Color; + import java.awt.Dimension; + import java.awt.FontMetrics; + + public class SketchPanel extends JPanel { + String host; + int port; + BufferedImage _image; + boolean lockAspect=true; + Vector sketches; + static int width = 176; + static int height = 144; + float tgtAspect = 176/(float)144; + + protected SketchPanel(String host, int port) { + this.host = host; + this.port = port; + setBackground(Color.BLACK); + setForeground(Color.WHITE); + setOpaque(!lockAspect); + _image = new BufferedImage(width, height, BufferedImage.TYPE_INT_RGB); + + // Create a blank frame: + update(new Vector()); + } + + public BufferedImage getImage() { + return _image; + } + + // Takes in a Vector of int arrays of pixels to composite: + public void update(Vector sketches) { + int [] data = new int[width*height]; + + // Get new Sketchs and compose them: + this.sketches = sketches; + for(int i = 0; i < sketches.size(); i++) { + + } + _image.setRGB(0,0,width,height,data,0,width); + } + + public void paint(Graphics graphics) { + super.paint(graphics); + Dimension sz=getSize(); + + float curasp=sz.width/(float)sz.height; + if(curasp>tgtAspect) { + int width=(int)(sz.height*tgtAspect); + drawImage(graphics,_image, (sz.width-width)/2, 0, width, sz.height); + } else if(curasp2) { --- 90,95 ---- *************** *** 100,106 **** else if(s[2].toUpperCase().compareTo("RAW")==0) port=VisionListener.defRawPort; } ! VisionGUI gui=new VisionGUI(s[0],port,args); gui.addWindowListener(new WindowAdapter() { public void windowClosing(WindowEvent e) { System.exit(0); } }); } --- 99,109 ---- else if(s[2].toUpperCase().compareTo("RAW")==0) port=VisionListener.defRawPort; } ! VisionGUI gui; ! if(args[0].length()==0) ! gui=new VisionGUI(s[0],port,new String[0]); ! else ! gui=new VisionGUI(s[0],port,args); gui.addWindowListener(new WindowAdapter() { public void windowClosing(WindowEvent e) { System.exit(0); } }); } *************** *** 212,219 **** public void close() { String name="VisionGUI"+(isRaw?".raw":"")+(isRLE?".rle":"")+".location"; ! prefs.putInt(name+".x",getLocation().x+getInsets().left); ! prefs.putInt(name+".y",getLocation().y+getInsets().top); this.vision.close(); if(this.imgWrite!=null && this.imgWrite.isAlive()) { if(!this.imgWrite.isInterrupted() && !this.imgWrite.stopping) --- 215,225 ---- public void close() { String name="VisionGUI"+(isRaw?".raw":"")+(isRLE?".rle":"")+".location"; ! prefs.putInt(name+".x",getLocation().x); ! prefs.putInt(name+".y",getLocation().y); ! //I think I had needed to add getInsets() to keep the window from moving when reopening it, but now it *causes* it to move... weird. what changed? ! //prefs.putInt(name+".x",getLocation().x+getInsets().left); ! //prefs.putInt(name+".y",getLocation().y+getInsets().top); this.vision.close(); if(this.imgWrite!=null && this.imgWrite.isAlive()) { if(!this.imgWrite.isInterrupted() && !this.imgWrite.stopping) *************** *** 313,334 **** vision=new VisionPanel(new VisionListener(host,port)); isRLE=true; isRaw=false; } else if(args[i].toUpperCase().compareTo("RAW")==0) { setTitle("TekkotsuMon: Vision Raw"); vision=new VisionPanel(new VisionListener(host,port)); isRaw=true; isRLE=false; } else System.err.println("VisionGUI: Unrecognized argument: "+args[i]); } if(vision==null) { ! System.err.println("VisionGUI: Error: Vision mode not specified"); ! } else { ! vision.setMinimumSize(new Dimension(VisionListener.DEFAULT_WIDTH/2, VisionListener.DEFAULT_HEIGHT/2)); ! vision.setPreferredSize(new Dimension(VisionListener.DEFAULT_WIDTH*2, VisionListener.DEFAULT_HEIGHT*2)); ! vision.setLockAspectRatio(true); ! getContentPane().add(vision,BorderLayout.CENTER); } { Box tmp2=Box.createHorizontalBox(); tmp2.add(Box.createHorizontalStrut(strutsize)); --- 319,350 ---- vision=new VisionPanel(new VisionListener(host,port)); isRLE=true; isRaw=false; + break; } else if(args[i].toUpperCase().compareTo("RAW")==0) { setTitle("TekkotsuMon: Vision Raw"); vision=new VisionPanel(new VisionListener(host,port)); isRaw=true; isRLE=false; + break; } else System.err.println("VisionGUI: Unrecognized argument: "+args[i]); } if(vision==null) { ! vision=new VisionPanel(new VisionListener(host,port)); ! if(port==VisionListener.defRLEPort) { ! setTitle("TekkotsuMon: Vision RLE"); ! isRLE=true; ! isRaw=false; ! } else { ! setTitle("TekkotsuMon: Vision Raw"); ! isRLE=false; ! isRaw=true; ! } } + vision.setMinimumSize(new Dimension(VisionListener.DEFAULT_WIDTH/2, VisionListener.DEFAULT_HEIGHT/2)); + vision.setPreferredSize(new Dimension(VisionListener.DEFAULT_WIDTH*2, VisionListener.DEFAULT_HEIGHT*2)); + vision.setLockAspectRatio(true); + getContentPane().add(vision,BorderLayout.CENTER); { Box tmp2=Box.createHorizontalBox(); tmp2.add(Box.createHorizontalStrut(strutsize)); Index: Tekkotsu/tools/mon/org/tekkotsu/mon/VisionPanel.java diff -c Tekkotsu/tools/mon/org/tekkotsu/mon/VisionPanel.java:1.3 Tekkotsu/tools/mon/org/tekkotsu/mon/VisionPanel.java:1.4 *** Tekkotsu/tools/mon/org/tekkotsu/mon/VisionPanel.java:1.3 Tue Jan 20 15:05:31 2004 --- Tekkotsu/tools/mon/org/tekkotsu/mon/VisionPanel.java Wed Feb 4 21:00:56 2004 *************** *** 106,112 **** float curasp=sz.width/(float)sz.height; float tgtasp=getAspectRatio(); if(tgtasp<0) ! tgtasp=curasp; if(curasp>tgtasp) { int width=(int)(sz.height*tgtasp); drawImage(graphics,_image, (sz.width-width)/2, 0, width, sz.height); --- 106,112 ---- float curasp=sz.width/(float)sz.height; float tgtasp=getAspectRatio(); if(tgtasp<0) ! tgtasp=_image.getWidth()/(float)_image.getHeight(); if(curasp>tgtasp) { int width=(int)(sz.height*tgtasp); drawImage(graphics,_image, (sz.width-width)/2, 0, width, sz.height); Index: Tekkotsu/tools/mon/org/tekkotsu/mon/WalkGUI.java diff -c Tekkotsu/tools/mon/org/tekkotsu/mon/WalkGUI.java:1.2 Tekkotsu/tools/mon/org/tekkotsu/mon/WalkGUI.java:1.3 *** Tekkotsu/tools/mon/org/tekkotsu/mon/WalkGUI.java:1.2 Mon Jan 19 14:44:43 2004 --- Tekkotsu/tools/mon/org/tekkotsu/mon/WalkGUI.java Wed Feb 4 18:28:42 2004 *************** *** 56,63 **** } public void close() { ! prefs.putInt("WalkGUI.location.x",getLocation().x+getInsets().left); ! prefs.putInt("WalkGUI.location.y",getLocation().y+getInsets().top); comm.kill(); dispose(); } --- 56,66 ---- } public void close() { ! prefs.putInt("WalkGUI.location.x",getLocation().x); ! prefs.putInt("WalkGUI.location.y",getLocation().y); ! //I think I had needed to add getInsets() to keep the window from moving when reopening it, but now it *causes* it to move... weird. what changed? ! //prefs.putInt("WalkGUI.location.x",getLocation().x+getInsets().left); ! //prefs.putInt("WalkGUI.location.y",getLocation().y+getInsets().top); comm.kill(); dispose(); } Index: Tekkotsu/tools/mon/org/tekkotsu/mon/WatchableMemory.java diff -c Tekkotsu/tools/mon/org/tekkotsu/mon/WatchableMemory.java:1.4 Tekkotsu/tools/mon/org/tekkotsu/mon/WatchableMemory.java:1.5 *** Tekkotsu/tools/mon/org/tekkotsu/mon/WatchableMemory.java:1.4 Thu Oct 9 20:46:58 2003 --- Tekkotsu/tools/mon/org/tekkotsu/mon/WatchableMemory.java Wed Feb 4 18:28:42 2004 *************** *** 278,285 **** WMregistry gui; CloseAdapter(WMregistry gui) {this.gui=gui;} public void windowClosing(WindowEvent e) { ! gui.prefs.putInt("WatchableMemory."+gui.name+".location.x",gui.getLocation().x+gui.getInsets().left); ! gui.prefs.putInt("WatchableMemory."+gui.name+".location.y",gui.getLocation().y+gui.getInsets().top); } } --- 278,288 ---- WMregistry gui; CloseAdapter(WMregistry gui) {this.gui=gui;} public void windowClosing(WindowEvent e) { ! gui.prefs.putInt("WatchableMemory."+gui.name+".location.x",gui.getLocation().x); ! gui.prefs.putInt("WatchableMemory."+gui.name+".location.y",gui.getLocation().y); ! //I think I had needed to add getInsets() to keep the window from moving when reopening it, but now it *causes* it to move... weird. what changed? ! //gui.prefs.putInt("WatchableMemory."+gui.name+".location.x",gui.getLocation().x+gui.getInsets().left); ! //gui.prefs.putInt("WatchableMemory."+gui.name+".location.y",gui.getLocation().y+gui.getInsets().top); } } Index: Tekkotsu/tools/seg/VisionTrain.java diff -c Tekkotsu/tools/seg/VisionTrain.java:1.4 Tekkotsu/tools/seg/VisionTrain.java:1.6 *** Tekkotsu/tools/seg/VisionTrain.java:1.4 Tue Jan 20 22:32:26 2004 --- Tekkotsu/tools/seg/VisionTrain.java Mon Feb 2 13:31:25 2004 *************** *** 72,82 **** ImageData imageData=new ImageData(); if(isRGB) ! imageData.loadFullRGBFiles(files); else ! imageData.loadFullYUVFiles(files); ! trainCanvas.plotImage(imageData.getHS(), imageData.getRGB()); } } --- 72,83 ---- ImageData imageData=new ImageData(); + //Thanks to martin.mueller at mni.fh-giessen.de for the bug fix: if(isRGB) ! imageData.loadFullRGBFilesAsRGB(files); else ! imageData.loadFullYUVFilesAsRGB(files); ! trainCanvas.plotImage(imageData.getHS(), imageData.getPixels()); } }